CN115352604A - A micro-miniature bionic ray underwater propeller and its driving method - Google Patents

A micro-miniature bionic ray underwater propeller and its driving method Download PDF

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CN115352604A
CN115352604A CN202210913761.0A CN202210913761A CN115352604A CN 115352604 A CN115352604 A CN 115352604A CN 202210913761 A CN202210913761 A CN 202210913761A CN 115352604 A CN115352604 A CN 115352604A
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longitudinal
piezoelectric bimorph
transverse
electric signal
connecting plate
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CN115352604B (en
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王亮
刘瑞
金家楣
吴一峰
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Nanjing University of Aeronautics and Astronautics
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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
    • B63H1/30—Propulsive elements directly acting on water of non-rotary type
    • B63H1/32—Flaps, pistons, or the like, reciprocating in propulsive direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/08—Propulsion
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
    • H02N2/001—Driving devices, e.g. vibrators
    • H02N2/003—Driving devices, e.g. vibrators using longitudinal or radial modes combined with bending modes
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
    • H02N2/005—Mechanical details, e.g. housings
    • H02N2/0055—Supports for driving or driven bodies; Means for pressing driving body against driven body
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
    • H02N2/0075—Electrical details, e.g. drive or control circuits or methods
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T70/00—Maritime or waterways transport
    • Y02T70/10—Measures concerning design or construction of watercraft hulls

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Transducers For Ultrasonic Waves (AREA)

Abstract

The invention discloses a microminiature ray-imitating underwater propeller and a driving method thereof, wherein the ray-imitating underwater propeller comprises a vibrating part and a flexible fin; the vibrating portion includes first to fourth longitudinal piezoelectric bimorphs, first to fourth transverse piezoelectric bimorphs, first to second longitudinal connecting plates, first to second transverse connecting plates, first to fourth bidirectional connecting plates, and first to eighth paddles. According to the invention, the first to fourth longitudinal piezoelectric bimorphs and the first to fourth transverse piezoelectric bimorphs are controlled, so that the bionic ray underwater propeller can be driven to propel or rotate. The invention has simple structure, easy realization of miniaturization and simple and convenient control.

Description

一种微小型仿生鳐鱼水下推进器及其驱动方法A micro-miniature bionic ray underwater propeller and its driving method

技术领域technical field

本发明涉及仿生机器人和压电驱动领域，尤其涉及一种微小型仿生鳐鱼水下推进器及其驱动方法。The invention relates to the fields of bionic robots and piezoelectric drives, in particular to a miniature bionic ray underwater propeller and a driving method thereof.

背景技术Background technique

海洋和海岛国防在国家经济发展中占有举足轻重的地位。由于水文信息获取、海洋资源勘探以及国防建设的需要，水下仿生推进器取得了很大程度的发展。Marine and island defense plays a pivotal role in national economic development. Due to the needs of hydrological information acquisition, marine resource exploration and national defense construction, underwater bionic propulsion has achieved a great degree of development.

水下仿生推进器可以成为一个多方位持续信息获取的工具。现有的水下仿生推进器多依靠电磁电机控制并依靠多关节串联装置驱动，这种驱动方式结构庞大控制复杂，并存在水密封等问题。The underwater bionic thruster can become a tool for multi-directional continuous information acquisition. Existing underwater bionic thrusters are mostly controlled by electromagnetic motors and driven by multi-joint series devices. This driving method has a large structure and complex control, and there are problems such as water sealing.

压电双晶片具有结构简单、质量轻、带宽高、输出位移比普通压电陶瓷片大的优点，采用压电双晶片驱动的仿生鳐鱼水下推进器无需传动机构，有利于结构微小型化、控制简单化，且不存在水密封问题，应用场景更加广泛。Piezoelectric bimorphs have the advantages of simple structure, light weight, high bandwidth, and larger output displacement than ordinary piezoelectric ceramics. The bionic ray underwater propeller driven by piezoelectric bimorphs does not need a transmission mechanism, which is conducive to the miniaturization of the structure, The control is simplified, and there is no water sealing problem, and the application scenarios are more extensive.

发明内容Contents of the invention

本发明所要解决的技术问题是针对背景技术中所涉及到的缺陷，提供一种微小型仿生鳐鱼水下推进器及其驱动方法。The technical problem to be solved by the present invention is to provide a micro-miniature bionic ray underwater propeller and its driving method for the defects involved in the background technology.

本发明为解决上述技术问题采用以下技术方案：The present invention adopts the following technical solutions for solving the problems of the technologies described above:

一种微小型仿生鳐鱼水下推进器，包括振动部和柔性鳍；A micro-miniature bionic ray underwater propeller, including a vibrating part and flexible fins;

所述振动部包含第一至第四纵向压电双晶片、第一至第四横向压电双晶片、第一至第二纵向连接板、第一至第二横向连接板、第一至第四双向连接板、以及第一至第八桨叶；The vibrating part includes first to fourth longitudinal piezoelectric bimorphs, first to fourth transverse piezoelectric bimorphs, first to second longitudinal connecting plates, first to second transverse connecting plates, first to fourth a two-way connection plate, and the first to eighth blades;

所述第一至第四纵向压电双晶片、第一至第四横向压电双晶片均呈矩形，皆沿厚度方向极化且极化方向均相同；The first to fourth longitudinal piezoelectric bimorphs and the first to fourth transverse piezoelectric bimorphs are all rectangular in shape, are polarized along the thickness direction, and have the same polarization direction;

所述第一至第二纵向连接板、第一至第二横向连接板、第一至第四双向连接板均呈矩形；The first to second longitudinal connecting plates, the first to second transverse connecting plates, and the first to fourth two-way connecting plates are all rectangular;

所述第一纵向连接板两端分别和所述第一纵向压电双晶片、第二纵向压电双晶片的一端粘贴相连，第二纵向连接板两端分别和所述第三纵向压电双晶片、第四纵向压电双晶片的一端粘贴相连；Two ends of the first longitudinal connecting plate are respectively pasted and connected to one end of the first longitudinal piezoelectric bimorph and one end of the second longitudinal piezoelectric bimorph, and both ends of the second longitudinal connecting plate are respectively connected to the third longitudinal piezoelectric bimorph. One end of the wafer and the fourth longitudinal piezoelectric bimorph is pasted and connected;

所述第一横向连接板两端分别和所述第一横向压电双晶片、第二横向压电双晶片的一端粘贴相连，第二横向连接板两端分别和所述第三横向压电双晶片、第四横向压电双晶片的一端粘贴相连；Two ends of the first transverse connecting plate are respectively pasted and connected to one end of the first transverse piezoelectric bimorph and one end of the second transverse piezoelectric bimorph, and both ends of the second transverse connecting plate are respectively connected to the third transverse piezoelectric bimorph. One end of the wafer and the fourth transverse piezoelectric bimorph is pasted and connected;

所述第一双向连接板一端和所述第一桨叶的一端粘贴相连，另一端和所述第一纵向压电双晶片的另一端粘贴相连，且第一双向连接板一侧和所述第一横向压电双晶片的另一端粘贴相连，另一侧和所述第八桨叶的一端粘贴相连；One end of the first two-way connection plate is glued to one end of the first paddle, the other end is glued to the other end of the first longitudinal piezoelectric bimorph, and one side of the first two-way connection plate is glued to the first blade. The other end of a transverse piezoelectric bimorph is pasted and connected, and the other side is pasted and connected to one end of the eighth paddle;

所述第二双向连接板一端和所述第二桨叶的一端粘贴相连，另一端和所述第三纵向压电双晶片的另一端粘贴相连，且第二双向连接板一侧和所述第二横向压电双晶片的另一端粘贴相连，另一侧和所述第三桨叶的一端粘贴相连；One end of the second two-way connection plate is glued to one end of the second blade, the other end is glued to the other end of the third longitudinal piezoelectric bimorph, and one side of the second two-way connection plate is glued to the first The other ends of the two transverse piezoelectric bimorphs are pasted and connected, and the other side is pasted and connected to one end of the third paddle;

所述第三双向连接板一端和所述第五桨叶的一端粘贴相连，另一端和所述第四纵向压电双晶片的另一端粘贴相连，且第三双向连接板一侧和所述第四横向压电双晶片的另一端粘贴相连，另一侧和所述第四桨叶的一端粘贴相连；One end of the third two-way connection plate is glued to one end of the fifth paddle, the other end is glued to the other end of the fourth longitudinal piezoelectric bimorph, and one side of the third two-way connection plate is glued to the first The other ends of the four transverse piezoelectric bimorphs are pasted and connected, and the other side is pasted and connected with one end of the fourth paddle;

所述第四双向连接板一端和所述第六桨叶的一端粘贴相连，另一端和所述第二纵向压电双晶片的另一端粘贴相连，且第三双向连接板一侧和所述第三横向压电双晶片的另一端粘贴相连，另一侧和所述第七桨叶的一端粘贴相连；One end of the fourth two-way connection plate is glued to one end of the sixth paddle, the other end is glued to the other end of the second longitudinal piezoelectric bimorph, and one side of the third two-way connection plate is glued to the first The other ends of the three transverse piezoelectric bimorphs are pasted and connected, and the other side is pasted and connected to one end of the seventh paddle;

所述柔性鳍采用弹性模量小于预设的弹性阈值的柔性材料制成，呈八边形，和所述振动部的上端面粘贴相连，使得第一至第八桨叶的另一端分别在其八个顶点上。The flexible fin is made of a flexible material whose elastic modulus is less than the preset elastic threshold, is octagonal, and is glued to the upper end surface of the vibrating part, so that the other ends of the first to eighth paddles are respectively on their on eight vertices.

作为本发明一种微小型仿生鳐鱼水下推进器进一步的优化方案，所述第一至第四纵向压电双晶片、第一至第四横向压电双晶片上均涂有防水涂料。As a further optimization scheme of the micro-miniature bionic ray underwater propeller of the present invention, the first to fourth longitudinal piezoelectric bimorphs and the first to fourth transverse piezoelectric bimorphs are all coated with waterproof paint.

作为本发明一种微小型仿生鳐鱼水下推进器进一步的优化方案，所述柔性鳍采用硅橡胶制成。As a further optimization scheme of the micro-miniature bionic ray underwater propeller of the present invention, the flexible fins are made of silicon rubber.

本发明还公开了一种该微小型仿生鳐鱼水下推进器的推进方法，包含以下步骤：The invention also discloses a propulsion method of the micro-miniature bionic ray underwater propeller, comprising the following steps:

需要正向波动推进时，采用第一电信号激励第一至第四纵向压电双晶片，产生纵向一阶弯曲振动，带动柔性鳍产生纵向的一阶弯曲振动，同时采用第二电信号激励第一、第二横向压电双晶片，采用第三电信号激励第三、第四横向压电双晶片，第一、第二电信号的相位差为π/2，第一、第三电信号的相位差为-π/2，第二、第三电信号的相位差为π，产生相位差为π的两个横向一阶弯曲振动，带动柔性鳍产生纵向的二阶弯曲振动，纵向的一阶弯曲振动和纵向的二阶弯曲振动叠加形成纵向方向上的的行波，实现柔性鳍的水中纵向波动推进；When positive wave propulsion is required, the first electrical signal is used to excite the first to fourth longitudinal piezoelectric bimorphs to generate longitudinal first-order bending vibration, which drives the flexible fin to generate longitudinal first-order bending vibration, and at the same time, the second electrical signal is used to excite the first-order longitudinal piezoelectric bimorph. 1. The second transverse piezoelectric bimorph uses the third electrical signal to excite the third and fourth transverse piezoelectric bimorphs. The phase difference between the first and second electrical signals is π/2, and the phase difference between the first and third electrical signals The phase difference is -π/2, the phase difference between the second and third electrical signals is π, and two transverse first-order bending vibrations with a phase difference of π are generated, which drive the flexible fins to generate longitudinal second-order bending vibrations, and the longitudinal first-order The bending vibration and the longitudinal second-order bending vibration are superimposed to form a traveling wave in the longitudinal direction, realizing the longitudinal wave propulsion of the flexible fin in water;

如需仿生鳐鱼水下推进器实现水中反向的波动推进，调整第二、第三电信号的相位差为-π即可。If the bionic ray underwater thruster needs to realize reverse wave propulsion in water, just adjust the phase difference between the second and third electrical signals to -π.

本发明还公开了一种该微小型仿生鳐鱼水下推进器的旋转方法，包含以下步骤：The invention also discloses a method for rotating the micro-miniature bionic ray underwater propeller, which includes the following steps:

需要正向旋转时，采用第一电信号激励第一、第二纵向压电双晶片，采用第二电信号激励第三、第四纵向压电双晶片，第一、第二电信号的相位差为π，产生相位差为π的两个纵向一阶弯曲振动，带动柔性鳍产生横向的二阶弯曲振动，同时采用第三电信号激励第一、第二横向压电双晶片，采用第四电信号激励第三、第四横向压电双晶片，第一、第三电信号的相位差为π/2，第一、第四电信号的相位差为-π/2，第三、第四电信号的相位差为π，产生相位差为π的两个横向一阶弯曲振动，带动柔性鳍产生纵向的二阶弯曲振动，横向的二阶弯曲振动和纵向的二阶弯曲振动叠加形成旋转的行波，实现柔性鳍的水中旋转运动；When forward rotation is required, use the first electrical signal to excite the first and second longitudinal piezoelectric bimorphs, and use the second electrical signal to excite the third and fourth longitudinal piezoelectric bimorphs. The phase difference between the first and second electrical signals is π, two longitudinal first-order bending vibrations with a phase difference of π are generated, and the flexible fin is driven to produce a lateral second-order bending vibration, and at the same time, the third electrical signal is used to excite the first and second transverse piezoelectric bimorphs, and the fourth electrical signal The signal excites the third and fourth transverse piezoelectric bimorphs, the phase difference of the first and third electrical signals is π/2, the phase difference of the first and fourth electrical signals is -π/2, and the phase difference of the third and fourth electrical signals is -π/2. The phase difference of the signal is π, which generates two transverse first-order bending vibrations with a phase difference of π, which drives the flexible fin to generate longitudinal second-order bending vibration, and the horizontal second-order bending vibration and longitudinal second-order bending vibration are superimposed to form a rotating row waves to realize the rotational motion of the flexible fin in water;

如需仿生鳐鱼水下推进器实现水中反向旋转，调整第一、第二电信号的相位差为-π，第三、第四电信号的相位差为-π即可。If the bionic ray underwater propeller needs to realize reverse rotation in water, adjust the phase difference of the first and second electrical signals to -π, and adjust the phase difference of the third and fourth electrical signals to -π.

本发明采用以上技术方案与现有技术相比，具有以下技术效果：Compared with the prior art, the present invention adopts the above technical scheme and has the following technical effects:

1. 结构简单，便于微小型化；1. Simple structure, easy to miniaturize;

2. 控制方式简单；2. Simple control method;

3. 应用场景更加广泛附图说明3. More extensive application scenarios

图1是本发明的结构示意图；Fig. 1 is a structural representation of the present invention;

图2是本发明中推进模式下第一纵向压电双晶片的极化方向以及接线示意图；Fig. 2 is a schematic diagram of the polarization direction and wiring of the first longitudinal piezoelectric bimorph in the propulsion mode in the present invention;

图3（a）、图3（b）分别是本发明中推进模式下第一横向压电双晶片、第三横向压电双晶片的极化方向以及接线示意图；Fig. 3(a) and Fig. 3(b) are respectively the polarization directions and wiring diagrams of the first transverse piezoelectric bimorph and the third transverse piezoelectric bimorph in the propulsion mode in the present invention;

图4是本发明中推进模式下纵向一阶弯曲振动的振型示意图；Fig. 4 is the vibration mode schematic diagram of longitudinal first-order bending vibration under propulsion mode in the present invention;

图5（a）是本发明中推进模式下第一、第二横向压电双晶片引起的横向一阶弯曲振动的振型示意图；图5（b）是本发明中推进模式下第三、第四横向压电双晶片引起的横向一阶弯曲振动的振型示意图；Figure 5(a) is a schematic diagram of the mode shape of the first-order transverse bending vibration caused by the first and second transverse piezoelectric bimorphs in the propulsion mode of the present invention; Schematic diagram of the mode shape of the transverse first-order bending vibration induced by four transverse piezoelectric bimorphs;

图6（a）、图6（b）分别是本发明中旋转模式下第一纵向压电双晶片、第三纵向压电双晶片的极化方向以及接线示意图；Figure 6(a) and Figure 6(b) are schematic diagrams of the polarization direction and wiring of the first longitudinal piezoelectric bimorph and the third longitudinal piezoelectric bimorph in the rotation mode in the present invention;

图7（a）、图7（b）是本发明中旋转模式下第一横向压电双晶片、第三横向压电双晶片的极化方向以及接线示意图；Figure 7(a) and Figure 7(b) are schematic diagrams of the polarization direction and wiring of the first transverse piezoelectric bimorph and the third transverse piezoelectric bimorph in the rotation mode in the present invention;

图8（a）是本发明中旋转模式下第一、第二纵向压电双晶片引起的纵向一阶弯曲振动的振型示意图；图8（b）是本发明中旋转模式下第三、第四纵向压电双晶片引起的纵向一阶弯曲振动的振型示意图；Fig. 8(a) is a schematic diagram of the mode shape of the longitudinal first-order bending vibration caused by the first and second longitudinal piezoelectric bimorphs in the rotation mode in the present invention; Fig. 8(b) is the third and the first order in the rotation mode in the present invention Schematic diagram of the mode shape of the longitudinal first-order bending vibration caused by four longitudinal piezoelectric bimorphs;

图9（a）是本发明中旋转模式下第一、第二横向压电双晶片引起的横向一阶弯曲振动的振型示意图；图9（b）是本发明中旋转模式下第三、第四横向压电双晶片引起的横向一阶弯曲振动的振型示意图。Fig. 9(a) is a schematic diagram of the mode shape of the first-order lateral bending vibration caused by the first and second transverse piezoelectric bimorphs in the rotation mode of the present invention; Fig. 9(b) is the third and the third piezoelectric bimorphs in the rotation mode of the present invention Schematic diagram of the mode shapes of the transverse first-order bending vibration induced by four transverse piezoelectric bimorphs.

图中，1-第一纵向压电双晶片组，2-第二纵向压电双晶片组，3-第三纵向压电双晶片组，4-第四纵向压电双晶片组，5-第一横向压电双晶片组，6-第二横向压电双晶片组，7-第三横向压电双晶片组，8-第四横向压电双晶片组，9-第一纵向连接板，10-第二纵向连接板，11-第一横向连接板，12-第二横向连接板，13-第一双向连接板，14-第二双向连接板，15-第三双向连接板，16-第四双向连接板，17-第一桨叶，18-第二桨叶，19-第三桨叶，20-第四桨叶，21-第五桨叶，22-第六桨叶，23-第七桨叶，24-第八桨叶，25-柔性鳍。In the figure, 1-first longitudinal piezoelectric bimorph group, 2-second longitudinal piezoelectric bimorph group, 3-third longitudinal piezoelectric bimorph group, 4-fourth longitudinal piezoelectric bimorph group, 5-th 1 transverse piezoelectric bimorph group, 6-second transverse piezoelectric bimorph group, 7-third transverse piezoelectric bimorph group, 8-fourth transverse piezoelectric bimorph group, 9-first longitudinal connecting plate, 10 - the second longitudinal connection plate, 11 - the first transverse connection plate, 12 - the second transverse connection plate, 13 - the first two-way connection plate, 14 - the second two-way connection plate, 15 - the third two-way connection plate, 16 - the first Four two-way connecting plates, 17-first blade, 18-second blade, 19-third blade, 20-fourth blade, 21-fifth blade, 22-sixth blade, 23-th Seven blades, 24-the eighth blade, 25-flexible fins.

具体实施方式Detailed ways

下面结合附图对本发明的技术方案做进一步的详细说明：Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

本发明可以以许多不同的形式实现，而不应当认为限于这里所述的实施例。相反，提供这些实施例以便使本发明公开透彻且完整，并且将向本领域技术人员充分表达本发明的范围。在附图中，为了清楚起见放大了组件。This 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.

如图1所示，本发明公开了一种微小型仿生鳐鱼水下推进器，包括振动部和柔性鳍；As shown in Figure 1, the present invention discloses a micro-miniature bionic ray underwater propeller, including a vibrating part and a flexible fin;

所述振动部包含第一至第四纵向压电双晶片、第一至第四横向压电双晶片、第一至第二纵向连接板、第一至第二横向连接板、第一至第四双向连接板、以及第一至第八桨叶；The vibrating part includes first to fourth longitudinal piezoelectric bimorphs, first to fourth transverse piezoelectric bimorphs, first to second longitudinal connecting plates, first to second transverse connecting plates, first to fourth a two-way connection plate, and the first to eighth blades;

所述第一至第四纵向压电双晶片、第一至第四横向压电双晶片均呈矩形，皆沿厚度方向极化且极化方向均相同；The first to fourth longitudinal piezoelectric bimorphs and the first to fourth transverse piezoelectric bimorphs are all rectangular in shape, are polarized along the thickness direction, and have the same polarization direction;

所述第一至第二纵向连接板、第一至第二横向连接板、第一至第四双向连接板均呈矩形；The first to second longitudinal connecting plates, the first to second transverse connecting plates, and the first to fourth two-way connecting plates are all rectangular;

所述第一纵向连接板两端分别和所述第一纵向压电双晶片、第二纵向压电双晶片的一端粘贴相连，第二纵向连接板两端分别和所述第三纵向压电双晶片、第四纵向压电双晶片的一端粘贴相连；Two ends of the first longitudinal connecting plate are respectively pasted and connected to one end of the first longitudinal piezoelectric bimorph and one end of the second longitudinal piezoelectric bimorph, and both ends of the second longitudinal connecting plate are respectively connected to the third longitudinal piezoelectric bimorph. One end of the wafer and the fourth longitudinal piezoelectric bimorph is pasted and connected;

所述第一横向连接板两端分别和所述第一横向压电双晶片、第二横向压电双晶片的一端粘贴相连，第二横向连接板两端分别和所述第三横向压电双晶片、第四横向压电双晶片的一端粘贴相连；Two ends of the first transverse connecting plate are respectively pasted and connected to one end of the first transverse piezoelectric bimorph and one end of the second transverse piezoelectric bimorph, and both ends of the second transverse connecting plate are respectively connected to the third transverse piezoelectric bimorph. One end of the wafer and the fourth transverse piezoelectric bimorph is pasted and connected;

所述第一双向连接板一端和所述第一桨叶的一端粘贴相连，另一端和所述第一纵向压电双晶片的另一端粘贴相连，且第一双向连接板一侧和所述第一横向压电双晶片的另一端粘贴相连，另一侧和所述第八桨叶的一端粘贴相连；One end of the first two-way connection plate is glued to one end of the first paddle, the other end is glued to the other end of the first longitudinal piezoelectric bimorph, and one side of the first two-way connection plate is glued to the first blade. The other end of a transverse piezoelectric bimorph is pasted and connected, and the other side is pasted and connected to one end of the eighth paddle;

所述第二双向连接板一端和所述第二桨叶的一端粘贴相连，另一端和所述第三纵向压电双晶片的另一端粘贴相连，且第二双向连接板一侧和所述第二横向压电双晶片的另一端粘贴相连，另一侧和所述第三桨叶的一端粘贴相连；One end of the second two-way connection plate is glued to one end of the second blade, the other end is glued to the other end of the third longitudinal piezoelectric bimorph, and one side of the second two-way connection plate is glued to the first The other ends of the two transverse piezoelectric bimorphs are pasted and connected, and the other side is pasted and connected to one end of the third paddle;

所述第三双向连接板一端和所述第五桨叶的一端粘贴相连，另一端和所述第四纵向压电双晶片的另一端粘贴相连，且第三双向连接板一侧和所述第四横向压电双晶片的另一端粘贴相连，另一侧和所述第四桨叶的一端粘贴相连；One end of the third two-way connection plate is glued to one end of the fifth paddle, the other end is glued to the other end of the fourth longitudinal piezoelectric bimorph, and one side of the third two-way connection plate is glued to the first The other ends of the four transverse piezoelectric bimorphs are pasted and connected, and the other side is pasted and connected with one end of the fourth paddle;

所述第四双向连接板一端和所述第六桨叶的一端粘贴相连，另一端和所述第二纵向压电双晶片的另一端粘贴相连，且第三双向连接板一侧和所述第三横向压电双晶片的另一端粘贴相连，另一侧和所述第七桨叶的一端粘贴相连；One end of the fourth two-way connection plate is glued to one end of the sixth paddle, the other end is glued to the other end of the second longitudinal piezoelectric bimorph, and one side of the third two-way connection plate is glued to the first The other ends of the three transverse piezoelectric bimorphs are pasted and connected, and the other side is pasted and connected to one end of the seventh paddle;

所述柔性鳍采用弹性模量小于预设的弹性阈值的柔性材料制成，呈八边形，和所述振动部的上端面粘贴相连，使得第一至第八桨叶的另一端分别在其八个顶点上。The flexible fin is made of a flexible material whose elastic modulus is less than the preset elastic threshold, is octagonal, and is glued to the upper end surface of the vibrating part, so that the other ends of the first to eighth paddles are respectively on their on eight vertices.

作为本发明一种微小型仿生鳐鱼水下推进器进一步的优化方案，所述第一至第四纵向压电双晶片、第一至第四横向压电双晶片上均涂有防水涂料。As a further optimization scheme of the micro-miniature bionic ray underwater propeller of the present invention, the first to fourth longitudinal piezoelectric bimorphs and the first to fourth transverse piezoelectric bimorphs are all coated with waterproof paint.

作为本发明一种微小型仿生鳐鱼水下推进器进一步的优化方案，所述柔性鳍采用硅橡胶制成。As a further optimization scheme of the micro-miniature bionic ray underwater propeller of the present invention, the flexible fins are made of silicon rubber.

本发明还公开了一种该微小型仿生鳐鱼水下推进器的推进方法，包含以下步骤：The invention also discloses a propulsion method of the micro-miniature bionic ray underwater propeller, comprising the following steps:

需要正向波动推进时，采用第一电信号激励第一至第四纵向压电双晶片，如图2所示，产生纵向一阶弯曲振动，带动柔性鳍产生纵向的一阶弯曲振动，如图4所示，同时采用第二电信号激励第一、第二横向压电双晶片，采用第三电信号激励第三、第四横向压电双晶片，如图3（a）、图3（b）所示，第一、第二电信号的相位差为π/2，第一、第三电信号的相位差为-π/2，第二、第三电信号的相位差为π，产生相位差为π的两个横向一阶弯曲振动，如图5（a）、图5（b）所示，带动柔性鳍产生纵向的二阶弯曲振动，纵向的一阶弯曲振动和纵向的二阶弯曲振动叠加形成纵向方向上的的行波，实现柔性鳍的水中纵向波动推进；When positive wave propulsion is required, the first electrical signal is used to excite the first to fourth longitudinal piezoelectric bimorphs, as shown in Figure 2, to generate longitudinal first-order bending vibrations, which drive the flexible fins to generate longitudinal first-order bending vibrations, as shown in Figure 2 As shown in 4, the first and second transverse piezoelectric bimorphs are excited by the second electric signal at the same time, and the third and fourth transverse piezoelectric bimorphs are excited by the third electric signal, as shown in Fig. 3(a) and Fig. 3(b ), the phase difference between the first and second electrical signals is π/2, the phase difference between the first and third electrical signals is -π/2, and the phase difference between the second and third electrical signals is π, resulting in a phase Two transverse first-order bending vibrations with a difference of π, as shown in Figure 5(a) and Figure 5(b), drive the flexible fin to generate longitudinal second-order bending vibration, the longitudinal first-order bending vibration and the longitudinal second-order bending The vibration is superimposed to form a traveling wave in the longitudinal direction, realizing the longitudinal wave propulsion of the flexible fin in water;

如需仿生鳐鱼水下推进器实现水中反向的波动推进，调整第二、第三电信号的相位差为-π即可。If the bionic ray underwater thruster needs to realize reverse wave propulsion in water, just adjust the phase difference between the second and third electrical signals to -π.

本发明还公开了一种该微小型仿生鳐鱼水下推进器的旋转方法，包含以下步骤：The invention also discloses a method for rotating the micro-miniature bionic ray underwater propeller, which includes the following steps:

需要正向旋转时，采用第一电信号激励第一、第二纵向压电双晶片，采用第二电信号激励第三、第四纵向压电双晶片，如图6（a）、图6（b）所示，第一、第二电信号的相位差为π，产生相位差为π的两个纵向一阶弯曲振动，如图8（a）、图8（b）所示，带动柔性鳍产生横向的二阶弯曲振动，同时采用第三电信号激励第一、第二横向压电双晶片，采用第四电信号激励第三、第四横向压电双晶片，如图7（a）、图7（b）所示，第一、第三电信号的相位差为π/2，第一、第四电信号的相位差为-π/2，第三、第四电信号的相位差为π，产生相位差为π的两个横向一阶弯曲振动，如图9（a）、图9（b）所示，带动柔性鳍产生纵向的二阶弯曲振动，横向的二阶弯曲振动和纵向的二阶弯曲振动叠加形成旋转的行波，实现柔性鳍的水中旋转运动；When forward rotation is required, use the first electrical signal to excite the first and second longitudinal piezoelectric bimorphs, and use the second electrical signal to excite the third and fourth longitudinal piezoelectric bimorphs, as shown in Figure 6(a) and Figure 6( As shown in b), the phase difference between the first and second electrical signals is π, and two longitudinal first-order bending vibrations with a phase difference of π are generated, as shown in Figure 8(a) and Figure 8(b), driving the flexible fin Generate lateral second-order bending vibration, and at the same time use the third electrical signal to excite the first and second transverse piezoelectric bimorphs, and use the fourth electrical signal to excite the third and fourth transverse piezoelectric bimorphs, as shown in Figure 7(a), As shown in Figure 7(b), the phase difference between the first and third electrical signals is π/2, the phase difference between the first and fourth electrical signals is -π/2, and the phase difference between the third and fourth electrical signals is π, producing two transverse first-order bending vibrations with a phase difference of π, as shown in Figure 9(a) and Figure 9(b), driving the flexible fins to generate longitudinal second-order bending vibrations The superimposition of the second-order bending vibration of the structure forms a rotating traveling wave, which realizes the rotating motion of the flexible fin in water;

如需仿生鳐鱼水下推进器实现水中反向旋转，调整第一、第二电信号的相位差为-π，第三、第四电信号的相位差为-π即可。If the bionic ray underwater propeller needs to realize reverse rotation in water, adjust the phase difference of the first and second electrical signals to -π, and adjust the phase difference of the third and fourth electrical signals to -π.

本发明结构简单，便于微小型化，控制方式简单，应用场景更加广泛。The invention has a simple structure, is convenient for miniaturization, has a simple control mode, and has wider application scenarios.

本技术领域技术人员可以理解的是，除非另外定义，这里使用的所有术语（包括技术术语和科学术语）具有与本发明所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样定义，不会用理想化或过于正式的含义来解释。Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art to which this invention belongs. It should also be understood that terms such as those defined in commonly used dictionaries should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted in an idealized or overly formal sense unless defined as herein explain.

以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施方式而已，并不用于限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The specific embodiments described above have further described the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (5)

1. A microminiature bionic ray underwater propeller is characterized by comprising a vibrating part and flexible fins;
the vibrating part comprises first to fourth longitudinal piezoelectric bimorphs, first to fourth transverse piezoelectric bimorphs, first to second longitudinal connecting plates, first to second transverse connecting plates, first to fourth bidirectional connecting plates and first to eighth paddles;
the first to fourth longitudinal piezoelectric bimorphs and the first to fourth transverse piezoelectric bimorphs are rectangular, are polarized along the thickness direction and have the same polarization direction;
the first to second longitudinal connecting plates, the first to second transverse connecting plates and the first to fourth bidirectional connecting plates are rectangular;
two ends of the first longitudinal connecting plate are respectively connected with one end of the first longitudinal piezoelectric bimorph and one end of the second longitudinal piezoelectric bimorph in a sticking way, and two ends of the second longitudinal connecting plate are respectively connected with one end of the third longitudinal piezoelectric bimorph and one end of the fourth longitudinal piezoelectric bimorph in a sticking way;
two ends of the first transverse connecting plate are respectively connected with one ends of the first transverse piezoelectric bimorph and the second transverse piezoelectric bimorph in a sticking way, and two ends of the second transverse connecting plate are respectively connected with one ends of the third transverse piezoelectric bimorph and the fourth transverse piezoelectric bimorph in a sticking way;
one end of the first bidirectional connecting plate is connected with one end of the first paddle in a sticking mode, the other end of the first bidirectional connecting plate is connected with the other end of the first longitudinal piezoelectric bimorph in a sticking mode, one side of the first bidirectional connecting plate is connected with the other end of the first transverse piezoelectric bimorph in a sticking mode, and the other side of the first bidirectional connecting plate is connected with one end of the eighth paddle in a sticking mode;
one end of the second bidirectional connecting plate is connected with one end of the second paddle in a sticking mode, the other end of the second bidirectional connecting plate is connected with the other end of the third longitudinal piezoelectric bimorph in a sticking mode, one side of the second bidirectional connecting plate is connected with the other end of the second transverse piezoelectric bimorph in a sticking mode, and the other side of the second bidirectional connecting plate is connected with one end of the third paddle in a sticking mode;
one end of the third bidirectional connecting plate is connected with one end of the fifth paddle in a sticking mode, the other end of the third bidirectional connecting plate is connected with the other end of the fourth longitudinal piezoelectric bimorph in a sticking mode, one side of the third bidirectional connecting plate is connected with the other end of the fourth transverse piezoelectric bimorph in a sticking mode, and the other side of the third bidirectional connecting plate is connected with one end of the fourth paddle in a sticking mode;
one end of the fourth bidirectional connecting plate is connected with one end of the sixth paddle in a sticking way, the other end of the fourth bidirectional connecting plate is connected with the other end of the second longitudinal piezoelectric bimorph in a sticking way, one side of the third bidirectional connecting plate is connected with the other end of the third transverse piezoelectric bimorph in a sticking way, and the other side of the third bidirectional connecting plate is connected with one end of the seventh paddle in a sticking way;
the flexible fin is made of flexible materials with the elastic modulus smaller than a preset elastic threshold value, is octagonal, and is connected with the upper end face of the vibrating portion in a pasting mode, so that the other ends of the first to eighth blades are respectively located on eight vertexes of the first to eighth blades.
2. The micro-miniature, biomimetic skate underwater propulsion device according to claim 1, wherein the first to fourth longitudinal piezoelectric bimorphs and the first to fourth transverse piezoelectric bimorphs are coated with waterproof coating.
3. The micro-miniature skate-like underwater propulsor of claim 1, wherein the flexible fins are made of silicone rubber.
4. The propulsion method of the microminiature bionic ray underwater propeller based on claim 1 is characterized by comprising the following steps:
when forward wave propulsion is needed, a first electric signal is adopted to excite a first longitudinal piezoelectric bimorph, a second longitudinal piezoelectric bimorph, a third transverse piezoelectric bimorph and a fourth longitudinal piezoelectric bimorph to generate longitudinal first-order bending vibration and drive the flexible fin to generate longitudinal first-order bending vibration, a second electric signal is adopted to excite the first transverse piezoelectric bimorph and the second transverse piezoelectric bimorph, a third electric signal is adopted to excite the third transverse piezoelectric bimorph and the fourth transverse piezoelectric bimorph, the phase difference between the first electric signal and the second electric signal is pi/2, the phase difference between the first electric signal and the third electric signal is-pi/2, the phase difference between the second electric signal and the third electric signal is pi, two transverse first-order bending vibrations with the phase difference of pi are generated and drive the flexible fin to generate longitudinal second-order bending vibration, and the longitudinal first-order bending vibration and the longitudinal second-order bending vibration are superposed to form traveling waves in the longitudinal direction, and the underwater longitudinal wave propulsion of the flexible fin is realized;
if the bionic ray underwater propeller is required to realize reverse wave propulsion in water, the phase difference of the second electric signal and the third electric signal is adjusted to be-pi.
5. The rotation method of the microminiature bionic ray underwater propeller as claimed in claim 1, which is characterized by comprising the following steps:
when the flexible fin needs to rotate forwards, a first electric signal is adopted to excite a first longitudinal piezoelectric bimorph and a second longitudinal piezoelectric bimorph, a second electric signal is adopted to excite a third longitudinal piezoelectric bimorph and a fourth longitudinal piezoelectric bimorph, the phase difference between the first electric signal and the second electric signal is pi, two longitudinal first-order bending vibrations with the phase difference of pi are generated, the flexible fin is driven to generate transverse second-order bending vibrations, meanwhile, a third electric signal is adopted to excite the first transverse piezoelectric bimorph and the second transverse piezoelectric bimorph, a fourth electric signal is adopted to excite the third transverse piezoelectric bimorph and the fourth transverse piezoelectric bimorph, the phase difference between the first electric signal and the third electric signal is pi/2, the phase difference between the first electric signal and the fourth electric signal is pi, two transverse first-order bending vibrations with the phase difference of pi are generated, the flexible fin is driven to generate longitudinal second-order bending vibrations, and the transverse second-order bending vibrations and the longitudinal second-order bending vibrations are superposed to form a rotating traveling wave, and underwater rotation of the flexible fin is realized;
if the underwater ray bionic propeller needs to realize reverse rotation in water, the phase difference of the first electric signal and the second electric signal is adjusted to be-pi, and the phase difference of the third electric signal and the fourth electric signal is adjusted to be-pi.
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