CN1903658A - Shape memoryalloy driven under water vector pushing force nozzle - Google Patents
Shape memoryalloy driven under water vector pushing force nozzle Download PDFInfo
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- CN1903658A CN1903658A CN 200610010360 CN200610010360A CN1903658A CN 1903658 A CN1903658 A CN 1903658A CN 200610010360 CN200610010360 CN 200610010360 CN 200610010360 A CN200610010360 A CN 200610010360A CN 1903658 A CN1903658 A CN 1903658A
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Abstract
The present invention relates to a marmem driven underwater vector thrust nozzle, belonging to a jet nozzle. It includes at least three marmem drivers, fixed section body, turnable section body, elastic section body and at least three connection wires. The fixed section body, turnable section body and elastic section body are successively connected together and made into tubular form. One end of every marmem driver is fixed on one end of one connection wire, another end of said connection wire is fixed on the external peripheral surface of said turnable section body, every connection wire is parallel to the axis of the fixed section body and is uniformly arranged on the external peripheral surface of fixed section body, elastic section body and turnable section body along the peripheral direction. Besides, said invention also provides its working principle and its concrete operation method.
Description
Technical field
The present invention relates to a kind of jet nozzle.
Background technology
Existing boats and ships great majority adopt the propelling unit screw propeller of single thrust direction and controlling party to realize advancing and direction control to the rudder of usefulness, power supplying apparatus and directional controller are separated, this causes the steerage of these boats and ships lower, and turn radius is bigger.For example rudder and empennage are generally adopted in the control of submarine direction, and the hydraulic efficiency gear that drives its motion will penetrate pneumatic shell, thereby has reduced the intensity of pneumatic shell, has increased the complexity of system.And the efficient of this equipment when submarine needs lowsteaming is also low.
Have some boats and ships to adopt waterjet propulsion modes, this propulsion mode utilizes the antagonistic force of the current of boost pump ejection to promote boats and ships to advance, and controls the direction of jet stream by the rudder in the high velocity stream that is in the spout ejection all the time, realizes excellent turning performance.But because remaining, this waterjet propulsion mode rely on rudder to realize turning, the jet stream not enough fairing of by the rudder kick direction time, turning round, and degradation of energy is bigger.And rudder generally adds that by actuating devices such as bigger motor of volume or hydraulic pressure transmission system realizes action, occupied the expensive real estate of boats and ships, also increased the weight of boats and ships.
Generally being used to test under water, the nozzle spray direction of the small-sized injection experiment device of the flow field of jet (advancing the jet stream of usefulness as cuttlefish) can not controllably change, so the variation of flow field and thrust in the time of can not realizing the dynamic change of jet stream direction in experiment has limited this research on the one hand.If the vectored thrust nozzle that will use the nozzle direction to change because traditional actuating device such as motor equal-volume are big and complex structure, if the injection experiment device is strict to volume requirement, and will be realized the insulation of actuating device, then difficult realization the in the reality.
Summary of the invention
The purpose of this invention is to provide the nozzle of vectored thrust under water that a kind of marmem drives, to overcome the existing bigger defective of nozzle degradation of energy of coming the control jet direction with rudder.It comprises at least three marmens 2, fixedly segment body 3, rotate segment body 7, elasticity segment body 5 and at least three connection leads 6, fixedly segment body 3, elasticity segment body 5 and rotation segment body 7 dock successively and form tubulose, one end of every marmen 2 is fixed on the end of a connection lead 6, the other end of connection lead 6 is fixed on the external peripheral surface that rotates segment body 7, and each connection lead 6 is parallel to the axial line of fixing segment body 3 and along the circumferential direction evenly is arranged on the outer round surface of fixedly segment body 3, elasticity segment body 5 and rotation segment body 7.
When the present invention works, fixedly segment body 3 is installed in needs to use on the matrix 1 of this vectored thrust nozzle, the other end of marmen 2 is fixed on fixedly on segment body 3 or the matrix 1, elasticity segment body 5 is the deformation section of whole vectored thrust nozzle, when certain root or a few marmens 2 shrink according to certain proportionate relationship, spur when rotating segment body 7 rotations, elasticity segment body 5 can produce elastic deformations, and rotation segment body 7 is rotated to selected direction.When rotation segment body 7 need reset, make the marmen 2 of contraction recover former length, elasticity segment body 5 discharges elastics energy, makes the initial straight state of segment body 7 recoveries that rotates.This nozzle can place common water environment and action therein, can pass through current therein, and spray from afterbody.This nozzle afterbody can turn an angle to any direction along axis, so that vectored thrust to be provided.The uniform and smooth transition of whole nozzle interior when rotating segment body 7 rotations, the current smoothness has overcome the existing bigger defective of injection stream degradation of energy of coming the control jet direction with rudder.This nozzle of vectored thrust under water can be applied in jet test device, the underwater propeller, equally also can be applied in the gaseous environment.
The advantage of vectored thrust nozzle of the present invention is as follows: (1) is simple in structure, light and handy, and the reliability height does not have electrical motor, gear, connecting rod equal-volume, device that quality is bigger, in the liquid of certain conductive capability is arranged, has simplified the insulation of actuating device; (2) adopt marmem to drive, rely on the marmem self characteristics can realize feedback, do not need extra detecting device; (3) adopt the high marmem of energy density as actuator, can realize miniaturization, thereby this vectored thrust nozzle can be applicable to volume, the strict occasion of weight, on the under-water robot as small-sized waterjet propulsion; Do not have noise when (4) moving, be applicable to occasion, as underwater observations robot, military field etc. to the noise requirements strictness; (5) because the elasticity segment body is affine deformation, degradation of energy was less when fluid passed through in nozzle; (6) this nozzle is an Open architecture, in water, its fixedly segment body, elasticity segment body, rotate segment body and marmen etc. and all be directly exposed in the water, marmen can bear higher pressure, this vectored thrust nozzle can be applied under water darker.
Description of drawings
Fig. 1 is the structural representation of embodiment of the present invention one, Fig. 2 is that the A of Fig. 1 is to view, Fig. 3 is the scheme drawing of elasticity segment body 5 bendings of the present invention, Fig. 4 and Fig. 5 are the structural representations of embodiment two, Fig. 6 is the structural representation of embodiment three, Fig. 7 is the structural representation of embodiment four, Fig. 8 is the structural representation of embodiment five, Fig. 9 is the structural representation of embodiment seven, Figure 10 is the structural representation of embodiment eight, Figure 11 is the structural representation of embodiment nine, and Figure 12 and Figure 13 are the structural representations of embodiment ten.
The specific embodiment:
The specific embodiment one: specify present embodiment below in conjunction with Fig. 1, Fig. 2 and Fig. 3.Present embodiment by three marmens 2, fixedly segment body 3, rotate segment body 7, elasticity segment body 5 and three connection leads 6 and form, fixedly segment body 3, elasticity segment body 5 and rotation segment body 7 dock successively and form tubulose, one end of every memory alloy actuator 2 is fixed on the end of a connection lead 6, the other end of connection lead 6 is fixed on the external peripheral surface that rotates segment body 7, and each connection lead 6 is parallel to the axial line of fixing segment body 3 and along the circumferential direction evenly is arranged on the outer round surface of fixedly segment body 3, elasticity segment body 5 and rotation segment body 7.Fixedly segment body 3 is a tubular structure, and transversal surface can be circular, oval or other shape.Fixedly segment body 3 has the inside face of fairing.Fixedly the outside face of segment body 3 is provided with via hole or the support 3-1 that is used to pass marmen 2 or connection lead 6.Rotating segment body 7 is that transversal surface is the tubular structure of circle, taper or other shape, rotates the inside face that segment body 7 has fairing.Rotate the splicing ear 7-1 that is useful on captive joint line 6 on the segment body 7.Fixedly segment body 3 and and the material that rotates segment body 7 can be the complex (as being plastics by internal layer, skin is the sleeve pipe of rubber) of rubber, plastics, metal or above three kinds of materials.Several marmens 2 are arranged, on respective fixation segment body 3 and the rotation segment body 7 several splicing ear 7-1 and via hole 3-1 are just arranged.Be fixed together by connector 4 between marmen 2 and the connection lead 6.The temperature of the current that pass through in ambient temperature and the nozzle is influential to the action meeting of marmen 2, is lower than the temperature of its martensitic phase transformation so must guarantee marmen 2 residing ambient temperatures.Elasticity segment body 5 is the thin-wall part or the assembly set of hollow, be used to be connected and fixed segment body 3 and rotate segment body 7, thereby and the flexible bending of generation is rotated rotation segment body 7 when marmen 2 contractions, and its cross section can be circle, ellipse or other shape.Fluid is when passing through the rotational segment of flexible bending, and degradation of energy is less.Elasticity segment body 5 has certain elastic force when bending, recover former when long in marmen 2 cooling, and elasticity segment body 5 reverts to initial straight shape under the effect of elastic force, makes to rotate segment body 7 and fixedly segment body 3 recoveries are parallel.External diameters and fixing segment body 3 in the elasticity segment body 5, the junction of rotating segment body 7 are identical, and degradation of energy was less when fluid was flow through therein, and profile and fixedly segment body 3, rotation segment body 7 good transition, thereby reduce the resistance that nozzle moves in fluid.
The specific embodiment two: specify present embodiment below in conjunction with Fig. 5 and Fig. 4.The difference of present embodiment and embodiment one is: elasticity segment body 5 is bellows or straight tube, and the material of elasticity segment body 5 is complexs (as being plastics by internal layer, skin is the sleeve pipe of rubber) of rubber, plastics, metal or above three kinds of materials etc.Other composition is identical with embodiment one with connection mode.
The specific embodiment three: specify present embodiment below in conjunction with Fig. 6.The difference of present embodiment and embodiment one is: elasticity segment body 5 is made up of coil spring 5-1 and flexible covering 5-2, the two ends of coil spring 5-1 are separately fixed at fixedly segment body 3 and rotate on the segment body 7, the spring wire cross section of coil spring 5-1 can be multiple shapes such as circle, oblong, rhombus, flexible covering 5-2 is wrapped on the outer round surface of coil spring 5-1, the two ends of flexible covering 5-2 respectively with fixing segment body 3 with rotate segment body 7 and be connected and seal in the junction.The material of flexible covering 5-2 is plastics or rubber.When 5 bendings of elasticity of demand segment body, coil spring 5-1 bending provides certain elastic force.Its advantage is that flexible covering 5-2 is rolled in the coil spring 5-1 outside, no matter whether elasticity segment body 5 is crooked, flexible covering 5-2 all can guarantee to wrap well in the coil spring 5-1 outside.Other composition is identical with embodiment one with connection mode.
The specific embodiment four: specify present embodiment below in conjunction with Fig. 7.The difference of present embodiment and embodiment three is: elasticity segment body 5 is made up of coil spring 5-1 and flexible covering 5-2, coil spring 5-1 is embedded in the inside of flexible covering 5-2, the two ends of flexible covering 5-2 respectively with fixing segment body 3 with rotate segment body 7 and be connected and seal in the junction.Because coil spring is embedded in the flexible covering, no matter whether the elasticity segment body is crooked, flexible covering all can bend equably and not have the generation of fold etc., the equal smoother of the inside and outside wall of elasticity segment body, and degradation of energy is less when making fluid flow through the elasticity segment body.Other composition is identical with embodiment three with connection mode.
The specific embodiment five: specify present embodiment below in conjunction with Fig. 8.The difference of present embodiment and embodiment three is: elasticity segment body 5 is made up of coil spring 5-1 and flexible covering 5-2, coil spring 5-1 is outside flexible covering 5-2, the two ends of coil spring 5-1 are separately fixed at fixedly segment body 3 and rotate on the segment body 7, and segment body 3 and rotation segment body 7 are connected and seal in the junction respectively with fixedly at the two ends of flexible covering 5-2.Coil spring is around the flexible covering outside, no matter whether the elasticity segment body is crooked, flexible covering all can guarantee to wrap well in the coil spring inboard.Other composition is identical with embodiment three with connection mode.
The specific embodiment six: specify present embodiment below in conjunction with Fig. 1.The difference of present embodiment and embodiment one is: every marmen 2 is made up of a shape-memory alloy wire, and shape-memory alloy wire is one way or two-way shape memory alloy.Other composition is identical with embodiment one with connection mode.
The specific embodiment seven: specify present embodiment below in conjunction with Fig. 9.The difference of present embodiment and embodiment six is: every marmen 2 draws spring 2-2 to form by a tortuous spiral that forms of shape-memory alloy wire.The spiral that marmem is made draws spring can realize bigger axial deformation, but the shape-memory alloy wire in the more identical silk of power output footpath is little.The shape-memory alloy wire maximum can be exported 8% displacement, but the marmem spiral in the more identical silk footpath of power output draws spring big, and shape memory is handled also comparatively simple, and because silk institute takes up space lessly, can be arranged on the matrix that this kind nozzle is installed.
The driving method of marmem is a comparative maturity.Marmem is a kind of intellectual material, exists corresponding relation between its electrical resistivity, temperature, the tissue morphology (martensite and austenic content).When the deformation length of control marmem, can realize feedback by the characteristic value of himself such as the variation of resistance, temperature etc., and not need other detecting device.To a specific marmen, under certain load condition, resistance value, temperature, tissue morphology and deflection relation can be demarcated by experiment in advance.When control shape memory alloy deformation amount, utilize the method for measuring temperature or resistance to draw the temperature or the resistance value of this marmem, learn the deflection of marmem then according to prior demarcation, thereby accurately control the action of shape memorial alloy.When needing marmem to keep the contraction of certain state, make marmem keep corresponding temperature to get final product by control.
Marmem moves by the mode of heating, and action step is as follows
(1) action produces: when heating made marmem generation martensite reverse transformation, marmen 2 shrank, and pulling is rotated segment body 7 and rotated to respective direction, and elasticity segment body 5 produces flexural deformation and stored energy;
(2) action keeps: make the marmem temperature keep constant by control system, thereby make the elastic force of marmen 2 power outputs and elasticity segment body 5 keep balance, rotate segment body 7 and keep operating state, make nozzle export the vectored thrust of certain direction;
(3) action recovers: when stopping to heat, martensitic phase transformation takes place in the marmem radiating and cooling, and marmem is stretched under the restoring force effect of elasticity segment body 5, and the nozzle rotational segment is returned to initial condition.
In being immersed in water, thermal source (marmem when directly energising is heated, the resistor wire when heating with the resistor wire mode) must insulation.The non-conductive mode can be to apply or wrap up rubber, plastics insulating barriers such as (as polytetrafluoroethylenes) on the element of conduction.
The specific embodiment eight: specify present embodiment below in conjunction with Figure 10.On the waterjet propulsor 13 of robot, nozzle can rotate 45 ° to all directions to this vectored thrust nozzle application under water.General under-water robot is equipped with propelling unit in order to realize motion all around in a plurality of directions.If under-water robot adopts waterjet propulsion, if use this nozzle at the nozzle afterbody, then can make propelling unit that the thrust of certain rotational angle is provided, the action that two propelling units of so original needs or a plurality of propelling unit are finished can only be realized by a propelling unit.This method can reduce the propelling unit quantity of under-water robot, and makes the under-water robot motion more flexible.
This vectored thrust nozzle is pipe by 2 drivings of four marmens, canned paragraph 3 and rotational segment 7.Four marmens 2 be evenly distributed on fixing segment body 3 and rotate the going up of segment body 7, a left side, down, right four positions, one end of marmem is connected on the waterjet propulsor matrix 13 that nozzle is installed, and the other end is connected to by connection lead 6 and rotates on the segment body 7.Fluid enters from fixing segment body 3, through elasticity segment body 5, from rotating segment body 7 ejections.When elasticity segment body 5 does not bend, rotate segment body 7 axis and fixedly segment body 3 deads in line, same fixedly segment body 3 axis directions of thrust direction.Elasticity segment body 5 is the flexible pipe of rubber material.
When need to directly over during the vectored thrust of certain angle, nozzle rotates segment body to be needed to rotate upward, the shape-memory alloy wire of control system heating top, the shape-memory alloy wire temperature is risen, the reverse change of martensite takes place, and the resistance or the temperature of marmem when making the resistance of marmem or temperature reach required angle, after rotation segment body 7 turns to predetermined angular, shape-memory alloy wire keeps constant temperature, thereby keep constant convergent force, rotate segment body 7 and keep constant case of bending, thus the thrust of output respective angles.
When need be to the vectored thrust of certain angle of upper left side, the nozzle rotational segment need turn to upper left certain angle, then control system calculates the amount of contraction of the shape-memory alloy wire of top and the shape-memory alloy wire of left respectively according to needed angle and to temperature or resistance value that should amount of contraction, heat this two strips memorial alloy then respectively, make the temperature of marmem or resistance value reach predetermined value.After rotational segment turned to predetermined angular, this two strips memorial alloy kept constant temperature, thereby keeps constant convergent force, rotated segment body 7 and kept constant case of bending, thereby export required thrust.
When the nozzle rotational segment need recover initial, during with the state of fixing segment body 3 coaxial lines, stop to heat marmem, marmem cooling, elasticity segment body 5 make rotation segment body 7 return to initial state owing to the effect of elastic force returns to initial straight state.
The specific embodiment nine: specify present embodiment below in conjunction with Figure 11 and Fig. 9.This vectored thrust nozzle application is on the water flow jet developmental tube.By this developmental tube, can observation water under current shape behind the water flow jet, after injection orifice installs this vectored thrust nozzle additional, just can observe around axis direction water flow jet direction continually varying flow field, make the function of jet test pipe more perfect.Utilize the marmem spiral to draw spring 2-2 to drive, can make structure comparatively compact.
This vectored thrust nozzle draws spring 2-2 to drive by the marmem spiral, and fixedly segment body 3 is a pipe, rotates segment body 7 and can be pipe, taper pipe etc., and Fig. 9 is the scheme drawing of the nozzle of pipe for rotating segment body 7.Three shape memory alloy springs are evenly distributed on fixedly segment body 3 and rotate on the segment body 7, and adjacent two shape memory alloy springs angle at interval is 120 °, and one of them shape memory alloy spring is positioned at the top of nozzle.Because shape memory alloy spring can export bigger displacement on less length, so the initial condition of shape memory alloy spring can be shorter, the one end is installed nozzle fixedly on the segment body 3, and the other end is connected on the rotation segment body 7 by connection lead.Fluid enters from fixing segment body 3, through elasticity segment body 5, from rotating segment body 7 ejections.When elasticity segment body 5 does not bend, rotate segment body 7 axis and fixedly segment body 3 deads in line, same fixedly segment body 3 axis directions of thrust direction.Elasticity segment body 5 is for embedding the covering pipe of spring.
When need under during the vectored thrust of certain angle, nozzle rotate segment body 7 need under rotate, control system at first calculates the shape memory alloy spring of needs action and the amount of contraction, draw spring 2-2 (calculating) by two marmem spirals below the heating simultaneously then by control system, make the marmem spiral draw spring 2-2 temperature to rise, the reverse change of martensite takes place, the marmem spiral draws spring 2-2 to shrink, and the marmem spiral draws spring 2-2 when making the resistance of shape memory alloy spring or temperature reach required angle resistance or temperature, shrink required amount of contraction, after rotation segment body 7 turns to predetermined angular, the marmem spiral draws spring 2-2 to keep constant temperature, thereby keep constant convergent force, rotate segment body 7 and keep constant case of bending, thus the thrust of output respective angles.Figure 11 for rotate segment body 7 under the scheme drawing of certain angular turn.
When need to certain angle of upper left side (with the horizontal direction angle greater than 60 °) vectored thrust the time, nozzle rotates segment body 7 need turn to upper left certain angle, then control system two marmem spirals calculating the top respectively according to needed angle draw the different amounts of contraction of spring 2-2 and to temperature or resistance value that should amount of contraction, heat this two strips memorial alloy spiral then respectively and draw spring 2-2, make the marmem spiral draw the temperature of spring 2-2 or resistance value to reach predetermined value.After rotation segment body 7 turned to predetermined angular, this two strips memorial alloy spiral drew spring 2-2 to keep constant temperature, thereby keeps constant convergent force, rotated segment body 7 and kept constant case of bending, thereby export required thrust.
When nozzle rotate segment body 7 need to recover initial, during with the state of fixing segment body 3 coaxial lines, stop to heat the marmem spiral and draw spring 2-2, the marmem spiral draws spring 2-2 cooling, elasticity segment body 5 makes rotational segment return to initial state owing to the effect of elastic force returns to initial straight state.
The specific embodiment ten: specify present embodiment below in conjunction with Figure 12 and Figure 13.The difference of present embodiment and embodiment six is: every marmen 2 is made up of many shape memory allow wires 2-1, and many shape memory allow wires 2-1 arrangement in parallels become a bundle or are twisted into a bundle.Many thin shape memory allow wires are formed a marmen, can improve power output.Other composition is identical with embodiment six with connection mode.
Claims (8)
1, the nozzle of vectored thrust under water that marmem drives, it is characterized in that it comprises at least three marmens (2), fixing segment body (3), rotate segment body (7), elasticity segment body (5) and at least three connection leads (6), fixing segment body (3), elasticity segment body (5) and rotation segment body (7) dock successively and form tubulose, one end of every marmen (2) is fixed on the end of a connection lead (6), the other end of connection lead (6) is fixed on the external peripheral surface that rotates segment body (7), and each connection lead (6) is parallel to the axial line of fixing segment body (3) and along the circumferential direction evenly is arranged in fixedly segment body (3), on the outer round surface of elasticity segment body (5) and rotation segment body (7).
2, the nozzle of vectored thrust under water of marmem driving according to claim 1 is characterized in that elasticity segment body (5) is bellows or straight tube, and the material of elasticity segment body (5) is the complex of rubber, plastics, metal or above three kinds of materials.
3, the nozzle of vectored thrust under water of marmem driving according to claim 1, it is characterized in that elasticity segment body (5) is made up of coil spring (5-1) and flexible covering (5-2), the two ends of coil spring (5-1) are separately fixed at fixedly segment body (3) and rotate on the segment body (7), flexible covering (5-2) is wrapped on the outer round surface of coil spring (5-1), the two ends of flexible covering (5-2) respectively with fixing segment body (3) with rotate segment body (7) and be connected and seal in the junction; The material of flexible covering (5-2) is plastics or rubber.
4, the nozzle of vectored thrust under water of marmem driving according to claim 1, it is characterized in that elasticity segment body (5) is made up of coil spring (5-1) and flexible covering (5-2), coil spring (5-1) is embedded in the inside of flexible covering (5-2), the two ends of flexible covering (5-2) respectively with fixing segment body (3) with rotate segment body (7) and be connected and seal in the junction.
5, the nozzle of vectored thrust under water of marmem driving according to claim 1, it is characterized in that elasticity segment body (5) is made up of coil spring (5-1) and flexible covering (5-2), coil spring (5-1) is outside flexible covering (5-2), the two ends of coil spring (5-1) are separately fixed at fixedly segment body (3) and rotate on the segment body (7), and segment body (3) and rotation segment body (7) are connected and seal in the junction respectively with fixedly at the two ends of flexible covering (5-2).
6, the nozzle of vectored thrust under water of marmem driving according to claim 1, it is characterized in that every marmen (2) is made up of a shape-memory alloy wire, shape-memory alloy wire is one way or two-way shape memory alloy.
7, the nozzle of vectored thrust under water of marmem driving according to claim 1 is characterized in that every marmen (2) draws spring (2-2) to form by a tortuous spiral that forms of shape-memory alloy wire.
8, the nozzle of vectored thrust under water of marmem driving according to claim 1, it is characterized in that every marmen (2) is made up of many shape memory allow wires (2-1), many shape memory allow wires (2-1) arrangement in parallel becomes a bundle or is twisted into a bundle.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006100103605A CN100354181C (en) | 2006-08-02 | 2006-08-02 | Shape memoryalloy driven under water vector pushing force nozzle |
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| CNB2006100103605A CN100354181C (en) | 2006-08-02 | 2006-08-02 | Shape memoryalloy driven under water vector pushing force nozzle |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107433579A (en) * | 2017-06-27 | 2017-12-05 | 西北工业大学 | A kind of bionical tail apparatus of more piece of SMA drivings |
| CN111503340A (en) * | 2020-04-26 | 2020-08-07 | 山东大学 | Fire valve, fire control shower nozzle and fire extinguishing system |
| CN111921146A (en) * | 2020-08-17 | 2020-11-13 | 王淼 | Pipeline with good fire extinguishing effect for fire fighting |
| CN111994241A (en) * | 2020-08-05 | 2020-11-27 | 中国船舶重工集团有限公司第七一0研究所 | Underwater propeller vector deflection device based on shape memory alloy driver |
| CN112009655A (en) * | 2020-08-18 | 2020-12-01 | 哈尔滨工业大学（威海） | Electromagnetic drive pulse type propulsion squid-imitating robot |
| CN112319747A (en) * | 2020-11-08 | 2021-02-05 | 西北工业大学 | Split catheter vector propeller |
| CN112572742A (en) * | 2020-12-21 | 2021-03-30 | 中国船舶重工集团有限公司第七一0研究所 | Underwater propeller vector deflection device based on shape memory alloy driver |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6195981B1 (en) * | 1998-07-22 | 2001-03-06 | General Electric Company | Vectoring nozzle control system |
| JP3729685B2 (en) * | 1999-07-14 | 2005-12-21 | トキコーポレーション株式会社 | Model airplane rudder device |
| ITTO20010249A1 (en) * | 2001-03-16 | 2002-09-16 | Fiat Ricerche | FAN OR PROPELLER, A MEMORY OF SHAPE. |
| JP3784005B2 (en) * | 2001-08-01 | 2006-06-07 | 弘記 齋藤 | Operation control device in digital command control |
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- 2006-08-02 CN CNB2006100103605A patent/CN100354181C/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107433579A (en) * | 2017-06-27 | 2017-12-05 | 西北工业大学 | A kind of bionical tail apparatus of more piece of SMA drivings |
| CN111503340A (en) * | 2020-04-26 | 2020-08-07 | 山东大学 | Fire valve, fire control shower nozzle and fire extinguishing system |
| CN111503340B (en) * | 2020-04-26 | 2021-05-11 | 山东大学 | Fire valve, fire control shower nozzle and fire extinguishing system |
| CN111994241A (en) * | 2020-08-05 | 2020-11-27 | 中国船舶重工集团有限公司第七一0研究所 | Underwater propeller vector deflection device based on shape memory alloy driver |
| CN111994241B (en) * | 2020-08-05 | 2022-10-04 | 中国船舶重工集团有限公司第七一0研究所 | Underwater propeller vector deflection device based on shape memory alloy driver |
| CN111921146A (en) * | 2020-08-17 | 2020-11-13 | 王淼 | Pipeline with good fire extinguishing effect for fire fighting |
| CN112009655A (en) * | 2020-08-18 | 2020-12-01 | 哈尔滨工业大学（威海） | Electromagnetic drive pulse type propulsion squid-imitating robot |
| CN112319747A (en) * | 2020-11-08 | 2021-02-05 | 西北工业大学 | Split catheter vector propeller |
| CN112319747B (en) * | 2020-11-08 | 2023-02-10 | 西北工业大学 | Split catheter vector propeller |
| CN112572742A (en) * | 2020-12-21 | 2021-03-30 | 中国船舶重工集团有限公司第七一0研究所 | Underwater propeller vector deflection device based on shape memory alloy driver |
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| CN100354181C (en) | 2007-12-12 |
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