CN209274864U - A kind of floating type underwater robot of Piezoelectric Driving - Google Patents
A kind of floating type underwater robot of Piezoelectric Driving Download PDFInfo
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- CN209274864U CN209274864U CN201821868706.XU CN201821868706U CN209274864U CN 209274864 U CN209274864 U CN 209274864U CN 201821868706 U CN201821868706 U CN 201821868706U CN 209274864 U CN209274864 U CN 209274864U
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- walking beam
- propeller
- fixed plate
- propeller hub
- actuation head
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Abstract
The utility model discloses a kind of floating type underwater robots of Piezoelectric Driving, include patch type piezoelectric oscillator, two propellers, two fixed plates and two elastic webbings.Respectively there are an arc-shaped actuation head, cross type clamping device of the centre setting with through-hole in the both ends of piezoelectric vibrator.The hand of helix of two propeller blades is opposite.Patch type piezoelectric oscillator is fixed between two fixed plates, the shaft of two propellers is stuck in the open slot of two fixed board ends, two elastic webbings are respectively fitted over the two sides of two propeller shafts, in tensional state, so that the outer propeller hub of two propellers offsets with the actuation head at piezoelectric vibrator both ends respectively.When work, piezoelectric vibrator is motivated, and the arc-shaped actuation head in both ends, which generates, turns to opposite elliptic motion, is driven even propeller rotational by rubbing action, is realized underwater robot movement.
Description
Technical field
The utility model relates to piezoelectric actuating and underwater robot field more particularly to a kind of floating type water of Piezoelectric Driving
Lower robot.
Background technique
Due to the needs of exploration of ocean resources and exploitation, underwater robot has obtained developing on a large scale very much.
Currently, underwater robot mostly uses electromagnetic machine or hydraulic drive scheme.Continue growing submerged depth, underwater machine
Device people will be difficult to adapt to high hydraulic condition, need to also sealing, in terms of further investigate.Meanwhile electromagnetic machine ruler
Very little diminution behind efficiency sharply declines, it is difficult to meet the needs of miniaturization；Hydraulic device weight is big, it is difficult to reach light-weighted and want
It asks.So the submerged depth of existing underwater robot is difficult to improve, is difficult to be miniaturized in structure size.
In the seawater, the noise of underwater robot mostlys come from the acting device of robot.The frequency of sound wave is higher, wave
Length is shorter, and the distance of propagation is closer, energy attenuation is more violent, and it is lower can be detected rate.If using piezoelectric actuating technology and incited somebody to action
The working frequency of piezoelectric vibrator is designed to that the underwater sound stealth of the floating type underwater robot of Piezoelectric Driving will greater than 50 kHz
It can improve.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of pressure for defect involved in background technique
Electrically driven (operated) floating type underwater robot.
The utility model uses following technical scheme to solve above-mentioned technical problem:
A kind of floating type underwater robot of Piezoelectric Driving includes patch type piezoelectric oscillator, the first propeller, the second spiral
Paddle, the first fixed plate, the second fixed plate, first elastic webbing and second elastic webbing；
The patch type piezoelectric oscillator includes metallic matrix and four piezoelectric ceramic pieces；
The metallic matrix includes the first actuation head, the second actuation head, the first walking beam, the second walking beam and clamping machine
Structure；
First walking beam, the second walking beam are cuboid, include first to fourth side；First vibration
The first side of beam, the third side of the first walking beam, the first side of the second walking beam, the third side phase of the second walking beam
It is mutually parallel；The second side of first walking beam and the second side of the second walking beam are in same plane, and the 4th of the first walking beam the
Side and the 4th side of the second walking beam are in same plane；
The first actuation head, the second actuation head are in single hole arch bridge shape；The both ends of first actuation head shake with first respectively
One end of dynamic beam, one end of the second walking beam are connected；The both ends of second actuation head respectively with the other end of the first walking beam, second
The other end of walking beam is connected；
The clamping device be arranged in the third side of first walking beam, the second walking beam first side between,
It include orthogonal first panel and second panel in cruciformity；The first panel both ends respectively with the first walking beam
Third side, the second walking beam first side be vertically connected；Axis is perpendicular to first there are two setting in the second panel
The mounting hole of walking beam second side；
The metallic matrix is centrosymmetric about the center of the clamping device；
Four piezoelectric ceramic pieces are respectively adhered on the 4th side of the second side of the first walking beam, the first walking beam
Face, the second side of the second walking beam and the second walking beam the 4th side, equal through-thickness polarization, and be located at same vibration
The polarization direction of piezoelectric ceramic piece on beam is opposite, the polarization direction of piezoelectric ceramic piece in the same plane is identical；
First propeller, the second propeller include interior propeller hub, outer propeller hub, shaft and several blades, wherein described
Interior propeller hub, outer propeller hub are annular in shape, are arranged concentrically；Several blades are uniformly mounted between interior propeller hub, outer propeller hub, blade
One end and interior propeller hub are connected, the other end and outer propeller hub are connected；The shaft and the rotation connection of interior propeller hub, enable interior propeller hub phase
Shaft is freely rotated, and shaft is equipped with symmetrical first annular groove, second annular groove in interior propeller hub two sides；
First fixed plate, the second fixed plate are in long strip, and both ends are respectively equipped with the first opening along its length
Slot, the second open slot；
It is equipped with boss among first fixed plate, the second fixed plate, and is equipped on boss and the clamping device
The corresponding fixation hole of upper two mounting holes；
The patch type piezoelectric oscillator is solid by two mounting holes on its clamping device and two among the first fixed plate
Determine hole, two fixation holes among the second fixed plate be fixed by bolts it is connected so that patch type piezoelectric oscillator is fixed on first
The boss of fixed plate, the second fixed plate boss between；
First annular groove, the second annular groove of the first propeller shaft are respectively placed in first fixed plate
First open slot, the second fixed plate the first open slot in, formed dimensional slip hinge；First ring of the second propeller shaft
Connected in star, second annular groove are respectively placed in the second open slot of the second open slot of first fixed plate, the second fixed plate
In, form dimensional slip hinge；
The first elastic webbing, second elastic webbing are separately positioned on patch type piezoelectric oscillator two sides；And first elastic webbing,
Two elastic webbings cover in the first propeller shaft, the second propeller shaft, are in tensional state, so that the outer propeller hub of the first propeller
Outer surface and patch type piezoelectric oscillator the first actuation head offset, the outer surface of the outer propeller hub of the second propeller and patch type piezoelectric
Second actuation head of oscillator offsets.
The blade of first propeller uses positive blade, and the blade of the second propeller uses anti-blade, i.e. in the first propeller
The hand of helix of blade is opposite in the hand of helix of blade and the second propeller.
As a kind of further prioritization scheme of floating type underwater robot of Piezoelectric Driving of the utility model, described first
In propeller, the second propeller, shaft and interior propeller hub are rotatablely connected by way of clearance fit.
As a kind of further prioritization scheme of floating type underwater robot of Piezoelectric Driving of the utility model, described four
Piezoelectric ceramics on piece is coated with silicon rubber or DP460 epoxy glue.
The invention also discloses a kind of working methods of the floating type underwater robot of Piezoelectric Driving, comprising following
Process:
First signal is applied to two piezoelectric ceramic pieces on the first walking beam, is made pottery to two piezoelectricity on the second walking beam
Tile applies second signal, and the first signal, second signal differ pi/2 on time phase, so that the first actuation head, the second actuation
Longitudinal vibration mode and Lateral Vibration Modal with 90 degree of phase differences in head generation time, so that the first actuation head, the
Two actuation head upper surface particles, which generate, turns to opposite elliptic motion a little；First actuation head, the second actuation head respectively drive again
First propeller, the second propeller, which are done, turns to opposite rotation, due to the hand of helix and second of blade in the first propeller
The hand of helix of blade is on the contrary, the first propeller, the second propeller generate the driving force of the same direction in propeller；
By changing the sequencing of the time phase difference of the first signal, second signal, change the first actuation head, the second work
The steering of dynamic head upper surface particle elliptic motion a little, and then change the direction of the first propeller, the second propeller driving force.
The utility model compared with the prior art by using the above technical solution, has following technical effect that
1. Open architecture increases the submerged depth of robot.Patch type piezoelectric oscillator uses piezoelectric driving technology, floats
Trip formula underwater robot is designed to Open architecture, increases the submerged depth under robot water, alleviates and get rid of seawater hydraulic pressure
Constraint.
2. water proof mode is simple and reliable.In water, enclosed construction wants watertight, and Open architecture wants water proof.Generate drive
The patch type piezoelectric oscillator of power is made of metallic matrix and piezoelectric ceramic piece, and piezoelectric ceramic piece is pasted onto metallic matrix on one side
Upper, another side is applied ac signal.Metallic matrix can expose in the seawater, and piezoelectric ceramics on piece is applied exchange telecommunications
Number need water proof to handle on one side.Silicon rubber or DP460 epoxy glue are applied to piezoelectric ceramics on piece, realize seawater and piezoelectricity
Potsherd isolation, water proof mode are simple and reliable.
3. lightweight, miniaturization, high stealth.Piezoelectric actuating technology is to utilize inverse piezoelectric effect and friction-driven principle
Make flowing mode, can directly drive without transmission mechanism, and piezoelectric actuating efficiency is insensitive to size, is conducive to robot
Lightweight and miniaturization.Meanwhile piezoelectric stator working frequency may be designed to be greater than 50 kHz, wavelength is short, propagate in water away from
It is stealthy conducive to the underwater sound of robot from close.
4. high stability.Propeller, with fluid friction, produces when rotation in the plane perpendicular to propeller axis
Raw torque.Piezoelectric actuator ultra-precision driving right-handed screw paddle and counterpropeller rotate in the opposite direction, and torque is allowed to offset, and it is non-right to alleviate
Claim influence of the load to floating type underwater robot stability.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the floating type underwater robot of Piezoelectric Driving of the utility model；
Fig. 2 is the structural schematic diagram of patch type piezoelectric oscillator in the utility model；
Fig. 3 is the structural schematic diagram of the metallic matrix of patch type piezoelectric oscillator in the utility model；
Fig. 4 is patch type piezoelectric oscillator piezoelectric ceramic piece group polarization direction and application electric signal signal in the utility model
Figure；
Fig. 5 is the structural schematic diagram that propeller hub, outer propeller hub and blade match in the first propeller in the utility model；
Fig. 6 is the structural schematic diagram that propeller hub, outer propeller hub and blade match in the second propeller in the utility model；
Fig. 7 is the structural schematic diagram of the first propeller shaft in the utility model；
Fig. 8 is the structural schematic diagram of the first fixed plate in the utility model；
Fig. 9 is the schematic diagram of the first, second actuation of patch type piezoelectric oscillator head longitudinal vibration mode in the utility model；
Figure 10 is the schematic diagram of the first, second actuation of patch type piezoelectric oscillator head Lateral Vibration Modal in the utility model；
Figure 11 is that the first, second actuation head surface particle of patch type piezoelectric oscillator in the utility model generates elliptic motion
Schematic diagram；
Figure 12 is that patch type piezoelectric oscillator drives propeller schematic diagram in the utility model.
In figure, 1- metallic matrix, 2- piezoelectric ceramic piece, 1.1- the first actuation head, the second walking beam of 1.2-, 1.3- clamping machine
Structure, the first propeller of 3-, the interior propeller hub of the first propeller of 3.1-, the blade of the first propeller of 3.2-, the first propeller of 3.3-
Outer propeller hub, the second propeller of 4-, the first fixed plate of 5-, the first open slot of the first fixed plate of 5.1-, the first fixed plate of 5.2-
Rectangular boss, a fixation hole in the first fixed plate of 5.2-, 6- first elastic webbing.
Specific embodiment
The technical solution of the utility model is described in further detail with reference to the accompanying drawing:
The utility model can be embodied in many different forms, and should not be assumed that be limited to the embodiments described herein.
On the contrary, it is thorough and complete to these embodiments are provided so that the disclosure, and this reality will be given full expression to those skilled in the art
With novel range.In the accompanying drawings, for the sake of clarity it is exaggerated component.
As shown in Figure 1, including patch type pressure the utility model discloses a kind of floating type underwater robot of Piezoelectric Driving
Electric tachometer indicator, the first propeller, the second propeller, the first fixed plate, the second fixed plate, first elastic webbing and second elastic webbing.
As shown in Figure 2 and Figure 3, patch type piezoelectric oscillator includes metallic matrix and four piezoelectric ceramic pieces；Metallic matrix includes
First actuation head, the second actuation head, the first walking beam, the second walking beam and clamping device.
First walking beam, the second walking beam are cuboid, include first to fourth side；The first of first walking beam
Side, the third side of the first walking beam, the first side of the second walking beam, the second walking beam third side be parallel to each other；
The second side of first walking beam and the second side of the second walking beam are in same plane, the 4th side of the first walking beam and
4th side of two walking beams is in same plane.
First actuation head, the second actuation head are in single hole arch bridge shape；The both ends of first actuation head respectively with the first walking beam
One end, the second walking beam one end be connected；The both ends of second actuation head are vibrated with the other end of the first walking beam, second respectively
The other end of beam is connected.
Clamping device be arranged in the third side of the first walking beam, the second walking beam first side between, be in cross
Shape includes orthogonal first panel and second panel；First panel both ends respectively with the third side of the first walking beam,
The first side of two walking beams is vertically connected；The peace there are two axis perpendicular to the first walking beam second side is set in second panel
Fill hole.
Metallic matrix is centrosymmetric about the center of clamping device.
As shown in figure 4, four piezoelectric ceramic pieces be respectively adhered on the second side of the first walking beam, the first walking beam
Four sides, the second side of the second walking beam and the second walking beam the 4th side, equal through-thickness polarization, and being located at same
The polarization direction of piezoelectric ceramic piece on walking beam is opposite, the polarization direction of piezoelectric ceramic piece in the same plane is identical.
As shown in Fig. 5, Fig. 6, Fig. 7, the first propeller, the second propeller include interior propeller hub, outer propeller hub, shaft and several
Blade, wherein interior propeller hub, outer propeller hub are annular in shape, are arranged concentrically；Several blades be uniformly mounted on interior propeller hub, outer propeller hub it
Between, blade one end and interior propeller hub are connected, the other end and outer propeller hub are connected；Shaft and the rotation connection of interior propeller hub, enable interior propeller hub
Enough opposite shafts are freely rotated, and shaft is equipped with symmetrical first annular groove, second annular groove in interior propeller hub two sides.
As shown in figure 8, the first fixed plate, the second fixed plate are in long strip, both ends are respectively equipped with along its length
One open slot, the second open slot；It is equipped with boss among first fixed plate, the second fixed plate, and is equipped with and clamps on boss
The corresponding fixation hole of two mounting holes in mechanism.
Patch type piezoelectric oscillator by two mounting holes on its clamping device and two fixation holes among the first fixed plate,
Two fixation holes among second fixed plate be fixed by bolts it is connected so that patch type piezoelectric oscillator is fixed on the first fixed plate
Boss, the second fixed plate boss between.
First annular groove, the second annular groove of first propeller shaft are respectively placed in the first opening of the first fixed plate
Slot, the second fixed plate the first open slot in, formed dimensional slip hinge；The first annular groove of second propeller shaft, second
Annular groove be respectively placed in the second open slot of the first fixed plate, the second fixed plate the second open slot in, formed dimensional slip
Hinge.
First elastic webbing, second elastic webbing are separately positioned on patch type piezoelectric oscillator two sides；And first elastic webbing, the second bullet
Property band cover in the first propeller shaft, the second propeller shaft, be in tensional state, so that the outer propeller hub of the first propeller is outer
First actuation head of surface and patch type piezoelectric oscillator offsets, the outer surface of the outer propeller hub of the second propeller and patch type piezoelectric oscillator
The second actuation head offset.
The blade of first propeller uses positive blade, and the blade of the second propeller uses anti-blade, i.e. in the first propeller
The hand of helix of blade is opposite in the hand of helix of blade and the second propeller.
As a kind of further prioritization scheme of floating type underwater robot of Piezoelectric Driving of the utility model, the first spiral
In paddle, the second propeller, shaft and interior propeller hub are rotatablely connected by way of clearance fit.
As a kind of further prioritization scheme of floating type underwater robot of Piezoelectric Driving of the utility model, four piezoelectricity
Silicon rubber or DP460 epoxy glue are coated on potsherd.
The invention also discloses a kind of working methods of the floating type underwater robot of Piezoelectric Driving, comprising following
Process:
As shown in Fig. 9, Figure 10, Figure 11, the first signal is applied, to second to two piezoelectric ceramic pieces on the first walking beam
Two piezoelectric ceramic pieces on walking beam apply second signal, and the first signal, second signal differ pi/2 on time phase, make
The first actuation head, in the second actuation head generation time with the longitudinal vibration mode and Lateral Vibration Modal of 90 degree of phase differences,
So that the first actuation head, the second actuation head upper surface particle, which generate, turns to opposite elliptic motion a little；First actuation head,
Second actuation head respectively drives the first propeller again, the second propeller does and turns to opposite rotation, due to paddle in the first propeller
The hand of helix of blade is on the contrary, the first propeller, the second propeller generate phase in the hand of helix of leaf and the second propeller
Equidirectional driving force, as shown in figure 12.
By changing the sequencing of the time phase difference of the first signal, second signal, change the first actuation head, the second work
The steering of dynamic head upper surface particle elliptic motion a little, and then the direction of the first propeller, the second propeller driving force.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in the utility model fields
Justice.It should also be understood that those terms such as defined in the general dictionary should be understood that with upper with the prior art
The consistent meaning of meaning hereinafter, and unless defined as here, will not with idealization or meaning too formal come
It explains.
Above-described specific embodiment, to the purpose of this utility model, technical scheme and beneficial effects carried out into
One step is described in detail, it should be understood that being not used to limit the foregoing is merely specific embodiment of the present utility model
The utility model processed, within the spirit and principle of the utility model, any modification, equivalent substitution, improvement and etc. done,
It should be included within the scope of protection of this utility model.
Claims (3)
1. a kind of floating type underwater robot of Piezoelectric Driving, which is characterized in that include patch type piezoelectric oscillator, the first spiral
Paddle, the second propeller, the first fixed plate, the second fixed plate, first elastic webbing and second elastic webbing；
The patch type piezoelectric oscillator includes metallic matrix and four piezoelectric ceramic pieces；
The metallic matrix includes the first actuation head, the second actuation head, the first walking beam, the second walking beam and clamping device；
First walking beam, the second walking beam are cuboid, include first to fourth side；First walking beam
First side, the third side of the first walking beam, the first side of the second walking beam, the third side of the second walking beam are mutually flat
Row；The second side of first walking beam and the second side of the second walking beam are in same plane, the 4th side of the first walking beam
The 4th side with the second walking beam is in same plane；
The first actuation head, the second actuation head are in single hole arch bridge shape；The both ends of first actuation head respectively with the first walking beam
One end, the second walking beam one end be connected；The both ends of second actuation head are vibrated with the other end of the first walking beam, second respectively
The other end of beam is connected；
The clamping device be arranged in the third side of first walking beam, the second walking beam first side between, be in ten
Cabinet frame shape includes orthogonal first panel and second panel；The first panel both ends respectively with the first walking beam
Three sides, the second walking beam first side be vertically connected；Axis is perpendicular to the first vibration there are two setting in the second panel
The mounting hole of beam second side；
The metallic matrix is centrosymmetric about the center of the clamping device；
Four piezoelectric ceramic pieces are respectively adhered on the second side of the first walking beam, the 4th side of the first walking beam,
4th side of the second side of two walking beams and the second walking beam, equal through-thickness polarization, and be located on same walking beam
Piezoelectric ceramic piece opposite, the in the same plane piezoelectric ceramic piece of polarization direction polarization direction it is identical；
First propeller, the second propeller include interior propeller hub, outer propeller hub, shaft and several blades, wherein the interior paddle
Hub, outer propeller hub are annular in shape, are arranged concentrically；Several blades are uniformly mounted between interior propeller hub, outer propeller hub, blade one end
It is connected with interior propeller hub, the other end and outer propeller hub are connected；The shaft and the rotation connection of interior propeller hub, enable interior propeller hub is opposite to turn
Axis is freely rotated, and shaft is equipped with symmetrical first annular groove, second annular groove in interior propeller hub two sides；
First fixed plate, the second fixed plate are in long strip, and both ends are respectively equipped with the first open slot, along its length
Two open slots；
Be equipped with boss among first fixed plate, the second fixed plate, and be equipped on boss with two on the clamping device
The corresponding fixation hole of a mounting hole；
The patch type piezoelectric oscillator by two mounting holes on its clamping device and two fixation holes among the first fixed plate,
Two fixation holes among second fixed plate be fixed by bolts it is connected so that patch type piezoelectric oscillator is fixed on the first fixed plate
Boss, the second fixed plate boss between；
First annular groove, the second annular groove of the first propeller shaft are respectively placed in the first of first fixed plate
Open slot, the second fixed plate the first open slot in, formed dimensional slip hinge；The second propeller shaft it is first annular recessed
Slot, second annular groove be respectively placed in the second open slot of first fixed plate, the second fixed plate the second open slot in, shape
It is cut with scissors at dimensional slip；
The first elastic webbing, second elastic webbing are separately positioned on patch type piezoelectric oscillator two sides；And first elastic webbing, the second bullet
Property band cover in the first propeller shaft, the second propeller shaft, be in tensional state, so that the outer propeller hub of the first propeller is outer
First actuation head of surface and patch type piezoelectric oscillator offsets, the outer surface of the outer propeller hub of the second propeller and patch type piezoelectric oscillator
The second actuation head offset.
2. the floating type underwater robot of Piezoelectric Driving according to claim 1, which is characterized in that first spiral
In paddle, the second propeller, shaft and interior propeller hub are rotatablely connected by way of clearance fit.
3. the floating type underwater robot of Piezoelectric Driving according to claim 1, which is characterized in that the four piezoelectricity pottery
Silicon rubber or DP460 epoxy glue are coated on tile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821868706.XU CN209274864U (en) | 2018-11-14 | 2018-11-14 | A kind of floating type underwater robot of Piezoelectric Driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821868706.XU CN209274864U (en) | 2018-11-14 | 2018-11-14 | A kind of floating type underwater robot of Piezoelectric Driving |
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| Publication Number | Publication Date |
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| CN209274864U true CN209274864U (en) | 2019-08-20 |
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| CN201821868706.XU Withdrawn - After Issue CN209274864U (en) | 2018-11-14 | 2018-11-14 | A kind of floating type underwater robot of Piezoelectric Driving |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109292062A (en) * | 2018-11-14 | 2019-02-01 | 南京航空航天大学 | A kind of the floating type underwater robot and its working method of Piezoelectric Driving |
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2018
- 2018-11-14 CN CN201821868706.XU patent/CN209274864U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109292062A (en) * | 2018-11-14 | 2019-02-01 | 南京航空航天大学 | A kind of the floating type underwater robot and its working method of Piezoelectric Driving |
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