The invention relates to the field of intelligent ocean and underwater bionics, in particular to a multi-joint flexible bionic propeller which comprises a hot liquid circulating system, a cold liquid circulating system, a bulkhead, a connecting rod and a driving unit. The bulkheads are connected in series through connecting rods; the driving units are arranged between the adjacent bulkheads, and each driving unit comprises a hot liquid inlet valve, a hot liquid outlet valve, a cold liquid inlet valve, a cold liquid outlet valve and two memory alloy drivers; the two memory alloy drivers are symmetrically arranged on the two sides of the connecting rod; the memory alloy driver is connected with the hot liquid circulation system through a hot liquid inlet valve and a hot liquid outlet valve, and the memory alloy driver is connected with the cold liquid circulation system through a cold liquid inlet valve and a cold liquid outlet valve. According to the method, the principle of rigid forced movement is adopted, accurate fitting of fish body waves is achieved, complex rigidity calculation is not needed in the fitting process, control is more accurate and simpler, and hyperbolic swing of a fish body can be simulated. The invention further provides a driving control method of the multi-joint flexible bionic propeller.
本发明涉及智慧海洋和水下仿生领域,具体是一种多关节柔性仿生推进器,包括热液循环系统、冷液循环系统、隔框、连杆、驱动单元;所述隔框通过连杆串连;驱动单元设在相邻的隔框之间,驱动单元包括热液进阀、热液出阀、冷液进阀、冷液出阀和两个记忆合金驱动器;两个记忆合金驱动器在连杆的两侧对称设置;记忆合金驱动器分别通过热液进阀、热液出阀与热液循环系统连接,记忆合金驱动器分别通过冷液进阀、冷液出阀与冷液循环系统连接。本发明采用刚性强迫运动的原理,以实现鱼体波的精确拟合,拟合过程不需要复杂的刚度计算,控制更加精确、简单,并且能够模拟鱼体的双曲线摆动。本发明还提供了一种多关节柔性仿生推进器驱动控制方法。
Multi-joint flexible bionic propeller and driving control method thereof
多关节柔性仿生推进器及其驱动控制方法
2023-04-25
Patent
Elektronische Ressource
Chinesisch
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
British Library Conference Proceedings | 1996
|Europäisches Patentamt | 2023
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