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Hydraulic pressure artificial muscle two-degree-of-freedom vector adjusting water spraying propelling system and vector adjusting method thereof

An artificial muscle, water jet propulsion technology, applied in ship propulsion, propulsion components, underwater operation equipment, etc., can solve the problems of unfavorable light weight and miniaturization, poor anti-cavitation ability, low output power, etc., and achieve a compact structure. , The effect of simple assembly and large output force/weight ratio

Active Publication Date: 2019-10-08
DALIAN MARITIME UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the main propeller of ROV is the propeller, which has poor anti-cavitation ability and high noise. The drive system mostly uses servo motors and hydraulic cylinders, which is not conducive to the realization of light weight and miniaturization
In addition, servo motors and hydraulic cylinders not only have low output power, but also work underwater for a long time, and a series of problems such as sealing and corrosion are difficult to solve

Method used

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  • Hydraulic pressure artificial muscle two-degree-of-freedom vector adjusting water spraying propelling system and vector adjusting method thereof
  • Hydraulic pressure artificial muscle two-degree-of-freedom vector adjusting water spraying propelling system and vector adjusting method thereof
  • Hydraulic pressure artificial muscle two-degree-of-freedom vector adjusting water spraying propelling system and vector adjusting method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0046] like Figure 1-Figure 3 As shown, a water-pressure artificial muscle two-degree-of-freedom vector adjustment water-jet propulsion system includes a water-jet propulsion system, a hydraulic system and a control system;

[0047] The water jet propulsion system includes an ROV floating body frame 1, a horizontal support plate 2 is fixed at the rear end of the ROV floating body frame 1, and a vertically arranged base 3 is fixed on the upper surface of the middle part of the horizontal support plate 2. The base 3. The side close to the tail end of the ROV floating body frame 1 is connected to the disk 5 through the universal joint 4, and the axis of the disk 5 coincides with the axis of the universal joint 4, and the center of the disk 5 is set. There is a nozzle connection port 6, the nozzle 7 is fixedly connected to the disc 5 through the nozzle connection port 6, and the nozzle 7 is communicated with the water tank 8 through a pipeline and the hydraulic system;

[0048] ...

Embodiment 2

[0071] like Figure 1-3 As shown in the figure, a vector adjustment method for a water-pressure artificial muscle two-degree-of-freedom vector adjustment water jet propulsion system, comprising the following steps:

[0072] S1. Fill the first hydraulic artificial muscle 10, the second hydraulic artificial muscle 11, the third hydraulic artificial muscle 12 and the fourth hydraulic artificial muscle 13 with water in advance to make them contract. The transmission wire 14 is tight;

[0073] S2. Input the pre-pitch angle and the pre-rotation angle through the first ω input device 35 and the second ω input device 43, respectively through the first median voltage input module 32 and the second median voltage The input module 33 inputs U1 and U2;

[0074] S3. The first hydraulic artificial muscle 10, the second hydraulic artificial muscle 11, the third hydraulic artificial muscle 12 and the fourth hydraulic artificial muscle 14 are performed under the control of the control system...

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Abstract

The invention discloses a hydraulic pressure artificial muscle two-degree-of-freedom vector adjusting water spraying propelling system and a vector adjusting method thereof. The system comprises a water spraying propelling system, a hydraulic system and a control system; the water spraying propelling system comprises an ROV floating body frame, a disc and a steering system; a nozzle is arranged inthe center of the disc, and the nozzle is communicated with a water tank through a pipeline and the hydraulic system; the steering system comprises a hydraulic pressure artificial muscle set with oneend fixedly connected with the disc, and the hydraulic pressure artificial muscle set is connected with the hydraulic system; the hydraulic system can drive the hydraulic pressure artificial muscle to move so that a crossing angle is formed between the axis of the disc and the axis of a universal joint, and the system can control the water spraying amount of the nozzle and control the nozzle to be opened or closed; the hydraulic system is in signal connection with the control system controlling the flow direction of fluid in the hydraulic system. The hydraulic pressure artificial muscle is adopted as a driver, the underwater compatibility is good, and the ratio of output force to dead weight is large.

Description

technical field [0001] The invention relates to a propulsion system and a propulsion method that can adjust the direction of water jets, in particular to a water jet propulsion system with two degrees of freedom vector adjustment for hydraulic artificial muscles and a vector adjustment method thereof. Background technique [0002] When working in the deep sea, divers are limited by the diving depth. To complete underwater operations at large depths, remote-controlled underwater robots (ROVs) are generally used to complete the task. At this stage, the main propeller of ROV is the propeller, which has poor anti-cavitation ability and high noise. The drive system mostly uses servo motors and hydraulic cylinders, which is not conducive to achieving light weight and miniaturization. In addition, servo motors and hydraulic cylinders not only have low output power, but also work underwater for a long time, and a series of problems such as sealing and corrosion are difficult to solv...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63H11/02B63C11/52
CPCB63C11/52B63H11/02
Inventor 张增猛宋男贾云瑞丛宇佳弓永军
Owner DALIAN MARITIME UNIVERSITY