CN115636053A - Full-sea-depth single-phase driving piezoelectric release mechanism and working mode thereof - Google Patents
Full-sea-depth single-phase driving piezoelectric release mechanism and working mode thereof Download PDFInfo
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Abstract
The invention discloses a full-sea-depth single-phase driving piezoelectric release mechanism and a working mode thereof, wherein the full-sea-depth single-phase driving piezoelectric release mechanism comprises a floating body, a detector, a release module, a first connecting device, a second connecting device and an anchoring weight; the releasing module comprises a releasing lock body, a first piezoelectric actuator and a second piezoelectric actuator; the release lock body contains fixed plate, link plate, limiting plate, first rotation post and second rotation post. When the release lock body is in work, the first piezoelectric actuator and the second piezoelectric actuator are driven to open the release lock body, and the detector is pulled to the sea surface by the floating body. Compared with other releasers, the invention does not need sealing, has no cavity inside each component, can work under high water pressure, has simpler structure and higher reliability, can directly release large load and fully exerts the advantages of the piezoelectric actuator.
Description
Technical Field
The invention relates to the field of piezoelectric driving and deep sea detection equipment, in particular to a full-sea-depth single-phase driving piezoelectric release mechanism and a working mode thereof.
Background
The underwater acoustic remote control is an application of underwater acoustic communication, and transmits control commands by using the underwater acoustic communication mode. The acoustic releaser is a device of an underwater acoustic remote control system and consists of a water surface deck unit and an underwater acoustic release unit. The water surface deck unit realizes control and state monitoring of the underwater acoustic release unit; the underwater acoustic release unit is used for recycling the underwater submerged buoy system and ensuring the reliability and the load capacity of the release system.
The acoustic releaser is suitable for severe environments such as deep sea high water pressure, strong corrosion, low temperature and the like, can be reliably locked when a release instruction is not received, and can be immediately released after the release instruction is received. At present, the release mode of the actuating mechanism of the deep sea releaser includes an electromagnetic motor driving mode, a pneumatic mode, a fusing mode and an electromagnetic mode according to the type of a driving source. Unlike the driving source, the piezoelectric actuator utilizes the piezoelectric ceramic to excite the stator to produce controllable micro vibration, and realizes the macro motion of the rotor through the stator, the rotor and friction. The piezoelectric actuator has a simple structure, can be freely arranged in space, and has a high torque-weight ratio; when the piezoelectric actuator is used for underwater equipment, no pressure difference exists between the open structure of the piezoelectric actuator and seawater, and the piezoelectric ceramic piece exposed in water and the silver coating of the piezoelectric ceramic piece can be subjected to insulation treatment only by coating glue on the piezoelectric ceramic piece and the silver coating of the piezoelectric ceramic piece; the contact interface of the stator and the rotor of the piezoelectric actuator allows seawater to contact, the convection of the seawater can effectively reduce the temperature rise problem caused by structural damping and friction under high-frequency vibration, and the problems of working frequency drift, output performance reduction and the like of the piezoelectric actuator caused by the temperature rise are solved; the underwater vehicle has the advantages of being fast in response, self-locking and the like, being capable of better adapting to the deep sea environment where the underwater vehicle is located, avoiding the shedding of the mounted load caused by underwater disturbance, and being capable of remarkably improving the reliability of a load rejection system.
Disclosure of Invention
The invention aims to solve the technical problem of providing a full-sea-depth single-phase driving piezoelectric release mechanism and a working mode thereof aiming at the defects related in the background technology.
The invention adopts the following technical scheme for solving the technical problems:
a full-depth single-phase driving piezoelectric release mechanism comprises a floating body, a detector, a release module, a first connecting device, a second connecting device and an anchoring weight;
the floating body is used for providing floating buoyancy;
the detector is used for detecting and monitoring the ocean and is arranged in the floating body;
the release module comprises a release lock body, a first piezoelectric actuator and a second piezoelectric actuator;
the release lock body comprises a fixed plate, a hanging plate, a limiting plate, a first rotating column and a second rotating column;
the upper end of the fixing plate is provided with a connecting ring for hinging;
the hanging plate is an L-shaped plate and comprises a rotating strip and a bearing strip which are vertically and fixedly connected with each other, the lower end of the rotating strip is vertically and fixedly connected with one end of the bearing strip, and the bearing strip is used for hanging the anchoring heavy object;
the limiting plate is a U-shaped plate and comprises a first limiting strip, a second limiting strip and a connecting strip, and one end of the connecting strip is vertically and fixedly connected with one end of the first limiting strip and one end of the second limiting strip respectively; the length of the first limiting strip is greater than that of the second limiting strip, and a pulley is arranged at one end, far away from the connecting strip, of the first limiting strip;
the first rotating column and the second rotating column are vertically and fixedly connected with the fixed plate; the upper end of the rotating strip is rotatably connected with the first rotating column, so that the hanging plate is parallel to the fixing plate and can freely rotate around the first rotating column; the connecting strip is rotationally connected with the second rotating column, so that the limiting plate is parallel to the fixed plate and can freely rotate around the second rotating column; the openings of the hanging plate and the limiting plate are opposite;
a vertical slide rail is arranged above the first rotating column on the fixing plate, and a slide block is arranged in the slide rail; when the pulley at the end part of the first limiting strip of the limiting plate abuts against the sliding block, the second limiting strip of the limiting plate abuts against the lower end of the bearing strip of the hanging plate, so that the bearing strip is horizontal and further cannot be separated from the anchoring weight hung on the bearing strip; when the sliding block slides upwards along the sliding rail to enable the sliding wheel at the end part of the first limiting strip of the limiting plate to be separated from the sliding block, the limiting plate does not play a limiting role, and under the action of upward pulling force of the floating body and downward pulling force of the anchored heavy object, the bearing strip rotates and inclines to drive the limiting plate to rotate around the second rotating column, so that the release lock body is separated from the anchored heavy object;
the first piezoelectric actuator and the second piezoelectric actuator have the same structure and respectively comprise a piezoelectric composite beam, a flange and an actuating head, wherein the actuating head is a cylinder with a cross section which is gradually thinned from back to front, and two sides of the side wall of the front end of the actuating head are provided with mutually parallel driving surfaces; the end surface of the rear end of the actuating head is the same as the end surface of the front end of the piezoelectric composite beam in shape, and the end surface of the rear end of the actuating head is coaxially and fixedly connected with the end surface of the front end of the piezoelectric composite beam; the piezoelectric composite beam is used for driving the actuating head; the flange is used for fixing the piezoelectric composite beam;
the first piezoelectric actuator is fixed on the sliding block through a flange of the first piezoelectric actuator and is parallel to the sliding rail; the second piezoelectric actuator is fixed on the fixing plate through a flange of the second piezoelectric actuator and is vertical to the first piezoelectric actuator, and the front end of the actuating head of the second piezoelectric actuator abuts against one driving surface of the actuating head of the first piezoelectric actuator;
the first piezoelectric actuator and the second piezoelectric actuator are used for being matched with each other to control the sliding block to slide on the sliding rail;
the first connecting device and the second connecting device both comprise rod bodies and hinge rings, wherein the hinge rings are annular; one end of the rod body is fixedly connected with the outer wall of the hinge ring, and the rod body points to the circle center of the hinge ring;
one end of the rod body of the first connecting device, which is far away from the hinged ring of the rod body, is hinged with the lower end of the floating body, and the hinged ring of the first connecting device is hinged with the connecting ring of the fixed plate;
the hinge ring of the second connecting device is sleeved on the bearing strip of the hanging plate, and one end of the rod body of the second connecting device, which is far away from the hinge ring, is hinged with the anchoring heavy object;
the anchoring weight is used for providing vertical downward gravity, plays an anchoring role and prevents the piezoelectric release system from moving the anchoring position due to the influence of water flow disturbance or seawater temperature gradient.
As a further optimized scheme of the full-sea-depth single-phase driving piezoelectric release mechanism, a limiting column which is vertically fixedly connected with the fixing plate is further arranged between the hanging plate and the limiting plate on the fixing plate and used for limiting the rotation degree of the limiting plate.
As a further optimization scheme of the full-sea-depth single-phase driving piezoelectric release mechanism, the piezoelectric composite beam comprises a pre-tightening bolt, a rear beam body, a piezoelectric ceramic module and a front beam body;
the pre-tightening bolt comprises a nut and a stud; the front beam body and the rear beam body are regular prisms or cylinders with the same cross section shape, a threaded hole matched with the pre-tightening bolt is formed in the center of one end face of the front beam body, and a countersunk through hole matched with the pre-tightening bolt is formed in the center of one end face of the rear beam body;
the piezoelectric ceramic module comprises 2M singly-partitioned piezoelectric ceramic plates and 2M +1 electrode plates, wherein M is a natural number more than or equal to 1; the single-partition piezoelectric ceramic plate is in a regular polygon or circle shape, the center of the single-partition piezoelectric ceramic plate is provided with a through hole for a pre-tightening bolt to penetrate through, and the single-partition piezoelectric ceramic plate is polarized along the thickness direction; the shape of the electrode plate is the same as that of the single-partition piezoelectric ceramic plate; the 2M +1 electrode plate and the 2M single-partition piezoelectric ceramic plates are sequentially and alternately laminated, so that the 2M +1 electrode plate and the 2M single-partition piezoelectric ceramic plates are coaxial, and the electrode plates are separated between the adjacent single-partition piezoelectric ceramic plates; the polarization directions of the adjacent single-partition piezoelectric ceramic pieces are opposite;
the stud of the pre-tightening bolt sequentially penetrates through a countersunk through hole of the rear beam body, through holes in the centers of 2M single-partition piezoelectric ceramic plates and 2M +1 electrode plates in the piezoelectric ceramic module and then is in threaded connection with a threaded hole of the front beam body, and the 2M single-partition piezoelectric ceramic plates and the 2M +1 electrode plates are compressed;
we refer to this scheme as a two-zone sandwich scheme.
As a further optimization scheme of the full-sea-depth single-phase driving piezoelectric release mechanism, the piezoelectric composite beam comprises a pre-tightening bolt, a rear beam body, a piezoelectric ceramic module and a front beam body;
the pre-tightening bolt comprises a nut and a stud; the front beam body and the rear beam body are regular prisms or cylinders with the same cross section shape, a threaded hole matched with the pre-tightening bolt is formed in the center of one end face of the front beam body, and a countersunk through hole matched with the pre-tightening bolt is formed in the center of one end face of the rear beam body;
the piezoelectric ceramic module comprises 2M double-partition piezoelectric ceramic pieces and 2M +1 electrode pieces, wherein M is a natural number more than or equal to 1; the double-partition piezoelectric ceramic piece is in a regular polygon or circle shape, a through hole for a pre-tightening bolt to penetrate through is formed in the center of the double-partition piezoelectric ceramic piece, polarization is carried out along the thickness direction, the polarization boundary line of the double-partition piezoelectric ceramic piece is a straight line, and the polarization directions of two partitions of the double-partition piezoelectric ceramic piece are opposite; the shape of the electrode plate is the same as that of the double-partition piezoelectric ceramic plate; the 2M +1 electrode plates and the 2M double-partition piezoelectric ceramic plates are sequentially and alternately stacked, so that the 2M +1 electrode plates and the 2M double-partition piezoelectric ceramic plates are coaxial, polarization dividing lines of the 2M double-partition piezoelectric ceramic plates are coplanar, and electrode plates are arranged between the adjacent double-partition piezoelectric ceramic plates for separation; the polarization directions of the adjacent double-partition piezoelectric ceramic pieces are opposite;
a stud of the pre-tightening bolt sequentially penetrates through a countersunk through hole of the rear beam body, through holes in the centers of 2M double-partition piezoelectric ceramic plates and 2M +1 electrode plates in the piezoelectric ceramic module and then is in threaded connection with a threaded hole of the front beam body, and the 2M double-partition piezoelectric ceramic plates and the 2M +1 electrode plates are pressed tightly;
we make this approach a single partition sandwich approach.
As a further optimization scheme of the full-depth single-phase driving piezoelectric release mechanism, the piezoelectric composite beam comprises a beam body, a first piezoelectric ceramic piece and a second piezoelectric ceramic piece, wherein the beam body is a cylinder; the first piezoelectric ceramic piece and the second piezoelectric ceramic piece are polarized along the thickness direction and are symmetrically adhered to two sides of the side wall of the beam body;
we make this approach a patch approach.
The invention also discloses a working method when the full-sea-depth single-phase driving piezoelectric release mechanism adopts a single-partition sandwich type scheme or a patch type scheme, which comprises the following steps:
when the plate is locked, the sliding block is prevented from sliding on the sliding rail by static friction force generated between the actuating heads of the first piezoelectric actuator and the second piezoelectric actuator, the pulley at the end part of the first limiting strip of the limiting plate abuts against the sliding block, and the second limiting strip of the limiting plate abuts against the lower end of the bearing strip of the hanging plate, so that the bearing strip is horizontal and further cannot be separated from an anchoring weight hung on the bearing strip;
when the release is carried out:
the first piezoelectric actuator and the second piezoelectric actuator are excited by adopting alternating current signals AC-A and AC-B with the time phase difference of 90 degrees respectively, so that the longitudinal vibration mode of the first piezoelectric actuator and the longitudinal vibration mode of the second sandwich type longitudinal vibration are excited simultaneously, the driving surface of the first piezoelectric actuator and the front end point of the actuating head of the second piezoelectric actuator generate elliptic motion, the first piezoelectric actuator drives the sliding block to move towards the direction close to the floating body, and the specific cycle process is as follows:
the process a: in the 0-T/4 time period, the first piezoelectric actuator is converted from a contraction state to an equilibrium state, and each point on the first piezoelectric actuator moves towards a position far away from the node; the second piezoelectric actuator is converted from a balance state to a contraction state, and each point on the second piezoelectric actuator moves towards a position close to the node;
and a process b: in a T/4-2T/4 time period, the first piezoelectric actuator is changed from a balance state to an expansion state, and each point on the first piezoelectric actuator moves towards a position far away from the node; the second piezoelectric actuator is changed from a contraction state to a balance state, and each point on the second piezoelectric actuator moves towards a position far away from the node;
and c, a process c: in the time period of 2T/4-3T/4, the first piezoelectric actuator is converted from the expansion state to the balance state, and each point on the first piezoelectric actuator moves towards the position close to the node; the second piezoelectric actuator is converted from a balance state to an expansion state, and each point on the second piezoelectric actuator moves towards a position far away from the node;
and a process d: in a 3T/4-T time period, the first piezoelectric actuator is converted from an equilibrium state to a contraction state, and each point on the first piezoelectric actuator moves towards a position close to a node; the second piezoelectric actuator is changed from an expansion state to a balance state, and each point on the second piezoelectric actuator moves towards a position close to the node;
in the process a, the second piezoelectric actuator contracts inwards, the front end of the actuating head of the second piezoelectric actuator and the driving surface of the actuating head of the first piezoelectric actuator have a separation tendency, the second piezoelectric actuator is continuously contacted with the driving surface under the action of pre-pressure force, but the inertia force generated by the slightly elliptic motion in the process d to the process a is larger than the friction force between the front end of the actuating head of the second piezoelectric actuator and the driving surface of the actuating head of the first piezoelectric actuator, and the first piezoelectric actuator continues to move horizontally to the right;
in the process b, the second piezoelectric actuator expands outwards from a contraction state, the friction force between the front end of the actuating head of the second piezoelectric actuator and the driving surface of the actuating head of the first piezoelectric actuator is smaller than the inertia force generated in the process a to the process b, and the first piezoelectric actuator continues to move horizontally to the right;
in the process c, the second piezoelectric actuator expands outwards, and the top end of the second piezoelectric actuator and the driving surface do slight elliptical motion, so that the piezoelectric actuator moves horizontally to the right;
in the process d, the second piezoelectric actuator contracts inwards, and the top end of the second piezoelectric actuator and the driving surface do slight elliptical motion, so that the piezoelectric actuator moves horizontally to the right;
when the sliding block slides upwards along the sliding rail, the sliding block enables the pulley at the end part of the first limiting strip of the limiting plate to be separated from the sliding block, the limiting plate does not play a limiting role, and under the action of upward pulling force of the floating body and downward pulling force of the anchoring heavy object, the bearing strip rotates and inclines to drive the limiting plate to rotate around the second rotating column, so that the release lock body is separated from the anchoring heavy object.
The invention also discloses a working method when the full-sea-depth single-phase driving piezoelectric release mechanism adopts a double-partition sandwich type scheme or a patch type scheme, which comprises the following steps:
when the hanging plate is locked, the sliding block is prevented from sliding on the sliding rail by static friction force generated between the actuating heads of the first piezoelectric actuator and the second piezoelectric actuator, the pulley at the end part of the first limiting strip of the limiting plate props against the sliding block, and the second limiting strip of the limiting plate props against the lower end of the bearing strip of the hanging plate, so that the bearing strip is horizontal and cannot be separated from an anchoring weight hung on the bearing strip;
when the release is carried out:
the method comprises the following steps that alternating current signals AC-A and AC-B with the time phase difference of 90 degrees are respectively adopted to excite se:Sub>A first piezoelectric actuator and se:Sub>A second piezoelectric actuator, so that the bending vibration mode of the first piezoelectric actuator and the bending vibration mode of the second piezoelectric actuator are excited simultaneously, the driving surface of the first piezoelectric actuator and the front end point of the actuating head of the second piezoelectric actuator generate elliptic motion, the first piezoelectric actuator drives se:Sub>A sliding block to move towards the direction close to se:Sub>A floating body, and the specific cycle process is as follows;
the bending of the end part of the piezoelectric actuator relative to the fixed position of the flange in the clockwise direction is called a bending vibration mode A, and the bending of the end part of the piezoelectric actuator relative to the fixed position of the flange in the anticlockwise direction is called a bending vibration mode B;
the process a is as follows: in the 0-T/4 time period, the first piezoelectric actuator is converted from a bending vibration mode A to a balance state, and each point on the first piezoelectric actuator moves towards a position far away from the central axis of the front beam body; the second piezoelectric actuator is converted from a balance state to a bending vibration mode A, and each point on the second piezoelectric actuator moves towards a position close to the central axis of the front beam body;
and a process b: in a T/4-2T/4 time period, the first piezoelectric actuator is changed from a balance state to a bending vibration mode B, and each point on the first piezoelectric actuator moves towards a position far away from the central axis of the front beam body; the second piezoelectric actuator is changed from a bending vibration mode B to a balance state, and each point on the second piezoelectric actuator moves towards a position far away from the central axis of the beam body;
and c, a process c: in a 2T/4-3T/4 time period, the first piezoelectric actuator is converted from a bending vibration mode B to a balance state, and each point on the first piezoelectric actuator moves towards a position close to the central axis of the front beam body; the second piezoelectric actuator is converted from a balance state to a bending vibration mode A, and each point on the second piezoelectric actuator moves towards a position far away from the central axis of the front beam body;
and a process d: in a 3T/4-T time period, the first piezoelectric actuator is converted from a balance state to a bending vibration mode A, and each point on the first piezoelectric actuator moves towards a position close to a node; the second piezoelectric actuator is converted from a bending vibration mode A to a balance state, and each point on the second piezoelectric actuator moves towards a position close to the central axis of the front beam body;
in the process a, the first piezoelectric actuator bends, the front end of the actuating head of the second piezoelectric actuator and the driving surface of the actuating head of the first piezoelectric actuator have a separation tendency, the second piezoelectric actuator is continuously contacted with the driving surface under the action of pre-pressure force, but because the inertia force generated by the micro-elliptic motion in the process d to the process a is greater than the friction force between the front end of the actuating head of the second piezoelectric actuator and the driving surface of the actuating head of the first piezoelectric actuator, the first piezoelectric actuator continues to move horizontally to the right;
in the process B, the first piezoelectric actuator is close to the axial line position of the front beam body in the bending vibration mode B, the friction force between the front end of the actuating head of the second piezoelectric actuator and the driving surface of the actuating head of the first piezoelectric actuator is smaller than the inertia force generated in the process a to the process B, and the first piezoelectric actuator continues to move horizontally to the right;
in the process c, the second piezoelectric actuator bends away from the central axis of the front beam body, and the top end of the second piezoelectric actuator and the driving surface do slight elliptical motion, so that the first piezoelectric actuator moves horizontally to the right;
in the process d, the second piezoelectric actuator bends towards the central axis of the front beam body, and the top end of the second piezoelectric actuator and the driving surface do slight elliptical motion, so that the piezoelectric actuator moves horizontally to the right;
when the sliding block slides upwards along the sliding rail, the sliding block enables the pulley at the end part of the first limiting strip of the limiting plate to be separated from the sliding block, the limiting plate does not play a limiting role, and under the action of upward pulling force of the floating body and downward pulling force of the anchoring heavy object, the bearing strip rotates and inclines to drive the limiting plate to rotate around the second rotating column, so that the release lock body is separated from the anchoring heavy object.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. the friction drive allows seawater to enter without dynamic sealing;
2. the patch type piezoelectric transducer only needs to be subjected to water resisting and insulating treatment; the blind threaded holes in the sandwich piezoelectric transducer can be filled with insulating curing glue; no matter the patch type or sandwich type piezoelectric transducers are adopted, the structures of the patch type or sandwich type piezoelectric transducers have no cavity inside, have no pressure difference with external seawater, cannot be damaged under the condition of high water pressure, and can adapt to the severe environment of high water pressure, low temperature and strong corrosion in deep sea;
3. the buoyancy provided by the floating body and the detector ensures firm contact between the piezoelectric transducer and the rotor during fixed-point monitoring and response release, and serves as lifting tension to realize upward floating of the detector when the detector is separated from ascending;
4. the static friction force of the piezoelectric actuator is utilized to realize the power-off self-locking function of the releasing system, the matching of the sliding rail and the piezoelectric actuator improves the capability of coping with the large-angle inclination of the detector and the extreme working condition of large-amplitude swing, and the reliability of underwater long-term service of the piezoelectric driving type releaser is greatly enhanced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a release module according to the present invention;
FIG. 3 is a schematic diagram of a first piezoelectric actuator according to the present invention employing a single-zone sandwich approach;
FIG. 4 is a schematic diagram of a first electrical actuator according to the present invention using a dual zone sandwich approach;
FIG. 5 is a schematic view of a first piezoelectric actuator according to the present invention in a patch type arrangement;
FIG. 6 is a schematic longitudinal mode vibration mode of the first piezoelectric actuator using the single zone sandwich approach of the present invention;
FIG. 7 is a schematic view of the bending mode of the first electrical actuator of the present invention using a dual-zone sandwich approach;
FIG. 8 is a schematic longitudinal vibration mode of the first piezoelectric actuator using the surface mount approach of the present invention;
FIG. 9 is a schematic view of a bending mode of the first piezoelectric actuator according to the present invention using a surface mount approach;
FIG. 10 is a schematic diagram of the operation of the present invention in releasing the module lock;
FIG. 11 is a schematic flow chart of the present invention during load rejection;
FIG. 12 is an analysis of the relative ellipse of the first and second piezoelectric actuators in the longitudinal mode of operation of the present invention;
FIG. 13 is an analysis view of the operation of the first and second piezoelectric actuators in the longitudinal vibration mode of operation according to the present invention;
FIG. 14 is an analysis of the relative ellipse of the first and second piezoelectric actuators in the bending mode of operation of the present invention;
FIG. 15 is an analysis view showing the operation of the first and second piezoelectric actuators in the bending mode of operation according to the present invention.
In the figure, 1-floating body, 2-first connecting device, 3-releasing mechanism, 4-second connecting device, 5-anchoring weight, 3.1 fixing plate, 3.2-first piezoelectric actuator, 3.3-second piezoelectric actuator, 3.4-hanging plate, 3.5-limiting plate, 3.6-hanging plate, 3.7-limiting plate, 3.8-second rotating column, 3.9-pulley, 3.10-sliding rail, 3.11-limiting column, 3.2.1-actuating head, 3.2.2-front beam body, 3.2.3-flange, 3.2.4-piezoelectric ceramic module, 3.2.5-rear beam body, 3.2.6-pre-tightening bolt and 3.2.7-beam body.
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.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, components and/or sections, these elements, components and/or sections should not be limited by these terms. These terms are only used to distinguish one element, component, and/or section from another. Thus, a first element, component, and/or section discussed below could be termed a second element, component, or section without departing from the teachings of the present invention.
As shown in FIG. 1, the invention discloses a full-sea-depth single-phase driving piezoelectric release mechanism, which comprises a floating body, a detector, a release module, a first connecting device, a second connecting device and an anchoring weight, wherein the floating body is arranged in the sea;
the floating body is used for providing floating buoyancy;
the detector is used for detecting and monitoring the ocean and is arranged in the floating body;
as shown in fig. 2, the release module comprises a release lock body, a first piezoelectric actuator and a second piezoelectric actuator;
the release lock body comprises a fixed plate, a hanging plate, a limiting plate, a first rotating column and a second rotating column;
the upper end of the fixing plate is provided with a connecting ring for hinging;
the hanging plate is an L-shaped plate and comprises a rotating strip and a bearing strip which are vertically and fixedly connected with each other, the lower end of the rotating strip is vertically and fixedly connected with one end of the bearing strip, and the bearing strip is used for hanging the anchoring heavy object;
the limiting plate is a U-shaped plate and comprises a first limiting strip, a second limiting strip and a connecting strip, and one end of the connecting strip is respectively and vertically and fixedly connected with one end of the first limiting strip and one end of the second limiting strip; the length of the first limiting strip is greater than that of the second limiting strip, and a pulley is arranged at one end, far away from the connecting strip, of the first limiting strip;
the first rotating column and the second rotating column are vertically and fixedly connected with the fixed plate; the upper end of the rotating bar is rotatably connected with the first rotating column, so that the hanging plate is parallel to the fixed plate and can freely rotate around the first rotating column; the connecting strip is rotationally connected with the second rotating column, so that the limiting plate is parallel to the fixed plate and can freely rotate around the second rotating column; the openings of the hanging plate and the limiting plate are opposite;
a vertical slide rail is arranged above the first rotating column on the fixing plate, and a slide block is arranged in the slide rail; when the pulley at the end part of the first limiting strip of the limiting plate abuts against the sliding block, the second limiting strip of the limiting plate abuts against the lower end of the bearing strip of the hanging plate, so that the bearing strip is horizontal and further cannot be separated from the anchoring weight hung on the bearing strip; when the sliding block slides upwards along the sliding rail to enable the sliding wheel at the end part of the first limiting strip of the limiting plate to be separated from the sliding block, the limiting plate does not play a limiting role, and under the action of upward pulling force of the floating body and downward pulling force of the anchored heavy object, the bearing strip rotates and inclines to drive the limiting plate to rotate around the second rotating column, so that the release lock body is separated from the anchored heavy object;
the first piezoelectric actuator and the second piezoelectric actuator have the same structure and respectively comprise a piezoelectric composite beam, a flange and an actuating head, wherein the actuating head is a cylinder with a cross section which is gradually thinned from back to front, and two sides of the side wall of the front end of the actuating head are provided with mutually parallel driving surfaces; the end surface of the rear end of the actuating head is the same as the end surface of the front end of the piezoelectric composite beam in shape, and the end surface of the rear end of the actuating head is coaxially and fixedly connected with the end surface of the front end of the piezoelectric composite beam; the piezoelectric composite beam is used for driving the actuating head; the flange is used for fixing the piezoelectric composite beam;
the first piezoelectric actuator is fixed on the sliding block through a flange of the first piezoelectric actuator and is parallel to the sliding rail; the second piezoelectric actuator is fixed on the fixing plate through a flange of the second piezoelectric actuator and is vertical to the first piezoelectric actuator, and the front end of the actuating head of the second piezoelectric actuator abuts against one driving surface of the actuating head of the first piezoelectric actuator;
the first piezoelectric actuator and the second piezoelectric actuator are used for being matched with each other to control the sliding block to slide on the sliding rail;
the first connecting device and the second connecting device both comprise rod bodies and hinge rings, wherein the hinge rings are annular; one end of the rod body is fixedly connected with the outer wall of the hinge ring, and the rod body points to the circle center of the hinge ring;
one end of the rod body of the first connecting device, which is far away from the hinged ring of the rod body, is hinged with the lower end of the floating body, and the hinged ring of the first connecting device is hinged with the connecting ring of the fixed plate;
the hinge ring of the second connecting device is sleeved on the bearing strip of the hanging plate, and one end of the rod body of the second connecting device, which is far away from the hinge ring, is hinged with the anchoring weight;
the anchoring weight is used for providing vertical downward gravity, plays an anchoring role and prevents the piezoelectric release system from moving the anchoring position due to the influence of water flow disturbance or seawater temperature gradient.
As a further optimized scheme of the full-sea-depth single-phase driving piezoelectric release mechanism, a limiting column vertically fixedly connected with the fixing plate is further arranged between the hanging plate and the limiting plate on the fixing plate and used for limiting the rotation degree of the limiting plate.
The angle between the first piezoelectric actuator and the second piezoelectric actuator in the present invention is not limited to 90 °.
As a further optimization scheme of the full-sea-depth single-phase driving piezoelectric release mechanism, the piezoelectric composite beam comprises a pre-tightening bolt, a rear beam body, a piezoelectric ceramic module and a front beam body;
the pre-tightening bolt comprises a nut and a stud; the front beam body and the rear beam body are regular prisms or cylinders with the same cross section shape, a threaded hole matched with the pre-tightening bolt is formed in the center of one end face of the front beam body, and a countersunk through hole matched with the pre-tightening bolt is formed in the center of one end face of the rear beam body;
the piezoelectric ceramic module comprises 2M singly-partitioned piezoelectric ceramic plates and 2M +1 electrode plates, wherein M is a natural number more than or equal to 1; the single-partition piezoelectric ceramic plate is in a regular polygon or circle shape, the center of the single-partition piezoelectric ceramic plate is provided with a through hole for a pre-tightening bolt to pass through, and the single-partition piezoelectric ceramic plate is polarized along the thickness direction; the shape of the electrode plate is the same as that of the single-partition piezoelectric ceramic plate; the 2M +1 electrode plate and the 2M single-partition piezoelectric ceramic plates are sequentially and alternately laminated, so that the 2M +1 electrode plate and the 2M single-partition piezoelectric ceramic plates are coaxial, and the electrode plates are separated between the adjacent single-partition piezoelectric ceramic plates; the polarization directions of the adjacent single-partition piezoelectric ceramic pieces are opposite;
the stud of the pre-tightening bolt sequentially penetrates through a countersunk through hole of the rear beam body, through holes in the centers of 2M single-partition piezoelectric ceramic plates and 2M +1 electrode plates in the piezoelectric ceramic module and then is in threaded connection with a threaded hole of the front beam body, and the 2M single-partition piezoelectric ceramic plates and the 2M +1 electrode plates are compressed;
we refer to this scheme as a two-zone sandwich scheme, as shown in fig. 3. At this time, when the first piezoelectric actuator is excited by the ac signal to generate a first-order longitudinal vibration in space, each point on the piezoelectric composite beam a moves in a direction away from (close to) the flange position, as shown in fig. 6.
As a further optimization scheme of the full-sea-depth single-phase driving piezoelectric release mechanism, the piezoelectric composite beam comprises a pre-tightening bolt, a rear beam body, a piezoelectric ceramic module and a front beam body;
the pre-tightening bolt comprises a nut and a stud; the front beam body and the rear beam body are regular prisms or cylinders with the same cross section shape, a threaded hole matched with the pre-tightening bolt is formed in the center of one end face of the front beam body, and a countersunk through hole matched with the pre-tightening bolt is formed in the center of one end face of the rear beam body;
the piezoelectric ceramic module comprises 2M double-partition piezoelectric ceramic pieces and 2M +1 electrode pieces, wherein M is a natural number more than or equal to 1; the double-partition piezoelectric ceramic piece is in a regular polygon or circle shape, a through hole for a pre-tightening bolt to penetrate through is formed in the center of the double-partition piezoelectric ceramic piece, polarization is carried out along the thickness direction, the polarization boundary line of the double-partition piezoelectric ceramic piece is a straight line, and the polarization directions of two partitions of the double-partition piezoelectric ceramic piece are opposite; the shape of the electrode plate is the same as that of the double-partition piezoelectric ceramic plate; the 2M +1 electrode plate and the 2M double-division piezoelectric ceramic plates are sequentially and alternately stacked, so that the 2M +1 electrode plate and the 2M double-division piezoelectric ceramic plates are coaxial, polarization dividing lines of the 2M double-division piezoelectric ceramic plates are coplanar, and electrode plates are arranged between the adjacent double-division piezoelectric ceramic plates for separation; the polarization directions of the adjacent double-partition piezoelectric ceramic pieces are opposite;
the stud of the pre-tightening bolt sequentially penetrates through a countersunk head through hole of the rear beam body, through holes in the centers of 2M double-partition piezoelectric ceramic plates and 2M +1 electrode plates in the piezoelectric ceramic module and then is in threaded connection with a threaded hole of the front beam body, and the 2M double-partition piezoelectric ceramic plates and the 2M +1 electrode plates are compressed;
we refer to this scheme as a single partition sandwich scheme, as shown in fig. 4. At this time, when the first piezoelectric actuator is excited by the ac electric signal to generate a first-order bending vibration in space, each point on the piezoelectric composite beam a moves in a direction away from (close to) the axis position in the rear beam body, as shown in fig. 7.
As a further optimized scheme of the full-sea-depth single-phase driving piezoelectric release mechanism, the piezoelectric composite beam comprises a beam body, a first piezoelectric ceramic piece and a second piezoelectric ceramic piece, wherein the beam body is a cylinder; the first piezoelectric ceramic piece and the second piezoelectric ceramic piece are polarized along the thickness direction and are symmetrically adhered to two sides of the side wall of the beam body; the first piezoelectric ceramic piece and the second piezoelectric ceramic piece both use a d31 working mode;
we make this scheme a patch scheme, as shown in fig. 5. At this time, when the first piezoelectric actuator is excited by the alternating current signal to generate first-order longitudinal vibration in space, each point on the piezoelectric composite beam a moves towards a direction away from (close to) the flange position, as shown in fig. 8; when the first piezoelectric actuator is excited by the alternating-current signal to generate first-order bending vibration in space, each point on the piezoelectric composite beam a moves towards a direction away from (close to) the axis position in the back beam body, as shown in fig. 9.
The invention also discloses a working method when the full-sea-depth single-phase driving piezoelectric release mechanism adopts a single-partition sandwich type scheme or a patch type scheme, which comprises the following steps:
when the hanging plate is locked, the sliding block is prevented from sliding on the sliding rail by static friction force generated between the actuating heads of the first piezoelectric actuator and the second piezoelectric actuator, the pulley at the end part of the first limiting strip of the limiting plate props against the sliding block, and the second limiting strip of the limiting plate props against the lower end of the bearing strip of the hanging plate, so that the bearing strip is horizontal and cannot be separated from an anchoring weight hung on the bearing strip; as shown in fig. 10, the anchoring weight is hung on the hook by the second connecting device, and the pulling force F on the floating body is upward t Downward gravity G causes the hanging plate to generate a clockwise moment M z (G) (ii) a The bearing strip is abutted with the limiting plate, and the pressure F of the contact point p Make the limit plate generate a moment M in the counterclockwise direction z (F p ) (ii) a The sliding block provides supporting force F for the pulley against which the sliding block abuts h Supporting force F h Providing clockwise moment M for limiting plate z (F h ) The limiting plate is prevented from rotating towards the anticlockwise direction; moment M z (F h ) Equal to moment M z (F p ) The limiting plate cannot rotate, so that the locking function is realized;
when the release is carried out:
the first piezoelectric actuator and the second piezoelectric actuator are excited by alternating current signals AC-se:Sub>A and AC-B with time phase difference of 90 degrees, so that se:Sub>A longitudinal vibration mode of the first piezoelectric actuator and se:Sub>A longitudinal vibration mode of the second sandwich type longitudinal vibration are excited simultaneously, and se:Sub>A driving surface of the first piezoelectric actuator and se:Sub>A front end point of an actuating head of the second piezoelectric actuator generate elliptical motion, so that the first piezoelectric actuator drives the sliding block to move towards se:Sub>A direction close to the floating body, as shown in fig. 13, the specific periodic process is as follows:
the process a: in a 0-T/4 time period, the first piezoelectric actuator is converted from a contraction state to an equilibrium state, and each point on the first piezoelectric actuator moves towards a position far away from the node; the second piezoelectric actuator is converted from a balance state to a contraction state, and each point on the second piezoelectric actuator moves towards a position close to the node;
and a process b: in the time period of T/4-2T/4, the first piezoelectric actuator is converted from the equilibrium state to the expansion state, and each point on the first piezoelectric actuator moves towards the position far away from the node; the second piezoelectric actuator is converted from a contraction state to an equilibrium state, and each point on the second piezoelectric actuator moves towards a position far away from the node;
and c, process c: in the time period of 2T/4-3T/4, the first piezoelectric actuator is converted from the expansion state to the balance state, and each point on the first piezoelectric actuator moves towards the position close to the node; the second piezoelectric actuator is converted from a balance state to an expansion state, and each point on the second piezoelectric actuator moves towards a position far away from the node;
and a process d: in a 3T/4-T time period, the first piezoelectric actuator is converted from an equilibrium state to a contraction state, and each point on the first piezoelectric actuator moves towards a position close to a node; the second piezoelectric actuator is changed from an expansion state to a balance state, and each point on the second piezoelectric actuator moves towards a position close to the node;
in the process a, the second piezoelectric actuator contracts inwards, the front end of the actuating head of the second piezoelectric actuator and the driving surface of the actuating head of the first piezoelectric actuator have a tendency of separating, the second piezoelectric actuator is under the action of pre-pressure force and is continuously contacted with the driving surface, but the inertia force generated by the slight elliptic motion from the process d to the process a is larger than the friction force between the front end of the actuating head of the second piezoelectric actuator and the driving surface of the actuating head of the first piezoelectric actuator, and the first piezoelectric actuator continues to move horizontally to the right;
in the process b, the second piezoelectric actuator expands outwards from a contraction state, the friction force between the front end of the actuating head of the second piezoelectric actuator and the driving surface of the actuating head of the first piezoelectric actuator is smaller than the inertia force generated in the process a to the process b, and the first piezoelectric actuator continues to move horizontally to the right;
in the process c, the second piezoelectric actuator expands outwards, and the top end of the second piezoelectric actuator and the driving surface do slight elliptical motion, so that the piezoelectric actuator moves horizontally to the right;
in the process d, the second piezoelectric actuator contracts inwards, and the top end of the second piezoelectric actuator and the driving surface do slight elliptic motion, so that the piezoelectric actuator moves horizontally to the right;
when the sliding block slides upwards along the sliding rail, so that the pulley at the end part of the first limiting strip of the limiting plate is separated from the sliding block, the limiting plate does not play a limiting role, and under the action of upward pulling force of the floating body and downward pulling force of the anchored heavy object, the bearing strip rotates and inclines to drive the limiting plate to rotate around the second rotating column, so that the release lock body is separated from the anchored heavy object, as shown in fig. 11.
As shown in fig. 12, in the longitudinal vibration mode of the present invention, the driving surface forms a relative ellipse as follows:
on the reference base plane O there are a beam 1 and a beam 2, O 1 And O 2 And establishing a connection base for the nodes and each connection base. Theta i Is an attitude angle formed by a connected base x i The included angle between the positive direction of the axis and the positive direction of the x axis of the reference base is determined. Beam 1 is at signal U 1 = AC-1, beam 2 is in signal U 2 = AC-2, where the first order longitudinal vibration is generated, point P is the operating point of the beam 1, point Q is any point on the beam 2, and P and Q are displaced to P 'and Q' with the vibration of the beam. The vector of point P' is
Wherein
In the formula I P Represents the length from P point to O point
Substituting (2), (3) and (4) into (1) to obtain
Wherein
Wherein, T 1 Is a conjoined group O 1 With respect to the directional cosine array of the common basis O,
can be simplified into
The same reason is that
Therefore, the position vector of the point Q 'relative to the point P' is
Take theta 1 ＝0°、ω 1 ＝ω 2 Equation (9) can be simplified to ω
The amplitude and phase of the resultant vibration in the OY direction of the reference base plane can be expressed as follows
Get D Y ＝-a 2 sinθ 2 Then equation (10) can be simplified to
The trajectory of which satisfies the equation;
the formula (14) shows that the vibration track of the two simple harmonic vibrations with a certain included angle is an ellipse after the two simple harmonic vibrations are synthesized;
when in use
θ 2 Where =90 °, formula (14) can be simplified to;
equation (15) shows that, for two spatially orthogonal bending vibration beams, when the phase difference between the excitation voltages is 90 °, the relative vibration trajectory of the mass points at the contact part is an ellipse, and the length of the major axis of the ellipse can be adjusted by adjusting the amplitude of the excitation voltage.
The invention also discloses a working method of the full-depth single-phase driving piezoelectric release mechanism adopting a double-partition sandwich type scheme or a patch type scheme, which comprises the following steps:
when the plate is locked, the sliding block is prevented from sliding on the sliding rail by static friction force generated between the actuating heads of the first piezoelectric actuator and the second piezoelectric actuator, the pulley at the end part of the first limiting strip of the limiting plate abuts against the sliding block, and the second limiting strip of the limiting plate abuts against the lower end of the bearing strip of the hanging plate, so that the bearing strip is horizontal and further cannot be separated from an anchoring weight hung on the bearing strip;
when the release is carried out:
exciting the first piezoelectric actuator and the second piezoelectric actuator by respectively adopting alternating current signals AC-A and AC-B with the time phase difference of 90 degrees, so that the bending vibration mode of the first piezoelectric actuator and the bending vibration mode of the second piezoelectric actuator are simultaneously excited, and the driving surface of the first piezoelectric actuator and the front end point of the actuating head of the second piezoelectric actuator generate elliptical motion, so that the first piezoelectric actuator drives the sliding block to move towards the direction close to the floating body, as shown in fig. 15, the specific cycle process is as follows;
the bending of the end part of the piezoelectric actuator relative to the flange fixing position in the clockwise direction is called a bending vibration mode A, and the bending of the end part of the piezoelectric actuator relative to the flange fixing position in the anticlockwise direction is called a bending vibration mode B;
the process a: in the 0-T/4 time period, the first piezoelectric actuator is converted from a bending vibration mode A to a balance state, and each point on the first piezoelectric actuator moves towards a position far away from the central axis of the front beam body; the second piezoelectric actuator is converted from a balance state to a bending vibration mode A, and each point on the second piezoelectric actuator moves towards a position close to the central axis of the front beam body;
and a process b: in a T/4-2T/4 time period, the first piezoelectric actuator is changed from a balance state to a bending vibration mode B, and each point on the first piezoelectric actuator moves towards a position far away from the central axis of the front beam body; the second piezoelectric actuator is converted from a bending vibration mode B to a balance state, and each point on the second piezoelectric actuator moves towards a position far away from the central axis of the beam body;
and c, process c: in a 2T/4-3T/4 time period, the first piezoelectric actuator is changed from a bending vibration mode B to a balance state, and each point on the first piezoelectric actuator moves towards a position close to the central axis of the front beam body; the second piezoelectric actuator is converted from a balance state to a bending vibration mode A, and each point on the second piezoelectric actuator moves towards a position far away from the central axis of the front beam body;
and a process d: in a 3T/4-T time period, the first piezoelectric actuator is converted from a balance state to a bending vibration mode A, and each point on the first piezoelectric actuator moves towards a position close to a node; the second piezoelectric actuator is converted from a bending vibration mode A to a balance state, and each point on the second piezoelectric actuator moves towards a position close to the central axis of the front beam body;
in the process a, the first piezoelectric actuator bends, the front end of the actuating head of the second piezoelectric actuator and the driving surface of the actuating head of the first piezoelectric actuator have a separation tendency, the second piezoelectric actuator is continuously contacted with the driving surface under the action of pre-pressure force, but because the inertia force generated by the micro-elliptic motion in the process d to the process a is greater than the friction force between the front end of the actuating head of the second piezoelectric actuator and the driving surface of the actuating head of the first piezoelectric actuator, the first piezoelectric actuator continues to move horizontally to the right;
in the process B, the first piezoelectric actuator is close to the axial line position of the front beam body in the bending vibration mode B, the friction force between the front end of the actuating head of the second piezoelectric actuator and the driving surface of the actuating head of the first piezoelectric actuator is smaller than the inertia force generated in the process a to the process B, and the first piezoelectric actuator continues to move horizontally to the right;
in the process c, the second piezoelectric actuator bends away from the central axis of the front beam body, and the top end of the second piezoelectric actuator and the driving surface do slight elliptical motion, so that the first piezoelectric actuator moves horizontally to the right;
in the process d, the second piezoelectric actuator bends towards the central axis of the front beam body, and the top end of the second piezoelectric actuator and the driving surface do slight elliptical motion, so that the piezoelectric actuator moves horizontally to the right;
when the sliding block slides upwards along the sliding rail, the sliding block enables the pulley at the end part of the first limiting strip of the limiting plate to be separated from the sliding block, the limiting plate does not play a limiting role, and under the action of upward pulling force of the floating body and downward pulling force of the anchoring heavy object, the bearing strip rotates and inclines to drive the limiting plate to rotate around the second rotating column, so that the release lock body is separated from the anchoring heavy object.
As shown in fig. 14, the principle of the invention that the driving surface forms a relative ellipse in the bending vibration mode is as follows:
on the reference base plane O there are a beam 1 and a beam 2, O 1 And O 2 A connected basis is established for its center of gravity and each. Theta.theta. i Is an attitude angle formed by a connected base x i The included angle between the positive direction of the axis and the positive direction of the x axis of the reference base is determined. Beam 1 is at signal U 1 =, beam 2 is in signal U 2 Is excited to generate a first order bending vibration, point P is the actuating point of the beam 1, point Q is any point on the beam 2, and P and Q are displaced to P 'and Q' with the vibration of the beam. The vector of point P' is
Wherein
In the formula I P Representing the length of P point to node O
Substituting (17), (18), and (19) into (16) can yield:
wherein
Wherein, T 1 Is a conjoined group O 1 With respect to the directional cosine array of the common basis O,
can be simplified into
In the same way
Therefore, the position vector of the point Q 'relative to the point P' is
Take θ 1 ＝0°、ω 1 ＝ω 2 Equation (24) can be simplified to ω
The amplitude and phase of the resultant vibration in the OY direction of the reference base plane can be expressed as follows
Get D X ＝-a 2 sinθ 2 Then equation (25) can be simplified to
The trajectory of which satisfies the equation
The formula (29) shows that the vibration locus of the two simple harmonic vibrations with a certain included angle is an ellipse after the two simple harmonic vibrations are synthesized.
When in use
θ 2 When the angle is =90 °, expression (29) can be simplified to
Equation (30) shows that, for two longitudinal vibration beams which are orthogonal in space, when the phase difference between the excitation voltages is 90 °, the relative vibration locus of the mass points at the contact part is an ellipse, and the length of the main axis of the ellipse can be adjusted by adjusting the amplitude of the excitation voltage.
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 (7)
1. A full-sea-depth single-phase driving piezoelectric release mechanism is characterized by comprising a floating body, a detector, a release module, a first connecting device, a second connecting device and an anchoring heavy object;
the floating body is used for providing floating buoyancy;
the detector is used for detecting and monitoring the ocean and is arranged in the floating body;
the release module comprises a release lock body, a first piezoelectric actuator and a second piezoelectric actuator;
the release lock body comprises a fixed plate, a hanging plate, a limiting plate, a first rotating column and a second rotating column;
the upper end of the fixing plate is provided with a connecting ring for hinging;
the hanging plate is an L-shaped plate and comprises a rotating strip and a bearing strip which are vertically and fixedly connected with each other, the lower end of the rotating strip is vertically and fixedly connected with one end of the bearing strip, and the bearing strip is used for hanging the anchoring heavy object;
the limiting plate is a U-shaped plate and comprises a first limiting strip, a second limiting strip and a connecting strip, and one end of the connecting strip is respectively and vertically and fixedly connected with one end of the first limiting strip and one end of the second limiting strip; the length of the first limiting strip is greater than that of the second limiting strip, and a pulley is arranged at one end, far away from the connecting strip, of the first limiting strip;
the first rotating column and the second rotating column are vertically and fixedly connected with the fixed plate; the upper end of the rotating bar is rotatably connected with the first rotating column, so that the hanging plate is parallel to the fixed plate and can freely rotate around the first rotating column; the connecting strip is rotationally connected with the second rotating column, so that the limiting plate is parallel to the fixed plate and can freely rotate around the second rotating column; the openings of the hanging plate and the limiting plate are opposite;
a vertical slide rail is arranged above the first rotating column on the fixing plate, and a slide block is arranged in the slide rail; when the pulley at the end part of the first limiting strip of the limiting plate abuts against the sliding block, the second limiting strip of the limiting plate abuts against the lower end of the bearing strip of the hanging plate, so that the bearing strip is horizontal and further cannot be separated from the anchoring weight hung on the bearing strip; when the sliding block slides upwards along the sliding rail to enable the sliding wheel at the end part of the first limiting strip of the limiting plate to be separated from the sliding block, the limiting plate does not play a limiting role, and under the action of the upward tensile force of the floating body and the downward tensile force of the anchoring weight, the bearing strip rotates and inclines to drive the limiting plate to rotate around the second rotating column, so that the release lock body is separated from the anchoring weight;
the first piezoelectric actuator and the second piezoelectric actuator have the same structure and respectively comprise a piezoelectric composite beam, a flange and an actuating head, wherein the actuating head is a cylinder with a cross section which is gradually thinned from back to front, and two sides of the side wall of the front end of the actuating head are provided with mutually parallel driving surfaces; the end surface of the rear end of the actuating head is the same as the end surface of the front end of the piezoelectric composite beam in shape, and the end surface of the rear end of the actuating head is coaxially and fixedly connected with the end surface of the front end of the piezoelectric composite beam; the piezoelectric composite beam is used for driving the actuating head; the flange is used for fixing the piezoelectric composite beam;
the first piezoelectric actuator is fixed on the sliding block through a flange of the first piezoelectric actuator and is parallel to the sliding rail; the second piezoelectric actuator is fixed on the fixing plate through a flange of the second piezoelectric actuator and is vertical to the first piezoelectric actuator, and the front end of the actuating head of the second piezoelectric actuator abuts against one driving surface of the actuating head of the first piezoelectric actuator;
the first piezoelectric actuator and the second piezoelectric actuator are used for being matched with each other to control the sliding block to slide on the sliding rail;
the first connecting device and the second connecting device both comprise rod bodies and hinge rings, wherein the hinge rings are annular; one end of the rod body is fixedly connected with the outer wall of the hinge ring, and the rod body points to the circle center of the hinge ring;
one end of the rod body of the first connecting device, which is far away from the hinged ring of the rod body, is hinged with the lower end of the floating body, and the hinged ring of the first connecting device is hinged with the connecting ring of the fixed plate;
the hinge ring of the second connecting device is sleeved on the bearing strip of the hanging plate, and one end of the rod body of the second connecting device, which is far away from the hinge ring, is hinged with the anchoring heavy object;
the anchoring weight is used for providing vertical downward gravity, plays an anchoring role and prevents the piezoelectric release system from moving the anchoring position due to the influence of water flow disturbance or seawater temperature gradient.
2. The full-sea-depth single-phase driving piezoelectric release mechanism according to claim 1, wherein the fixed plate is further provided with a limiting column vertically fixedly connected with the fixed plate between the hanging plate and the limiting plate, and the limiting column is used for limiting the rotation degree of the limiting plate.
3. The full-sea-depth single-phase driving piezoelectric release mechanism according to claim 1, wherein the piezoelectric composite beam comprises a pre-tightening bolt, a back beam body, a piezoelectric ceramic module and a front beam body;
the pre-tightening bolt comprises a nut and a stud; the front beam body and the rear beam body are regular prisms or cylinders with the same cross section shape, a threaded hole matched with the pre-tightening bolt is formed in the center of one end face of the front beam body, and a countersunk through hole matched with the pre-tightening bolt is formed in the center of one end face of the rear beam body;
the piezoelectric ceramic module comprises 2M singly-partitioned piezoelectric ceramic plates and 2M +1 electrode plates, wherein M is a natural number more than or equal to 1; the single-partition piezoelectric ceramic plate is in a regular polygon or circle shape, the center of the single-partition piezoelectric ceramic plate is provided with a through hole for a pre-tightening bolt to penetrate through, and the single-partition piezoelectric ceramic plate is polarized along the thickness direction; the shape of the electrode plate is the same as that of the single-partition piezoelectric ceramic plate; the 2M +1 electrode plates and the 2M single-partition piezoelectric ceramic plates are sequentially and alternately stacked, so that the 2M +1 electrode plates and the 2M single-partition piezoelectric ceramic plates are coaxial, and electrode plates are separated between the adjacent single-partition piezoelectric ceramic plates; the polarization directions of the adjacent single-partition piezoelectric ceramic pieces are opposite;
the stud of the pre-tightening bolt sequentially penetrates through the countersunk head through hole of the rear beam body, the through holes in the centers of the 2M single-partition piezoelectric ceramic plates and the 2M +1 electrode plates in the piezoelectric ceramic module and then is in threaded connection with the threaded hole of the front beam body, and the 2M single-partition piezoelectric ceramic plates and the 2M +1 electrode plates are compressed.
4. The full-sea-depth single-phase driving piezoelectric release mechanism according to claim 1, wherein the piezoelectric composite beam comprises a pre-tightening bolt, a back beam body, a piezoelectric ceramic module and a front beam body;
the pre-tightening bolt comprises a nut and a stud; the front beam body and the rear beam body are regular prisms or cylinders with the same cross section shape, a threaded hole matched with the pre-tightening bolt is formed in the center of one end face of the front beam body, and a countersunk through hole matched with the pre-tightening bolt is formed in the center of one end face of the rear beam body;
the piezoelectric ceramic module comprises 2M double-partition piezoelectric ceramic plates and 2M +1 electrode plates, wherein M is a natural number larger than or equal to 1; the double-partition piezoelectric ceramic piece is in a regular polygon or circle shape, a through hole for a pre-tightening bolt to penetrate through is formed in the center of the double-partition piezoelectric ceramic piece, polarization is carried out along the thickness direction, the polarization boundary line of the double-partition piezoelectric ceramic piece is a straight line, and the polarization directions of two partitions of the double-partition piezoelectric ceramic piece are opposite; the shape of the electrode plate is the same as that of the double-partition piezoelectric ceramic plate; the 2M +1 electrode plate and the 2M double-division piezoelectric ceramic plates are sequentially and alternately stacked, so that the 2M +1 electrode plate and the 2M double-division piezoelectric ceramic plates are coaxial, polarization dividing lines of the 2M double-division piezoelectric ceramic plates are coplanar, and electrode plates are arranged between the adjacent double-division piezoelectric ceramic plates for separation; the polarization directions of the adjacent double-partition piezoelectric ceramic pieces are opposite;
the stud of the pre-tightening bolt sequentially penetrates through a countersunk head through hole of the rear beam body, through holes in the centers of 2M double-partition piezoelectric ceramic plates and 2M +1 electrode plates in the piezoelectric ceramic module and then is in threaded connection with a threaded hole of the front beam body, and the 2M double-partition piezoelectric ceramic plates and the 2M +1 electrode plates are compressed.
5. The full-depth single-phase driving piezoelectric release mechanism according to claim 1, wherein the piezoelectric composite beam comprises a beam body, a first piezoelectric ceramic plate and a second piezoelectric ceramic plate, wherein the beam body is a cylinder; the first piezoelectric ceramic piece and the second piezoelectric ceramic piece are polarized along the thickness direction and are symmetrically adhered to two sides of the side wall of the beam body.
6. The working method of the full-sea-depth single-phase driving piezoelectric release mechanism according to claim 3 or 5, comprising the following steps:
when the plate is locked, the sliding block is prevented from sliding on the sliding rail by static friction force generated between the actuating heads of the first piezoelectric actuator and the second piezoelectric actuator, the pulley at the end part of the first limiting strip of the limiting plate abuts against the sliding block, and the second limiting strip of the limiting plate abuts against the lower end of the bearing strip of the hanging plate, so that the bearing strip is horizontal and further cannot be separated from an anchoring weight hung on the bearing strip;
when the release is carried out:
the first piezoelectric actuator and the second piezoelectric actuator are excited by adopting alternating current signals AC-A and AC-B with the time phase difference of 90 degrees respectively, so that the longitudinal vibration mode of the first piezoelectric actuator and the longitudinal vibration mode of the second sandwich type longitudinal vibration are excited simultaneously, the driving surface of the first piezoelectric actuator and the front end point of the actuating head of the second piezoelectric actuator generate elliptic motion, the first piezoelectric actuator drives the sliding block to move towards the direction close to the floating body, and the specific cycle process is as follows:
the process a: in the 0-T/4 time period, the first piezoelectric actuator is converted from a contraction state to an equilibrium state, and each point on the first piezoelectric actuator moves towards a position far away from the node; the second piezoelectric actuator is converted from a balance state to a contraction state, and each point on the second piezoelectric actuator moves towards a position close to the node;
and a process b: in the time period of T/4-2T/4, the first piezoelectric actuator is converted from the equilibrium state to the expansion state, and each point on the first piezoelectric actuator moves towards the position far away from the node; the second piezoelectric actuator is converted from a contraction state to an equilibrium state, and each point on the second piezoelectric actuator moves towards a position far away from the node;
and c, process c: in the time period of 2T/4-3T/4, the first piezoelectric actuator is converted from the expansion state to the balance state, and each point on the first piezoelectric actuator moves towards the position close to the node; the second piezoelectric actuator is converted from a balance state to an expansion state, and each point on the second piezoelectric actuator moves towards a position far away from the node;
and a process d: in a 3T/4-T time period, the first piezoelectric actuator is converted from an equilibrium state to a contraction state, and each point on the first piezoelectric actuator moves towards a position close to a node; the second piezoelectric actuator is converted from an expansion state to a balance state, and each point on the second piezoelectric actuator moves towards a position close to the node;
in the process a, the second piezoelectric actuator contracts inwards, the front end of the actuating head of the second piezoelectric actuator and the driving surface of the actuating head of the first piezoelectric actuator have a separation tendency, the second piezoelectric actuator is continuously contacted with the driving surface under the action of pre-pressure force, but the inertia force generated by the slightly elliptic motion in the process d to the process a is larger than the friction force between the front end of the actuating head of the second piezoelectric actuator and the driving surface of the actuating head of the first piezoelectric actuator, and the first piezoelectric actuator continues to move horizontally to the right;
in the process b, the second piezoelectric actuator expands outwards from a contraction state, the friction force between the front end of the actuating head of the second piezoelectric actuator and the driving surface of the actuating head of the first piezoelectric actuator is smaller than the inertia force generated in the process a to the process b, and the first piezoelectric actuator continues to move horizontally to the right;
in the process c, the second piezoelectric actuator expands outwards, and the top end of the second piezoelectric actuator and the driving surface do slight elliptic motion, so that the piezoelectric actuator moves horizontally to the right;
in the process d, the second piezoelectric actuator contracts inwards, and the top end of the second piezoelectric actuator and the driving surface do slight elliptic motion, so that the piezoelectric actuator moves horizontally to the right;
when the sliding block slides upwards along the sliding rail, the limiting plate does not play a limiting role when the sliding block enables the pulley at the end part of the first limiting strip of the limiting plate to be separated from the sliding block, and under the action of the upward pulling force of the floating body and the downward pulling force of the anchoring weight, the bearing strip rotates and inclines to drive the limiting plate to rotate around the second rotating column, so that the release lock body is separated from the anchoring weight.
7. The working method of the full-sea-depth single-phase driving piezoelectric release mechanism according to claim 4 or 5, comprising the following steps:
when the hanging plate is locked, the sliding block is prevented from sliding on the sliding rail by static friction force generated between the actuating heads of the first piezoelectric actuator and the second piezoelectric actuator, the pulley at the end part of the first limiting strip of the limiting plate props against the sliding block, and the second limiting strip of the limiting plate props against the lower end of the bearing strip of the hanging plate, so that the bearing strip is horizontal and cannot be separated from an anchoring weight hung on the bearing strip;
when the release is carried out:
the method comprises the following steps that alternating current signals AC-A and AC-B with the time phase difference of 90 degrees are respectively adopted to excite se:Sub>A first piezoelectric actuator and se:Sub>A second piezoelectric actuator, so that the bending vibration mode of the first piezoelectric actuator and the bending vibration mode of the second piezoelectric actuator are simultaneously excited, the driving surface of the first piezoelectric actuator and the front end point of the actuating head of the second piezoelectric actuator generate elliptic motion, the first piezoelectric actuator drives se:Sub>A sliding block to move towards the direction close to se:Sub>A floating body, and the specific cycle process is as follows;
the bending of the end part of the piezoelectric actuator relative to the flange fixing position in the clockwise direction is called a bending vibration mode A, and the bending of the end part of the piezoelectric actuator relative to the flange fixing position in the anticlockwise direction is called a bending vibration mode B;
the process a: in the 0-T/4 time period, the first piezoelectric actuator is converted from a bending vibration mode A to a balance state, and each point on the first piezoelectric actuator moves towards a position far away from the central axis of the front beam body; the second piezoelectric actuator is converted from a balance state to a bending vibration mode A, and each point on the second piezoelectric actuator moves towards a position close to the central axis of the front beam body;
and a process b: in a T/4-2T/4 time period, the first piezoelectric actuator is converted from a balance state to a bending vibration mode B, and each point on the first piezoelectric actuator moves towards a position far away from the central axis of the front beam body; the second piezoelectric actuator is converted from a bending vibration mode B to a balance state, and each point on the second piezoelectric actuator moves towards a position far away from the central axis of the beam body;
and c, process c: in a 2T/4-3T/4 time period, the first piezoelectric actuator is changed from a bending vibration mode B to a balance state, and each point on the first piezoelectric actuator moves towards a position close to the central axis of the front beam body; the second piezoelectric actuator is converted from a balance state to a bending vibration mode A, and each point on the second piezoelectric actuator moves towards a position far away from the central axis of the front beam body;
and a process d: in a 3T/4-T time period, the first piezoelectric actuator is converted from a balance state to a bending vibration mode A, and each point on the first piezoelectric actuator moves towards a position close to a node; the second piezoelectric actuator is converted from a bending vibration mode A to a balance state, and each point on the second piezoelectric actuator moves towards a position close to the central axis of the front beam body;
in the process a, the first piezoelectric actuator bends, the front end of the actuating head of the second piezoelectric actuator and the driving surface of the actuating head of the first piezoelectric actuator have a separation tendency, the second piezoelectric actuator is continuously contacted with the driving surface under the action of pre-pressure force, but because the inertia force generated by the micro-elliptic motion in the process d to the process a is greater than the friction force between the front end of the actuating head of the second piezoelectric actuator and the driving surface of the actuating head of the first piezoelectric actuator, the first piezoelectric actuator continues to move horizontally to the right;
in the process B, the first piezoelectric actuator is close to the axial line position of the front beam body in the bending vibration mode B, the friction force between the front end of the actuating head of the second piezoelectric actuator and the driving surface of the actuating head of the first piezoelectric actuator is smaller than the inertia force generated in the process a to the process B, and the first piezoelectric actuator continues to move horizontally to the right;
in the process c, the second piezoelectric actuator bends away from the central axis of the front beam body, and the top end of the second piezoelectric actuator and the driving surface do slight elliptical motion, so that the first piezoelectric actuator moves horizontally to the right;
in the process d, the second piezoelectric actuator bends towards the central axis of the front beam body, and the top end of the second piezoelectric actuator and the driving surface do slight elliptical motion, so that the piezoelectric actuator moves horizontally to the right;
when the sliding block slides upwards along the sliding rail, the sliding block enables the pulley at the end part of the first limiting strip of the limiting plate to be separated from the sliding block, the limiting plate does not play a limiting role, and under the action of upward pulling force of the floating body and downward pulling force of the anchoring heavy object, the bearing strip rotates and inclines to drive the limiting plate to rotate around the second rotating column, so that the release lock body is separated from the anchoring heavy object.
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| CN117104404A (en) * | 2023-10-25 | 2023-11-24 | 广州海洋地质调查局三亚南海地质研究所 | Bottoming release device of profile monitoring buoy |
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| CN117104404A (en) * | 2023-10-25 | 2023-11-24 | 广州海洋地质调查局三亚南海地质研究所 | Bottoming release device of profile monitoring buoy |
| CN117104404B (en) * | 2023-10-25 | 2024-01-09 | 广州海洋地质调查局三亚南海地质研究所 | Bottoming release device of profile monitoring buoy |
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