CN115352604A - Microminiature bionic ray underwater propeller and driving method thereof - Google Patents
Microminiature bionic ray underwater propeller and driving method thereof Download PDFInfo
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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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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 59
- 238000005452 bending Methods 0.000 claims description 42
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 230000010287 polarization Effects 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 3
- 229920002379 silicone rubber Polymers 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 2
- 230000003592 biomimetic effect Effects 0.000 claims 1
- 239000011248 coating agent Substances 0.000 claims 1
- 239000004945 silicone rubber Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 9
- 238000005457 optimization Methods 0.000 description 4
- 230000007123 defense Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
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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
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- 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
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- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/001—Driving devices, e.g. vibrators
- H02N2/003—Driving devices, e.g. vibrators using longitudinal or radial modes combined with bending modes
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/005—Mechanical details, e.g. housings
- H02N2/0055—Supports for driving or driven bodies; Means for pressing driving body against driven body
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/0075—Electrical details, e.g. drive or control circuits or methods
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- 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
Technical Field
The invention relates to the field of bionic robots and piezoelectric driving, in particular to a microminiature bionic ray underwater propeller and a driving method thereof.
Background
Ocean and island national defense hold a great position in national economic development. Due to the requirements of hydrologic information acquisition, ocean resource exploration and national defense construction, the underwater bionic thruster develops to a great extent.
The underwater bionic propeller can become a tool for multi-azimuth continuous information acquisition. The existing underwater bionic propeller is mostly controlled by an electromagnetic motor and driven by a multi-joint series device, and the driving mode has the problems of huge structure, complex control, water sealing and the like.
The bionic ray underwater propeller driven by the piezoelectric bimorph does not need a transmission mechanism, is beneficial to microminiaturization of the structure and simplification of control, does not have the problem of water sealing, and has wider application scene.
Disclosure of Invention
The invention aims to solve the technical problem of providing a microminiature bionic ray underwater propeller and a driving method thereof aiming at the defects related in the background technology.
The invention adopts the following technical scheme for solving the technical problems:
a microminiature bionic ray underwater propeller comprises a vibrating part and a flexible fin;
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.
As a further optimization scheme of the microminiature bionic ray underwater propeller, waterproof paint is coated on the first to fourth longitudinal piezoelectric bimorphs and the first to fourth transverse piezoelectric bimorphs.
As a further optimization scheme of the microminiature bionic ray underwater propeller, the flexible fins are made of silicon rubber.
The invention also discloses a propelling method of the microminiature bionic ray underwater propeller, which comprises 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.
The invention also discloses a rotation method of the microminiature bionic ray underwater propeller, which comprises 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 ray underwater propeller needs to be simulated 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.
Compared with the prior art, the technical scheme adopted by the invention has the following technical effects:
1. the structure is simple, and microminiaturization is facilitated;
2. the control mode is simple;
3. more extensive description of the figures of the application scenarios
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the polarization direction and wiring of the first longitudinal piezoelectric bimorph in the push-in mode of the present invention;
fig. 3 (a) and 3 (b) are schematic diagrams of polarization directions and wiring of the first transverse piezoelectric bimorph and the third transverse piezoelectric bimorph respectively in the push mode of the invention;
FIG. 4 is a schematic view of the mode shape of the first order longitudinal bending vibration in the propulsion mode of the present invention;
FIG. 5 (a) is a schematic diagram of the mode shape of the first-order transverse bending vibration induced by the first and second transverse piezoelectric bimorphs in the push-in mode according to the present invention; FIG. 5 (b) is a schematic diagram of the vibration mode of the first-order transverse bending vibration induced by the third and fourth transverse piezoelectric bimorphs in the push-in mode of the present invention;
fig. 6 (a) and fig. 6 (b) are schematic diagrams of polarization directions and wiring of the first vertical piezoelectric bimorph and the third vertical piezoelectric bimorph, respectively, in the rotation mode of the present invention;
fig. 7 (a) and 7 (b) are schematic diagrams of polarization directions and wiring of the first transverse piezoelectric bimorph and the third transverse piezoelectric bimorph in the rotation mode of the present invention;
FIG. 8 (a) is a schematic diagram of the first-order longitudinal bending vibration induced by the first and second longitudinal piezoelectric bimorphs in the rotation mode of the present invention; FIG. 8 (b) is a schematic diagram of the vibration mode of the first-order longitudinal bending vibration induced by the third and fourth longitudinal piezoelectric bimorphs in the rotational mode according to the present invention;
FIG. 9 (a) is a schematic diagram of the mode shape of the first-order transverse bending vibration induced by the first and second transverse piezoelectric bimorphs in the rotational mode according to the present invention; fig. 9 (b) is a schematic vibration pattern diagram of first order transverse bending vibration caused by the third and fourth transverse piezoelectric bimorphs in the rotation mode of the present invention.
In the figure, 1-a first longitudinal piezoelectric bimorph group, 2-a second longitudinal piezoelectric bimorph group, 3-a third longitudinal piezoelectric bimorph group, 4-a fourth longitudinal piezoelectric bimorph group, 5-a first transverse piezoelectric bimorph group, 6-a second transverse piezoelectric bimorph group, 7-a third transverse piezoelectric bimorph group, 8-a fourth transverse piezoelectric bimorph group, 9-a first longitudinal connecting plate, 10-a second longitudinal connecting plate, 11-a first transverse connecting plate, 12-a second transverse connecting plate, 13-a first bidirectional connecting plate, 14-a second bidirectional connecting plate, 15-a third bidirectional connecting plate, 16-a fourth bidirectional connecting plate, 17-a first paddle, 18-a second paddle, 19-a third paddle, 20-a fourth paddle, 21-a fifth paddle, 22-a sixth paddle, 23-a seventh paddle, 24-an eighth paddle, and 25-a flexible fin.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
As shown in fig. 1, the invention discloses a microminiature bionic ray underwater propeller, which comprises 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 end of the first transverse piezoelectric bimorph and one end of the second transverse piezoelectric bimorph in a sticking way, and two ends of the second transverse connecting plate are respectively connected with one end of the third transverse piezoelectric bimorph and one end of 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 way, the other end of the third bidirectional connecting plate is connected with the other end of the fourth longitudinal piezoelectric bimorph in a sticking way, one side of the third bidirectional connecting plate is connected with the other end of the fourth transverse piezoelectric bimorph in a sticking way, and the other side of the third bidirectional connecting plate is connected with one end of the fourth paddle in a sticking way;
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.
As a further optimization scheme of the microminiature bionic ray underwater propeller, waterproof coatings are coated on the first to fourth longitudinal piezoelectric bimorphs and the first to fourth transverse piezoelectric bimorphs.
As a further optimization scheme of the microminiature bionic ray underwater propeller, the flexible fins are made of silicon rubber.
The invention also discloses a propelling method of the microminiature bionic ray underwater propeller, which comprises the following steps:
when forward wave propulsion is needed, a first electric signal is adopted to excite the first to fourth longitudinal piezoelectric bimorphs, as shown in fig. 2, longitudinal first-order bending vibration is generated to drive the flexible fin to generate longitudinal first-order bending vibration, as shown in fig. 4, a second electric signal is adopted to excite the first and second transverse piezoelectric bimorphs, a third electric signal is adopted to excite the third and fourth transverse piezoelectric bimorphs, as shown in fig. 3 (a) and 3 (b), the phase difference between the first and second electric signals is pi/2, the phase difference between the first and third electric signals is-pi/2, the phase difference between the second and third electric signals is pi, two transverse first-order bending vibrations with the phase difference of pi are generated, as shown in fig. 5 (a) and 5 (b), the flexible fin is driven 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, so that 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.
The invention also discloses a rotation method of the microminiature bionic ray underwater propeller, which comprises the following steps:
when the forward rotation is needed, a first electric signal is used for exciting the first and second longitudinal piezoelectric bimorphs, a second electric signal is used for exciting the third and fourth longitudinal piezoelectric bimorphs, as shown in fig. 6 (a) and 6 (b), the phase difference between the first and second electric signals is pi, two longitudinal first-order bending vibrations with the phase difference of pi are generated, as shown in fig. 8 (a) and 8 (b), the flexible fin is driven to generate a transverse second-order bending vibration, at the same time, the first and second transverse piezoelectric bimorphs are excited by the third electric signal, and the third and fourth transverse piezoelectric bimorphs are excited by the fourth electric signal, as shown in fig. 7 (a) and 7 (b), the phase difference between the first and third electric signals is pi/2, the phase difference between the first and fourth electric signals is-pi/2, the phase difference between the third and fourth electric signals is pi, two transverse first-order bending vibrations with the phase difference of pi are generated, as shown in fig. 9 (a) and 9 (b), the flexible fin is driven to generate a longitudinal second-order bending vibration, and a transverse second-order bending vibration is superposed to realize the underwater flexible rotation;
if the ray underwater propeller needs to be simulated 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.
The invention has simple structure, convenient microminiaturization, simple control mode and wider application scenes.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210913761.0A CN115352604B (en) | 2022-08-01 | 2022-08-01 | Miniature bionic ray underwater propeller and driving method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210913761.0A CN115352604B (en) | 2022-08-01 | 2022-08-01 | Miniature bionic ray underwater propeller and driving method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115352604A true CN115352604A (en) | 2022-11-18 |
| CN115352604B CN115352604B (en) | 2024-06-21 |
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Citations (4)
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| CN104309788A (en) * | 2014-10-27 | 2015-01-28 | 哈尔滨工业大学 | Double-fluctuation pectoral-fin cooperative-propel ray-imitated underwater vehicle |
| CN106741773A (en) * | 2016-12-01 | 2017-05-31 | 南京航空航天大学 | A kind of bionical tadpole of sandwich Piezoelectric Driving and its working method |
| CN112455637A (en) * | 2020-10-26 | 2021-03-09 | 南京航空航天大学 | Piezoelectrically-driven bionic ray wave propeller and working method thereof |
| CN113071647A (en) * | 2021-03-22 | 2021-07-06 | 南京航空航天大学 | Surface-mounted piezoelectric driving double-paddle type underwater vector propulsion system and method thereof |
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| CN104309788A (en) * | 2014-10-27 | 2015-01-28 | 哈尔滨工业大学 | Double-fluctuation pectoral-fin cooperative-propel ray-imitated underwater vehicle |
| CN106741773A (en) * | 2016-12-01 | 2017-05-31 | 南京航空航天大学 | A kind of bionical tadpole of sandwich Piezoelectric Driving and its working method |
| CN112455637A (en) * | 2020-10-26 | 2021-03-09 | 南京航空航天大学 | Piezoelectrically-driven bionic ray wave propeller and working method thereof |
| CN113071647A (en) * | 2021-03-22 | 2021-07-06 | 南京航空航天大学 | Surface-mounted piezoelectric driving double-paddle type underwater vector propulsion system and method thereof |
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| 王扬威;: "BCF推进模式仿生机器鱼的研究现状与发展趋势", 微特电机, 22 January 2016 (2016-01-22), pages 75 - 80 * |
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