A full-sea-depth single-phase driven piezoelectric release mechanism and its working mode

Abstract

The present invention discloses a full-sea-depth single-phase driven piezoelectric release mechanism and its working method. The full-sea-depth single-phase driven piezoelectric release mechanism includes a float, a detector, a release module, a first to second connection device and an anchored weight; the release module includes a release lock body, a first piezoelectric actuator and a second piezoelectric actuator; the release lock body includes a fixed plate, a hanging plate, a limit plate, a first rotating column and a second rotating column. When working, the release lock body is opened by driving the first piezoelectric actuator and the second piezoelectric actuator, and the detector is towed to the sea surface by the float. Compared with other releasers, the present invention does not need to be sealed, and there is no cavity inside each component, so it can work under high water pressure. The structure is simpler and the reliability is higher. It can directly release large loads and give full play to the advantages of piezoelectric actuators.

Description

Technical Field

[0001] The present invention relates to the field of piezoelectric drive and deep-sea exploration equipment, and in particular to a full-sea-depth single-phase driven piezoelectric release mechanism and a working method thereof. Background Art

[0002] Hydroacoustic remote control is an application of hydroacoustic communication, which uses hydroacoustic communication to transmit control commands. The acoustic releaser is an equipment of the hydroacoustic remote control system, which consists of two parts: the surface deck unit and the underwater acoustic release unit. The surface deck unit realizes the control and status monitoring of the underwater acoustic release unit; the underwater acoustic release unit is used to realize the recovery of the underwater buoy system, while ensuring the reliability and load capacity of the release system.

[0003] The acoustic releaser should adapt to the harsh environment of deep sea, such as high water pressure, strong corrosion and low temperature. It should be able to lock reliably when no release command is received, and release immediately after receiving the release command. At present, according to the type of driving source, the actuator release methods of deep sea releaser include electromagnetic motor drive, pneumatic, fuse and electromagnetic. Different from the above driving sources, piezoelectric actuators use piezoelectric ceramics to excite the controllable micro vibration generated by the stator, and realize the macroscopic movement of the rotor through the friction between the stator and the rotor. The piezoelectric actuator has a simple structure, can be freely arranged in space, and has a high torque-to-weight ratio. When the piezoelectric actuator is used in underwater equipment, there is no pressure difference between its open structure and seawater, and insulation treatment can be completed by simply coating the piezoelectric ceramic sheet exposed to water and its silver-plated layer with glue. The stator and mover contact interface of the piezoelectric actuator allows seawater to contact, and the convection of seawater can effectively reduce the temperature rise problem caused by structural damping and friction under high-frequency vibration, and eliminate the piezoelectric actuator operating frequency drift caused by temperature rise, output performance degradation and other problems. The advantages of fast response and self-locking can better adapt to the deep-sea environment where the submersible is located, avoid the shedding of the mount due to underwater disturbances, and can significantly improve the reliability of the jettisoning system. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a full-sea-depth single-phase driven piezoelectric release mechanism and its working mode in view of the defects involved in the background technology.

[0005] The present invention adopts the following technical solutions to solve the above technical problems:

[0006] A full-sea-depth single-phase driven piezoelectric release mechanism, comprising a floating body, a detector, a release module, a first to a second connection device, and an anchoring weight;

[0007] The floating body is used to provide buoyancy;

[0008] The detector is used to detect and monitor the ocean and is arranged in the buoy;

[0009] The release module comprises a release lock body, a first piezoelectric actuator and a second piezoelectric actuator;

[0010] The release lock body comprises a fixing plate, a hanging plate, a limiting plate, a first rotating column and a second rotating column;

[0011] The upper end of the fixing plate is provided with a connecting ring for hinged connection;

[0012] The hanging plate is an L-shaped plate, comprising a rotating bar and a load-bearing bar which are vertically connected to each other, the lower end of the rotating bar is vertically connected to one end of the load-bearing bar, and the load-bearing bar is used to hang the anchored weight;

[0013] The limiting plate is a U-shaped plate, comprising a first limiting bar, a second limiting bar and a connecting bar, one end of the connecting bar is respectively vertically fixedly connected to one end of the first limiting bar and one end of the second limiting bar; the length of the first limiting bar is greater than the length of the second limiting bar, and a pulley is provided at one end of the first limiting bar away from the connecting bar;

[0014] The first rotating column and the second rotating column are both vertically fixedly connected to the fixed plate; the upper end of the rotating bar is rotatably connected to the first rotating column, so that the hanging plate is parallel to the fixed plate and can rotate freely around the first rotating column; the connecting bar is rotatably connected to the second rotating column, so that the limiting plate is parallel to the fixed plate and can rotate freely around the second rotating column; the openings of the hanging plate and the limiting plate face each other;

[0015] The fixing plate is provided with a vertical slide rail above the first rotating column, and a slider is provided in the slide rail; when the pulley at the end of the first limiting strip of the limiting plate abuts against the slider, the second limiting strip of the limiting plate abuts against the lower end of the load-bearing strip of the hanging plate, so that the load-bearing strip is horizontal and thus the load-bearing strip cannot be separated from the anchored weight suspended thereon; when the slider slides upward along the slide rail so that the pulley at the end of the first limiting strip of the limiting plate and the slider are separated, the limiting plate does not play a limiting role, and under the action of the upward pulling force of the floating body and the downward pulling force of the anchored weight, the load-bearing strip rotates and tilts to drive the limiting plate to rotate around the second rotating column, so that the release lock body is separated from the anchored weight;

[0016] The first piezoelectric actuator and the second piezoelectric actuator have the same structure, and both include a piezoelectric composite beam, a flange and an actuator head, wherein the actuator head is a column with a cross section gradually tapering from the back to the front, and the two sides of the front end side wall are provided with mutually parallel driving surfaces; the rear end face of the actuator head and the front end face of the piezoelectric composite beam have the same shape, and the rear end face of the actuator head and the front end face of the piezoelectric composite beam are coaxially fixedly connected; the piezoelectric composite beam is used to drive the actuator head; the flange is used to fix the piezoelectric composite beam;

[0017] The first piezoelectric actuator is fixed to the slider through its flange and is parallel to the slide rail; the second piezoelectric actuator is fixed to the fixed plate through its flange and is perpendicular to the first piezoelectric actuator, and the front end of the second piezoelectric actuator head is against a driving surface of the first piezoelectric actuator head;

[0018] The first piezoelectric actuator and the second piezoelectric actuator are used to cooperate with each other to control the sliding block to slide on the slide rail;

[0019] The first and second connecting devices both comprise a rod and a hinge ring, wherein the hinge ring is in a circular ring shape; one end of the rod is fixedly connected to the outer wall of the hinge ring and the rod points to the center of the hinge ring;

[0020] One end of the rod of the first connecting device away from its hinge ring is hinged to the lower end of the floating body, and the hinge ring of the first connecting device is hinged to the connecting ring of the fixing plate;

[0021] The hinge ring of the second connecting device is sleeved on the load-bearing bar of the hanging plate, and one end of the rod of the second connecting device away from the hinge ring is hinged to the anchor weight;

[0022] The anchoring weight is used to provide vertical downward gravity to play an anchoring role, thereby preventing the piezoelectric release system from moving at the anchoring position due to water flow disturbance or seawater temperature gradient.

[0023] As a further optimization scheme of the full-sea-depth single-phase driven piezoelectric release mechanism of the present invention, the fixed plate is further provided with a limiting column vertically fixed to the fixed plate between the hanging plate and the limiting plate, for limiting the rotation degree of the limiting plate.

[0024] As a further optimization scheme of the full-sea-depth single-phase driven piezoelectric release mechanism of the present invention, the piezoelectric composite beam comprises a pre-tightening bolt, a rear beam body, a piezoelectric ceramic module and a front beam body;

[0025] 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-sectional shape; a threaded hole matching the pre-tightening bolt is provided at the center of one end face of the front beam body, and a countersunk through hole matching the pre-tightening bolt is provided at the center of one end face of the rear beam body;

[0026] The piezoelectric ceramic module comprises 2M single-partition piezoelectric ceramic sheets and 2M+1 electrode sheets, where M is a natural number greater than or equal to 1; the single-partition piezoelectric ceramic sheet is in the shape of a regular polygon or a circle, with a through hole in the center for the pre-tightening bolt to pass through, and is polarized along the thickness direction; the shape of the electrode sheet is the same as that of the single-partition piezoelectric ceramic sheet; the 2M+1 electrode sheets and the 2M single-partition piezoelectric ceramic sheets are alternately stacked in sequence, so that the 2M+1 electrode sheets and the 2M single-partition piezoelectric ceramic sheets are coaxial and adjacent single-partition piezoelectric ceramic sheets are separated by electrode sheets; the polarization directions of adjacent single-partition piezoelectric ceramic sheets are opposite;

[0027] The stud of the pre-tightening bolt passes through the countersunk through hole of the rear beam body, the through hole in the center of the 2M single-partition piezoelectric ceramic sheets and the 2M+1 electrode sheets in the piezoelectric ceramic module, and then is threadedly connected with the threaded hole of the front beam body to press the 2M single-partition piezoelectric ceramic sheets and the 2M+1 electrode sheets;

[0028] We call this scheme a double-partition sandwich scheme.

[0029] As a further optimization scheme of the full-sea-depth single-phase driven piezoelectric release mechanism of the present invention, the piezoelectric composite beam comprises a pre-tightening bolt, a rear beam body, a piezoelectric ceramic module and a front beam body;

[0030] 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-sectional shape; a threaded hole matching the pre-tightening bolt is provided at the center of one end face of the front beam body, and a countersunk through hole matching the pre-tightening bolt is provided at the center of one end face of the rear beam body;

[0031] The piezoelectric ceramic module comprises 2M double-partition piezoelectric ceramic sheets and 2M+1 electrode sheets, where M is a natural number greater than or equal to 1; the double-partition piezoelectric ceramic sheet is in the shape of a regular polygon or a circle, with a through hole in the center for the pre-tightening bolt to pass through, polarized along the thickness direction, the polarization boundary line of the double-partition piezoelectric ceramic sheet is a straight line, and the polarization directions of the two partitions of the double-partition piezoelectric ceramic sheet are opposite; the shape of the electrode sheet is the same as that of the double-partition piezoelectric ceramic sheet; the 2M+1 electrode sheets and the 2M double-partition piezoelectric ceramic sheets are alternately stacked in sequence, so that the 2M+1 electrode sheets and the 2M double-partition piezoelectric ceramic sheets are coaxial, the polarization boundary lines of the 2M double-partition piezoelectric ceramic sheets are coplanar, and adjacent double-partition piezoelectric ceramic sheets are separated by electrode sheets; the polarization directions of adjacent double-partition piezoelectric ceramic sheets are opposite;

[0032] The stud of the pre-tightening bolt passes through the countersunk through hole of the rear beam body, the through hole in the center of the 2M double-partitioned piezoelectric ceramic sheets and the 2M+1 electrode sheets in the piezoelectric ceramic module, and then is threadedly connected with the threaded hole of the front beam body to press the 2M double-partitioned piezoelectric ceramic sheets and the 2M+1 electrode sheets;

[0033] We call this scheme a single-partition sandwich scheme.

[0034] As a further optimization scheme of the full-sea-depth single-phase driven piezoelectric release mechanism of the present invention, the piezoelectric composite beam comprises a beam body, a first piezoelectric ceramic sheet and a second piezoelectric ceramic sheet, wherein the beam body is a column; the first and second piezoelectric ceramic sheets are polarized along the thickness direction and symmetrically pasted on both sides of the side wall of the beam body;

[0035] We call this solution a patch solution.

[0036] The present invention also discloses a working method of the full-sea-depth single-phase driven piezoelectric release mechanism when the single-partition sandwich scheme or the patch scheme is adopted, comprising the following steps:

[0037] When locked, the static friction force generated between the actuating heads of the first piezoelectric actuator and the second piezoelectric actuator prevents the slider from sliding on the slide rail, the pulley at the end of the first limiting strip of the limiting plate abuts against the slider, and the second limiting strip of the limiting plate abuts against the lower end of the load-bearing strip of the hanging plate, so that the load-bearing strip is horizontal and thus the load-bearing strip cannot be separated from the anchored weight suspended thereon;

[0038] When releasing:

[0039] The first and second piezoelectric actuators are stimulated by alternating current signals AC-A and AC-B with a 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 longitudinal vibration are excited simultaneously, and the driving surface of the first piezoelectric actuator and the front end of the actuating head of the second piezoelectric actuator produce elliptical motion, so that the first piezoelectric actuator drives the slider to move toward the direction close to the floating body. The specific cycle process is as follows:

[0040] Process a: In the 0-T / 4 time period, the first piezoelectric actuator changes from a contracted state to a balanced state, and each point on it moves away from the node position; the second piezoelectric actuator changes from a balanced state to a contracted state, and each point on it moves toward the node position;

[0041] Process b: In the time period T / 4-2T / 4, the first piezoelectric actuator changes from a balanced state to an expanded state, and each point on it moves away from the node position; the second piezoelectric actuator changes from a contracted state to a balanced state, and each point on it moves away from the node position;

[0042] Process c: In the time period of 2T / 4-3T / 4, the first piezoelectric actuator changes from an expanded state to a balanced state, and each point on it moves toward the node position; the second piezoelectric actuator changes from a balanced state to an expanded state, and each point on it moves away from the node position;

[0043] Process d: In the 3T / 4-T time period, the first piezoelectric actuator changes from a balanced state to a contracted state, and each point on it moves toward a node position; the second piezoelectric actuator changes from an expanded state to a balanced state, and each point on it moves toward a node position;

[0044] In process a, the second piezoelectric actuator contracts inward, and the front end of the second piezoelectric actuator head and the driving surface of the first piezoelectric actuator head tend to separate. Due to the pre-pressure on the second piezoelectric actuator, it will continue to contact the driving surface. However, since the inertial force generated by the micro-elliptical motion from process d to process a is greater than the friction between the front end of the second piezoelectric actuator head and the driving surface of the first piezoelectric actuator head at this time, the first piezoelectric actuator will continue to move horizontally to the right;

[0045] In process b, the second piezoelectric actuator expands outward from the contracted state, and 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 inertial force generated from process a to process b, and the first piezoelectric actuator will continue to move horizontally to the right;

[0046] In process c, the second piezoelectric actuator expands outward, and its top end and the driving surface make a slight elliptical motion, causing the piezoelectric actuator to move horizontally to the right;

[0047] In process d, the second piezoelectric actuator contracts inward, and its top end and the driving surface make a slight elliptical motion, causing the piezoelectric actuator to move horizontally to the right;

[0048] When the slider slides upward along the slide rail so that the pulley at the end of the first limit strip of the limit plate and the slider are disengaged, the limit plate does not play a limiting role. Under the upward pulling force of the floating body and the downward pulling force of the anchored weight, the load-bearing bar rotates and tilts to drive the limit plate to rotate around the second rotating column, so that the lock body is released to disengage from the anchored weight.

[0049] The present invention also discloses a working method of the full-sea-depth single-phase driven piezoelectric release mechanism when the double-partition sandwich scheme or the patch scheme is adopted, comprising the following steps:

[0050] When locked, the static friction force generated between the actuating heads of the first piezoelectric actuator and the second piezoelectric actuator prevents the slider from sliding on the slide rail, the pulley at the end of the first limiting strip of the limiting plate abuts against the slider, and the second limiting strip of the limiting plate abuts against the lower end of the load-bearing strip of the hanging plate, so that the load-bearing strip is horizontal and thus the load-bearing strip cannot be separated from the anchored weight suspended thereon;

[0051] When releasing:

[0052] The first and second piezoelectric actuators are stimulated by alternating current signals AC-A and AC-B with a time phase difference of 90 degrees, respectively, so that the bending vibration mode of the first piezoelectric actuator and the bending vibration mode of the second piezoelectric actuator are excited simultaneously, and the driving surface of the first piezoelectric actuator and the front end of the actuator head of the second piezoelectric actuator produce elliptical motion, so that the first piezoelectric actuator drives the slider to move toward the direction close to the floating body. The specific cycle process is as follows;

[0053] The clockwise bending of the end of the piezoelectric actuator relative to the flange fixed position is called bending vibration mode A, and the counterclockwise bending of the end of the piezoelectric actuator relative to the flange fixed position is called bending vibration mode B;

[0054] Process a: In the 0-T / 4 time period, the first piezoelectric actuator changes from the bending vibration mode A to the equilibrium state, and each point on it moves toward a position away from the center axis of the front beam body; the second piezoelectric actuator changes from the equilibrium state to the bending vibration mode A, and each point on it moves toward a position close to the center axis of the front beam body;

[0055] Process b: In the time period T / 4-2T / 4, the first piezoelectric actuator changes from the equilibrium state to the bending vibration mode B, and each point on it moves toward a position away from the center axis of the front beam; the second piezoelectric actuator changes from the bending vibration mode B to the equilibrium state, and each point on it moves toward a position away from the center axis of the beam;

[0056] Process c: In the time period of 2T / 4-3T / 4, the first piezoelectric actuator changes from the bending vibration mode B to the equilibrium state, and each point on it moves toward a position close to the center axis of the front beam body; the second piezoelectric actuator changes from the equilibrium state to the bending vibration mode A, and each point on it moves toward a position away from the center axis of the front beam body;

[0057] Process d: In the 3T / 4-T time period, the first piezoelectric actuator changes from the equilibrium state to the bending vibration mode A, and each point on it moves toward the position close to the node; the second piezoelectric actuator changes from the bending vibration mode A to the equilibrium state, and each point on it moves toward the position close to the center axis of the front beam;

[0058] In process a, the first piezoelectric actuator bends, and the front end of the second piezoelectric actuator head and the driving surface of the first piezoelectric actuator head tend to separate. Due to the pre-pressure on the second piezoelectric actuator, it will continue to contact the driving surface. However, since the inertial force generated by the micro-elliptical motion from process d to process a is greater than the friction between the front end of the second piezoelectric actuator head and the driving surface of the first piezoelectric actuator head at this time, the first piezoelectric actuator will continue to move horizontally to the right;

[0059] In process b, the first piezoelectric actuator moves closer to the center axis of the front beam from the bending vibration mode B, and the friction force between the front end of the second piezoelectric actuator's actuator head and the driving surface of the first piezoelectric actuator's actuator head is smaller than the inertia force generated from process a to process b, and the first piezoelectric actuator will continue to move horizontally to the right;

[0060] In process c, the second piezoelectric actuator bends away from the center axis of the front beam, and its top end and the driving surface make a slight elliptical motion, causing the first piezoelectric actuator to move horizontally to the right;

[0061] In process d, the second piezoelectric actuator bends toward the center axis of the front beam, and its top end and the driving surface make a slight elliptical motion, causing the piezoelectric actuator to move horizontally to the right;

[0062] When the slider slides upward along the slide rail so that the pulley at the end of the first limit strip of the limit plate and the slider are disengaged, the limit plate does not play a limiting role. Under the upward pulling force of the floating body and the downward pulling force of the anchored weight, the load-bearing bar rotates and tilts to drive the limit plate to rotate around the second rotating column, so that the lock body is released to disengage from the anchored weight.

[0063] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects:

[0064] 1. Friction drive allows seawater to enter without dynamic seals;

[0065] 2. The patch type piezoelectric transducer only needs to be waterproofed and insulated; the threaded blind holes in the sandwich type piezoelectric transducer can be filled with insulating curing glue; whether it is a patch type or a sandwich type piezoelectric transducer, they have no cavity inside the structure, no pressure difference with the external seawater, and will not be damaged under high water pressure conditions, and can adapt to the harsh environment of high water pressure, low temperature, and strong corrosion in the deep sea;

[0066] 3. The buoyancy provided by the float and the detector ensures a secure contact between the piezoelectric transducer and the mover during fixed-point monitoring and response release, and acts as a lifting force to enable the detector to float when it is separated and rising;

[0067] 4. The static friction of the piezoelectric actuator is used to realize the power-off self-locking function of the release system. The cooperation of the slide rail and the piezoelectric actuator improves the ability to cope with extreme working conditions such as large-angle tilt and large-amplitude swing of the detector, greatly enhancing the reliability of the piezoelectric-driven releaser in long-term underwater service. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 It is a schematic diagram of the structure of the present invention;

[0069] Figure 2 It is a structural schematic diagram of the release module in the present invention;

[0070] Figure 3It is a schematic structural diagram of the first piezoelectric actuator when the present invention adopts a single-partition sandwich solution;

[0071] Figure 4 It is a schematic diagram of the structure of the first electric actuator when the present invention adopts a double-partition sandwich solution;

[0072] Figure 5 It is a structural schematic diagram of the first piezoelectric actuator when the present invention adopts a patch type solution;

[0073] Figure 6 Schematic diagram of the longitudinal vibration mode of the first piezoelectric actuator when the present invention adopts a single-partition sandwich solution;

[0074] Figure 7 is a schematic diagram of the bending vibration mode of the first electric actuator when the present invention adopts a double-partition sandwich solution;

[0075] Figure 8 is a schematic diagram of the longitudinal vibration mode of the first piezoelectric actuator when the present invention adopts the patch type solution;

[0076] Fig. 9 is a schematic diagram of the bending vibration mode of the first piezoelectric actuator when the present invention adopts the patch type solution;

[0077] Fig.10 It is a working principle diagram of the release module when locked in the present invention;

[0078] Fig.11 It is a schematic diagram of the process of dumping load in the present invention;

[0079] Fig.12 It is an analysis diagram of the relative ellipse of the first and second piezoelectric actuators in the longitudinal vibration working mode of the present invention;

[0080] Fig.13 It is an analysis diagram of the working process of the first and second piezoelectric actuators in the longitudinal vibration working mode of the present invention;

[0081] Fig.14 It is an analysis diagram of the relative ellipse of the first and second piezoelectric actuators in the present invention in the bending vibration working mode;

[0082] Fig.15 It is an analysis diagram of the working process of the first and second piezoelectric actuators in the present invention in the bending vibration working mode.

[0083] 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-slide 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, 3.2.7-beam body. DETAILED DESCRIPTION

[0084] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings:

[0085] The present invention can be implemented in many different forms and should not be considered to be limited to the embodiments described herein. On the contrary, these embodiments are provided to make this disclosure thorough and complete, and will fully express the scope of the present invention to those skilled in the art. In the accompanying drawings, components are enlarged for clarity.

[0086] It should be understood that although the terms first, second, third, etc. can be used here to describe various elements, components and / or parts, these elements, components and / or parts are not limited by these terms. These terms are only used to distinguish elements, components and / or parts from each other. Therefore, the first element, component and / or part discussed below can become the second element, component or part without departing from the teaching of the present invention.

[0087] like Figure 1 As shown, the present invention discloses a full-sea-depth single-phase driven piezoelectric release mechanism, including a floating body, a detector, a release module, a first to a second connection device, and an anchoring weight;

[0088] The floating body is used to provide buoyancy;

[0089] The detector is used to detect and monitor the ocean and is arranged in the buoy;

[0090] like Figure 2 As shown, the release module includes a release lock body, a first piezoelectric actuator and a second piezoelectric actuator;

[0091] The release lock body comprises a fixing plate, a hanging plate, a limiting plate, a first rotating column and a second rotating column;

[0092] The upper end of the fixing plate is provided with a connecting ring for hinged connection;

[0093] The hanging plate is an L-shaped plate, comprising a rotating bar and a load-bearing bar which are vertically connected to each other, the lower end of the rotating bar is vertically connected to one end of the load-bearing bar, and the load-bearing bar is used to hang the anchored weight;

[0094] The limiting plate is a U-shaped plate, comprising a first limiting bar, a second limiting bar and a connecting bar, one end of the connecting bar is respectively vertically fixedly connected to one end of the first limiting bar and one end of the second limiting bar; the length of the first limiting bar is greater than the length of the second limiting bar, and a pulley is provided at one end of the first limiting bar away from the connecting bar;

[0095] The first rotating column and the second rotating column are both vertically fixedly connected to the fixed plate; the upper end of the rotating bar is rotatably connected to the first rotating column, so that the hanging plate is parallel to the fixed plate and can rotate freely around the first rotating column; the connecting bar is rotatably connected to the second rotating column, so that the limiting plate is parallel to the fixed plate and can rotate freely around the second rotating column; the openings of the hanging plate and the limiting plate face each other;

[0096] The fixing plate is provided with a vertical slide rail above the first rotating column, and a slider is provided in the slide rail; when the pulley at the end of the first limiting strip of the limiting plate abuts against the slider, the second limiting strip of the limiting plate abuts against the lower end of the load-bearing strip of the hanging plate, so that the load-bearing strip is horizontal and thus the load-bearing strip cannot be separated from the anchored weight suspended thereon; when the slider slides upward along the slide rail so that the pulley at the end of the first limiting strip of the limiting plate and the slider are separated, the limiting plate does not play a limiting role, and under the action of the upward pulling force of the floating body and the downward pulling force of the anchored weight, the load-bearing strip rotates and tilts to drive the limiting plate to rotate around the second rotating column, so that the release lock body is separated from the anchored weight;

[0097] The first piezoelectric actuator and the second piezoelectric actuator have the same structure, and both include a piezoelectric composite beam, a flange and an actuator head, wherein the actuator head is a column with a cross section gradually tapering from the back to the front, and the two sides of the front end side wall are provided with mutually parallel driving surfaces; the rear end face of the actuator head and the front end face of the piezoelectric composite beam have the same shape, and the rear end face of the actuator head and the front end face of the piezoelectric composite beam are coaxially fixedly connected; the piezoelectric composite beam is used to drive the actuator head; the flange is used to fix the piezoelectric composite beam;

[0098] The first piezoelectric actuator is fixed to the slider through its flange and is parallel to the slide rail; the second piezoelectric actuator is fixed to the fixed plate through its flange and is perpendicular to the first piezoelectric actuator, and the front end of the second piezoelectric actuator head is against a driving surface of the first piezoelectric actuator head;

[0099] The first piezoelectric actuator and the second piezoelectric actuator are used to cooperate with each other to control the sliding block to slide on the slide rail;

[0100] The first and second connecting devices both comprise a rod and a hinge ring, wherein the hinge ring is in a circular ring shape; one end of the rod is fixedly connected to the outer wall of the hinge ring and the rod points to the center of the hinge ring;

[0101] One end of the rod of the first connecting device away from its hinge ring is hinged to the lower end of the floating body, and the hinge ring of the first connecting device is hinged to the connecting ring of the fixing plate;

[0102] The hinge ring of the second connecting device is sleeved on the load-bearing bar of the hanging plate, and one end of the rod of the second connecting device away from the hinge ring is hinged to the anchor weight;

[0103] The anchoring weight is used to provide vertical downward gravity to play an anchoring role, thereby preventing the piezoelectric release system from moving at the anchoring position due to water flow disturbance or seawater temperature gradient.

[0104] As a further optimization scheme of the full-sea-depth single-phase driven piezoelectric release mechanism of the present invention, the fixed plate is further provided with a limiting column vertically fixed to the fixed plate between the hanging plate and the limiting plate, for limiting the rotation degree of the limiting plate.

[0105] In the present invention, the angle between the first piezoelectric actuator and the second piezoelectric actuator is not limited to 90°.

[0106] As a further optimization scheme of the full-sea-depth single-phase driven piezoelectric release mechanism of the present invention, the piezoelectric composite beam comprises a pre-tightening bolt, a rear beam body, a piezoelectric ceramic module and a front beam body;

[0107] 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-sectional shape; a threaded hole matching the pre-tightening bolt is provided at the center of one end face of the front beam body, and a countersunk through hole matching the pre-tightening bolt is provided at the center of one end face of the rear beam body;

[0108] The piezoelectric ceramic module comprises 2M single-partition piezoelectric ceramic sheets and 2M+1 electrode sheets, where M is a natural number greater than or equal to 1; the single-partition piezoelectric ceramic sheet is in the shape of a regular polygon or a circle, with a through hole in the center for the pre-tightening bolt to pass through, and is polarized along the thickness direction; the shape of the electrode sheet is the same as that of the single-partition piezoelectric ceramic sheet; the 2M+1 electrode sheets and the 2M single-partition piezoelectric ceramic sheets are alternately stacked in sequence, so that the 2M+1 electrode sheets and the 2M single-partition piezoelectric ceramic sheets are coaxial and adjacent single-partition piezoelectric ceramic sheets are separated by electrode sheets; the polarization directions of adjacent single-partition piezoelectric ceramic sheets are opposite;

[0109] The stud of the pre-tightening bolt passes through the countersunk through hole of the rear beam body, the through hole in the center of the 2M single-partition piezoelectric ceramic sheets and the 2M+1 electrode sheets in the piezoelectric ceramic module, and then is threadedly connected with the threaded hole of the front beam body to press the 2M single-partition piezoelectric ceramic sheets and the 2M+1 electrode sheets;

[0110] We call this scheme a double-partition sandwich scheme, such as Figure 3 At this time, when the AC signal excites the first piezoelectric actuator to generate first-order longitudinal vibration in space, all points on the piezoelectric composite beam A move away from (close to) the flange position, as shown in Figure 2. Figure 6 shown.

[0111] As a further optimization scheme of the full-sea-depth single-phase driven piezoelectric release mechanism of the present invention, the piezoelectric composite beam comprises a pre-tightening bolt, a rear beam body, a piezoelectric ceramic module and a front beam body;

[0112] 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-sectional shape; a threaded hole matching the pre-tightening bolt is provided at the center of one end face of the front beam body, and a countersunk through hole matching the pre-tightening bolt is provided at the center of one end face of the rear beam body;

[0113] The piezoelectric ceramic module comprises 2M double-partition piezoelectric ceramic sheets and 2M+1 electrode sheets, where M is a natural number greater than or equal to 1; the double-partition piezoelectric ceramic sheet is in the shape of a regular polygon or a circle, with a through hole in the center for the pre-tightening bolt to pass through, polarized along the thickness direction, the polarization boundary line of the double-partition piezoelectric ceramic sheet is a straight line, and the polarization directions of the two partitions of the double-partition piezoelectric ceramic sheet are opposite; the shape of the electrode sheet is the same as that of the double-partition piezoelectric ceramic sheet; the 2M+1 electrode sheets and the 2M double-partition piezoelectric ceramic sheets are alternately stacked in sequence, so that the 2M+1 electrode sheets and the 2M double-partition piezoelectric ceramic sheets are coaxial, the polarization boundary lines of the 2M double-partition piezoelectric ceramic sheets are coplanar, and adjacent double-partition piezoelectric ceramic sheets are separated by electrode sheets; the polarization directions of adjacent double-partition piezoelectric ceramic sheets are opposite;

[0114] The stud of the pre-tightening bolt passes through the countersunk through hole of the rear beam body, the through hole in the center of the 2M double-partitioned piezoelectric ceramic sheets and the 2M+1 electrode sheets in the piezoelectric ceramic module, and then is threadedly connected with the threaded hole of the front beam body to press the 2M double-partitioned piezoelectric ceramic sheets and the 2M+1 electrode sheets;

[0115] We call this scheme a single-partition sandwich scheme, such as Figure 4 At this time, when the AC signal excites the first piezoelectric actuator to generate first-order bending vibration in space, all points on the piezoelectric composite beam A move in the direction away from (close to) the center axis of the rear beam body, as shown in FIG. Figure 7 shown.

[0116] As a further optimization scheme of a full-sea-depth single-phase driven piezoelectric release mechanism of the present invention, the piezoelectric composite beam comprises a beam body, a first piezoelectric ceramic sheet and a second piezoelectric ceramic sheet, wherein the beam body is a column; the first and second piezoelectric ceramic sheets are polarized along the thickness direction and symmetrically attached to both sides of the side wall of the beam body; the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet both use the d31 working mode;

[0117] We call this solution a patch solution, such as Figure 5 At this time, when the AC signal excites the first piezoelectric actuator to generate first-order longitudinal vibration in space, all points on the piezoelectric composite beam A move away from (close to) the flange position, as shown in Figure 2. Figure 8 As shown in FIG. 1 ; when the AC signal excites the first piezoelectric actuator to generate first-order bending vibration in space, each point on the piezoelectric composite beam A moves in a direction away from (close to) the center axis position of the rear beam body, as shown in FIG. Fig. 9 shown.

[0118] The present invention also discloses a working method of the full-sea-depth single-phase driven piezoelectric release mechanism when the single-partition sandwich scheme or the patch scheme is adopted, comprising the following steps:

[0119] When locked, the static friction force generated between the actuating heads of the first piezoelectric actuator and the second piezoelectric actuator prevents the slider from sliding on the slide rail, the pulley at the end of the first limit bar of the limit plate abuts against the slider, and the second limit bar of the limit plate abuts against the lower end of the load-bearing bar of the hanging plate, so that the load-bearing bar is horizontal and thus the load-bearing bar cannot be separated from the anchored weight suspended thereon; specifically, Fig.10 As shown, the anchor weight is hung on the hook through the second connecting device, and the upward pulling force F t The downward gravity G causes the hanging plate to produce a clockwise moment M z (G); The load-bearing bar and the limit plate are against each other, and the pressure F at the contact point p The limit plate generates a counterclockwise moment M z (F p ); The slider provides a supporting force F for the pulley against which it abuts h , support force F h Provide a clockwise moment M for the limit plate z (F h ), preventing the limit plate from rotating counterclockwise; torque M z (F h ) is equal to the moment M z (F p ), the limit plate cannot rotate, realizing the locking function;

[0120] When releasing:

[0121] The first and second piezoelectric actuators are stimulated by alternating current signals AC-A and AC-B with a 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 longitudinal vibration are excited simultaneously, and the driving surface of the first piezoelectric actuator and the front end of the actuating head of the second piezoelectric actuator produce elliptical motion, so that the first piezoelectric actuator drives the slider to move toward the direction close to the floating body, such as Fig.13 As shown, the specific cycle process is as follows:

[0122] Process a: In the 0-T / 4 time period, the first piezoelectric actuator changes from a contracted state to a balanced state, and each point on it moves away from the node position; the second piezoelectric actuator changes from a balanced state to a contracted state, and each point on it moves toward the node position;

[0123] Process b: In the time period T / 4-2T / 4, the first piezoelectric actuator changes from a balanced state to an expanded state, and each point on it moves away from the node position; the second piezoelectric actuator changes from a contracted state to a balanced state, and each point on it moves away from the node position;

[0124] Process c: In the time period of 2T / 4-3T / 4, the first piezoelectric actuator changes from an expanded state to a balanced state, and each point on it moves toward the node position; the second piezoelectric actuator changes from a balanced state to an expanded state, and each point on it moves away from the node position;

[0125] Process d: In the 3T / 4-T time period, the first piezoelectric actuator changes from a balanced state to a contracted state, and each point on it moves toward a node position; the second piezoelectric actuator changes from an expanded state to a balanced state, and each point on it moves toward a node position;

[0126] In process a, the second piezoelectric actuator contracts inward, and the front end of the second piezoelectric actuator head and the driving surface of the first piezoelectric actuator head tend to separate. Due to the pre-pressure on the second piezoelectric actuator, it will continue to contact the driving surface. However, since the inertial force generated by the micro-elliptical motion from process d to process a is greater than the friction between the front end of the second piezoelectric actuator head and the driving surface of the first piezoelectric actuator head at this time, the first piezoelectric actuator will continue to move horizontally to the right;

[0127] In process b, the second piezoelectric actuator expands outward from the contracted state, and 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 inertial force generated from process a to process b, and the first piezoelectric actuator will continue to move horizontally to the right;

[0128] In process c, the second piezoelectric actuator expands outward, and its top end and the driving surface make a slight elliptical motion, causing the piezoelectric actuator to move horizontally to the right;

[0129] In process d, the second piezoelectric actuator contracts inward, and its top end and the driving surface make a slight elliptical motion, causing the piezoelectric actuator to move horizontally to the right;

[0130] When the slider slides upward along the slide rail so that the pulley at the end of the first limit strip of the limit plate is separated from the slider, the limit plate does not play a limiting role. Under the upward pulling force of the floating body and the downward pulling force of the anchored weight, the load-bearing bar rotates and tilts to drive the limit plate to rotate around the second rotating column, so that the release lock body is separated from the anchored weight. Fig.11 shown.

[0131] like Fig.12 As shown, in the longitudinal vibration working mode of the present invention, the driving surface forms a relative ellipse as follows:

[0132] There are beams 1 and 2 on the reference base plane O. 1 and O 2 For its nodes, establish a conjoined basis for each. i is the attitude angle, which is determined by the conjoined basis x i The angle between the positive direction of the axis and the positive direction of the reference base x-axis is determined. 1 =AC-1, beam 2 at signal U 2 =AC-2, each generates first-order longitudinal vibration. Point P is the actuating point of beam 1, and point Q is any point on beam 2. P and Q move to P' and Q' with the vibration of the beam. The vector of point P' is

[0133]

[0134] in

[0135]

[0136]

[0137] Where l P Represents the length from point P to point O

[0138]

[0139] Substituting (2), (3) and (4) into (1), we can obtain

[0140]

[0141] in

[0142]

[0143] Among them, T 1 It is a conjoined group O 1 With respect to the direction cosine matrix of the common basis O, Can be simplified to

[0144]

[0145] Same reason

[0146]

[0147] Therefore, the position vector of point Q' relative to point P' is

[0148]

[0149] Take θ 1 =0°,ω 1 =ω 2 =ω, then formula (9) can be simplified to

[0150]

[0151] The amplitude and phase of the composite vibration in the OY direction with reference to the base plane can be expressed as follows

[0152]

[0153]

[0154] Take D Y =-a 2 sinθ 2 , then formula (10) can be simplified to

[0155]

[0156] Its trajectory satisfies the equation;

[0157]

[0158] Formula (14) shows that the vibration trajectory of two simple harmonic vibrations with a certain angle after synthesis is an ellipse;

[0159] when θ 2 =90°, formula (14) can be simplified as follows:

[0160]

[0161] Formula (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 particles 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.

[0162] The present invention also discloses a working method of the full-sea-depth single-phase driven piezoelectric release mechanism when the double-partition sandwich scheme or the patch scheme is adopted, comprising the following steps:

[0163] When locked, the static friction force generated between the actuating heads of the first piezoelectric actuator and the second piezoelectric actuator prevents the slider from sliding on the slide rail, the pulley at the end of the first limiting strip of the limiting plate abuts against the slider, and the second limiting strip of the limiting plate abuts against the lower end of the load-bearing strip of the hanging plate, so that the load-bearing strip is horizontal and thus the load-bearing strip cannot be separated from the anchored weight suspended thereon;

[0164] When releasing:

[0165] The first and second piezoelectric actuators are stimulated by alternating current signals AC-A and AC-B with a time phase difference of 90 degrees, respectively, so that the bending vibration mode of the first piezoelectric actuator and the bending vibration mode of the second piezoelectric actuator are excited simultaneously, and the driving surface of the first piezoelectric actuator and the front end of the actuator head of the second piezoelectric actuator produce elliptical motion, so that the first piezoelectric actuator drives the slider to move toward the direction close to the floating body, such as Fig.15 As shown, the specific cycle process is as follows;

[0166] The clockwise bending of the end of the piezoelectric actuator relative to the flange fixed position is called bending vibration mode A, and the counterclockwise bending of the end of the piezoelectric actuator relative to the flange fixed position is called bending vibration mode B;

[0167] Process a: In the 0-T / 4 time period, the first piezoelectric actuator changes from the bending vibration mode A to the equilibrium state, and each point on it moves toward a position away from the center axis of the front beam body; the second piezoelectric actuator changes from the equilibrium state to the bending vibration mode A, and each point on it moves toward a position close to the center axis of the front beam body;

[0168] Process b: In the time period T / 4-2T / 4, the first piezoelectric actuator changes from the equilibrium state to the bending vibration mode B, and each point on it moves toward a position away from the center axis of the front beam; the second piezoelectric actuator changes from the bending vibration mode B to the equilibrium state, and each point on it moves toward a position away from the center axis of the beam;

[0169] Process c: In the time period of 2T / 4-3T / 4, the first piezoelectric actuator changes from the bending vibration mode B to the equilibrium state, and each point on it moves toward a position close to the center axis of the front beam body; the second piezoelectric actuator changes from the equilibrium state to the bending vibration mode A, and each point on it moves toward a position away from the center axis of the front beam body;

[0170] Process d: In the 3T / 4-T time period, the first piezoelectric actuator changes from the equilibrium state to the bending vibration mode A, and each point on it moves toward the position close to the node; the second piezoelectric actuator changes from the bending vibration mode A to the equilibrium state, and each point on it moves toward the position close to the center axis of the front beam;

[0171] In process a, the first piezoelectric actuator bends, and the front end of the second piezoelectric actuator head and the driving surface of the first piezoelectric actuator head tend to separate. Due to the pre-pressure on the second piezoelectric actuator, it will continue to contact the driving surface. However, since the inertial force generated by the micro-elliptical motion from process d to process a is greater than the friction between the front end of the second piezoelectric actuator head and the driving surface of the first piezoelectric actuator head at this time, the first piezoelectric actuator will continue to move horizontally to the right;

[0172] In process b, the first piezoelectric actuator moves closer to the center axis of the front beam from the bending vibration mode B, and the friction force between the front end of the second piezoelectric actuator's actuator head and the driving surface of the first piezoelectric actuator's actuator head is smaller than the inertia force generated from process a to process b, and the first piezoelectric actuator will continue to move horizontally to the right;

[0173] In process c, the second piezoelectric actuator bends away from the center axis of the front beam, and its top end and the driving surface make a slight elliptical motion, causing the first piezoelectric actuator to move horizontally to the right;

[0174] In process d, the second piezoelectric actuator bends toward the center axis of the front beam, and its top end and the driving surface make a slight elliptical motion, causing the piezoelectric actuator to move horizontally to the right;

[0175] When the slider slides upward along the slide rail so that the pulley at the end of the first limit strip of the limit plate and the slider are disengaged, the limit plate does not play a limiting role. Under the upward pulling force of the floating body and the downward pulling force of the anchored weight, the load-bearing bar rotates and tilts to drive the limit plate to rotate around the second rotating column, so that the lock body is released to disengage from the anchored weight.

[0176] like Fig.14 As shown, the principle of the driving surface forming a relative ellipse in the bending vibration working mode of the present invention is as follows:

[0177] There are beams 1 and 2 on the reference base plane O. 1 and O 2 As their center of gravity, establish a conjoined basis for each. i is the attitude angle, which is determined by the conjoined basis x i The angle between the positive direction of the axis and the positive direction of the reference base x-axis is determined. 1 =, beam 2 in signal U 2 Under the excitation of , each produces first-order bending vibration. Point P is the actuating point of beam 1, and point Q is an arbitrary point on beam 2. P and Q move to P' and Q' with the vibration of the beam. The vector of point P' is

[0178]

[0179] in

[0180]

[0181]

[0182] Where l P Represents the length from point P to node O

[0183]

[0184] Substituting (17), (18) and (19) into (16), we can obtain:

[0185]

[0186] in

[0187]

[0188] Among them, T 1 It is a conjoined group O 1 With respect to the direction cosine matrix of the common basis O, Can be simplified to

[0189]

[0190] Same reason

[0191]

[0192] Therefore, the position vector of point Q' relative to point P' is

[0193]

[0194] Take θ 1 =0°,ω 1 =ω 2 =ω, then formula (24) can be simplified to

[0195] The amplitude and phase of the composite vibration in the OY direction with reference to the base plane can be expressed as follows

[0196]

[0197] Take D X =-a 2 sinθ 2 , then formula (25) can be simplified to

[0198] Its trajectory satisfies the equation

[0199]

[0200] Formula (29) shows that the vibration trajectory of two simple harmonic vibrations with a certain angle is an ellipse after being synthesized.

[0201] when θ 2 =90°, equation (29) can be simplified to

[0202]

[0203] Formula (30) shows that for two longitudinal vibration beams that are orthogonal in space, when the phase difference between the excitation voltages is 90°, the relative vibration trajectory of the particles 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.

[0204] 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 those generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0205] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A full-sea-depth single-phase driven piezoelectric release mechanism, characterized in that: It includes a floating body, a detector, a release module, a first to a second connecting device, and an anchoring weight; The floating body is used to provide buoyancy; The detector is used to detect and monitor the ocean and is arranged in the buoy; The release module comprises a release lock body, a first piezoelectric actuator and a second piezoelectric actuator; The release lock body comprises a fixing 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 hinged connection; The hanging plate is an L-shaped plate, comprising a rotating bar and a load-bearing bar which are vertically connected to each other, the lower end of the rotating bar is vertically connected to one end of the load-bearing bar, and the load-bearing bar is used to hang the anchored weight; The limiting plate is a U-shaped plate, comprising a first limiting bar, a second limiting bar and a connecting bar, one end of the connecting bar is respectively vertically fixedly connected to one end of the first limiting bar and one end of the second limiting bar; the length of the first limiting bar is greater than the length of the second limiting bar, and a pulley is provided at one end of the first limiting bar away from the connecting bar; The first rotating column and the second rotating column are both vertically fixedly connected to the fixed plate; the upper end of the rotating bar is rotatably connected to the first rotating column, so that the hanging plate is parallel to the fixed plate and can rotate freely around the first rotating column; the connecting bar is rotatably connected to the second rotating column, so that the limiting plate is parallel to the fixed plate and can rotate freely around the second rotating column; the openings of the hanging plate and the limiting plate face each other; The fixing plate is provided with a vertical slide rail above the first rotating column, and a slider is provided in the slide rail; when the pulley at the end of the first limiting strip of the limiting plate abuts against the slider, the second limiting strip of the limiting plate abuts against the lower end of the load-bearing strip of the hanging plate, so that the load-bearing strip is horizontal and thus the load-bearing strip cannot be separated from the anchored weight suspended thereon; when the slider slides upward along the slide rail so that the pulley at the end of the first limiting strip of the limiting plate and the slider are separated, the limiting plate does not play a limiting role, and under the action of the upward pulling force of the floating body and the downward pulling force of the anchored weight, the load-bearing strip rotates and tilts to drive the limiting plate to rotate around the second rotating column, so that the release lock body is separated from the anchored weight; The first piezoelectric actuator and the second piezoelectric actuator have the same structure, and both include a piezoelectric composite beam, a flange and an actuator head, wherein the actuator head is a column with a cross section gradually tapering from the back to the front, and the two sides of the front end side wall are provided with mutually parallel driving surfaces; the rear end face of the actuator head and the front end face of the piezoelectric composite beam have the same shape, and the rear end face of the actuator head and the front end face of the piezoelectric composite beam are coaxially fixedly connected; the piezoelectric composite beam is used to drive the actuator head; the flange is used to fix the piezoelectric composite beam; The first piezoelectric actuator is fixed to the slider through its flange and is parallel to the slide rail; the second piezoelectric actuator is fixed to the fixed plate through its flange and is perpendicular to the first piezoelectric actuator, and the front end of the second piezoelectric actuator head is against a driving surface of the first piezoelectric actuator head; The first piezoelectric actuator and the second piezoelectric actuator are used to cooperate with each other to control the sliding block to slide on the slide rail; The first and second connecting devices both comprise a rod and a hinge ring, wherein the hinge ring is in a circular ring shape; one end of the rod is fixedly connected to the outer wall of the hinge ring and the rod points to the center of the hinge ring; One end of the rod of the first connecting device away from its hinge ring is hinged to the lower end of the floating body, and the hinge ring of the first connecting device is hinged to the connecting ring of the fixing plate; The hinge ring of the second connecting device is sleeved on the load-bearing bar of the hanging plate, and one end of the rod of the second connecting device away from the hinge ring is hinged to the anchor weight; The anchoring weight is used to provide vertical downward gravity to play an anchoring role, thereby preventing the piezoelectric release system from moving at the anchoring position due to water flow disturbance or seawater temperature gradient.

2. The full-sea-depth single-phase driven piezoelectric release mechanism according to claim 1, characterized in that: The fixing plate is also provided with a limiting column vertically fixedly connected to the fixing plate between the hanging plate and the limiting plate, so as to limit the rotation degree of the limiting plate.

3. The full-sea-depth single-phase driven piezoelectric release mechanism according to claim 1, characterized in that: 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-sectional shape; a threaded hole matching the pre-tightening bolt is provided at the center of one end face of the front beam body, and a countersunk through hole matching the pre-tightening bolt is provided at the center of one end face of the rear beam body; The piezoelectric ceramic module comprises 2M single-partition piezoelectric ceramic sheets and 2M+1 electrode sheets, where M is a natural number greater than or equal to 1; the single-partition piezoelectric ceramic sheet is in the shape of a regular polygon or a circle, with a through hole in the center for the pre-tightening bolt to pass through, and is polarized along the thickness direction; the shape of the electrode sheet is the same as that of the single-partition piezoelectric ceramic sheet; the 2M+1 electrode sheets and the 2M single-partition piezoelectric ceramic sheets are alternately stacked in sequence, so that the 2M+1 electrode sheets and the 2M single-partition piezoelectric ceramic sheets are coaxial and adjacent single-partition piezoelectric ceramic sheets are separated by electrode sheets; the polarization directions of adjacent single-partition piezoelectric ceramic sheets are opposite; The stud of the pre-tightening bolt passes through the countersunk through hole of the rear beam body, the through holes in the center of 2M single-partition piezoelectric ceramic sheets and 2M+1 electrode sheets in the piezoelectric ceramic module, and then is threadedly connected to the threaded hole of the front beam body to compress the 2M single-partition piezoelectric ceramic sheets and 2M+1 electrode sheets.

4. The full-sea-depth single-phase driven piezoelectric release mechanism according to claim 1, characterized in that: 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-sectional shape; a threaded hole matching the pre-tightening bolt is provided at the center of one end face of the front beam body, and a countersunk through hole matching the pre-tightening bolt is provided at the center of one end face of the rear beam body; The piezoelectric ceramic module comprises 2M double-partition piezoelectric ceramic sheets and 2M+1 electrode sheets, where M is a natural number greater than or equal to 1; the double-partition piezoelectric ceramic sheet is in the shape of a regular polygon or a circle, with a through hole in the center for the pre-tightening bolt to pass through, polarized along the thickness direction, the polarization boundary line of the double-partition piezoelectric ceramic sheet is a straight line, and the polarization directions of the two partitions of the double-partition piezoelectric ceramic sheet are opposite; the shape of the electrode sheet is the same as that of the double-partition piezoelectric ceramic sheet; the 2M+1 electrode sheets and the 2M double-partition piezoelectric ceramic sheets are alternately stacked in sequence, so that the 2M+1 electrode sheets and the 2M double-partition piezoelectric ceramic sheets are coaxial, the polarization boundary lines of the 2M double-partition piezoelectric ceramic sheets are coplanar, and adjacent double-partition piezoelectric ceramic sheets are separated by electrode sheets; the polarization directions of adjacent double-partition piezoelectric ceramic sheets are opposite; The stud of the pre-tightening bolt passes through the countersunk through hole of the rear beam body, the through holes in the center of 2M double-partitioned piezoelectric ceramic sheets and 2M+1 electrode sheets in the piezoelectric ceramic module, and then is threadedly connected to the threaded hole of the front beam body to compress the 2M double-partitioned piezoelectric ceramic sheets and 2M+1 electrode sheets.

5. The full-sea-depth single-phase driven piezoelectric release mechanism according to claim 1, characterized in that: The piezoelectric composite beam comprises a beam body, a first piezoelectric ceramic sheet and a second piezoelectric ceramic sheet, wherein the beam body is a column; the first and second piezoelectric ceramic sheets are polarized along the thickness direction and symmetrically pasted on both sides of the side wall of the beam body.

6. The working method of the full-sea-depth single-phase driven piezoelectric release mechanism according to claim 3 or 5, characterized in that: The following steps are involved: When locked, the static friction force generated between the actuating heads of the first piezoelectric actuator and the second piezoelectric actuator prevents the slider from sliding on the slide rail, the pulley at the end of the first limiting strip of the limiting plate abuts against the slider, and the second limiting strip of the limiting plate abuts against the lower end of the load-bearing strip of the hanging plate, so that the load-bearing strip is horizontal and thus the load-bearing strip cannot be separated from the anchored weight suspended thereon; When releasing: The first and second piezoelectric actuators are stimulated by alternating current signals AC-A and AC-B with a 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 longitudinal vibration are excited simultaneously, and the driving surface of the first piezoelectric actuator and the front end of the actuating head of the second piezoelectric actuator produce elliptical motion, so that the first piezoelectric actuator drives the slider to move toward the direction close to the floating body. The specific cycle process is as follows: Process a: In the 0-T / 4 time period, the first piezoelectric actuator changes from a contracted state to a balanced state, and each point on it moves away from the node position; the second piezoelectric actuator changes from a balanced state to a contracted state, and each point on it moves toward the node position; Process b: In the time period T / 4-2T / 4, the first piezoelectric actuator changes from a balanced state to an expanded state, and each point on it moves away from the node position; the second piezoelectric actuator changes from a contracted state to a balanced state, and each point on it moves away from the node position; Process c: In the time period of 2T / 4-3T / 4, the first piezoelectric actuator changes from an expanded state to a balanced state, and each point on it moves toward the node position; the second piezoelectric actuator changes from a balanced state to an expanded state, and each point on it moves away from the node position; Process d: In the 3T / 4-T time period, the first piezoelectric actuator changes from a balanced state to a contracted state, and each point on it moves toward a node position; the second piezoelectric actuator changes from an expanded state to a balanced state, and each point on it moves toward a node position; In process a, the second piezoelectric actuator contracts inward, and the front end of the second piezoelectric actuator head and the driving surface of the first piezoelectric actuator head tend to separate. Due to the pre-pressure on the second piezoelectric actuator, it will continue to contact the driving surface. However, since the inertial force generated by the micro-elliptical motion from process d to process a is greater than the friction between the front end of the second piezoelectric actuator head and the driving surface of the first piezoelectric actuator head at this time, the first piezoelectric actuator will continue to move horizontally to the right; In process b, the second piezoelectric actuator expands outward from the contracted state, and 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 inertial force generated from process a to process b, and the first piezoelectric actuator will continue to move horizontally to the right; In process c, the second piezoelectric actuator expands outward, and its top end and the driving surface make a slight elliptical motion, causing the piezoelectric actuator to move horizontally to the right; In process d, the second piezoelectric actuator contracts inward, and its top end and the driving surface make a slight elliptical motion, causing the piezoelectric actuator to move horizontally to the right; When the slider slides upward along the slide rail so that the pulley at the end of the first limit strip of the limit plate and the slider are disengaged, the limit plate does not play a limiting role. Under the upward pulling force of the floating body and the downward pulling force of the anchored weight, the load-bearing bar rotates and tilts to drive the limit plate to rotate around the second rotating column, so that the lock body is released to disengage from the anchored weight.

7. The working method of the full-sea-depth single-phase driven piezoelectric release mechanism according to claim 4 or 5, characterized in that: The following steps are involved: When locked, the static friction force generated between the actuating heads of the first piezoelectric actuator and the second piezoelectric actuator prevents the slider from sliding on the slide rail, the pulley at the end of the first limiting strip of the limiting plate abuts against the slider, and the second limiting strip of the limiting plate abuts against the lower end of the load-bearing strip of the hanging plate, so that the load-bearing strip is horizontal and thus the load-bearing strip cannot be separated from the anchored weight suspended thereon; When releasing: The first and second piezoelectric actuators are stimulated by alternating current signals AC-A and AC-B with a time phase difference of 90 degrees, respectively, so that the bending vibration mode of the first piezoelectric actuator and the bending vibration mode of the second piezoelectric actuator are excited simultaneously, and the driving surface of the first piezoelectric actuator and the front end of the actuator head of the second piezoelectric actuator produce elliptical motion, so that the first piezoelectric actuator drives the slider to move toward the direction close to the floating body. The specific cycle process is as follows; The clockwise bending of the end of the piezoelectric actuator relative to the flange fixed position is called bending vibration mode A, and the counterclockwise bending of the end of the piezoelectric actuator relative to the flange fixed position is called bending vibration mode B; Process a: In the 0-T / 4 time period, the first piezoelectric actuator changes from the bending vibration mode A to the equilibrium state, and each point on it moves toward a position away from the center axis of the front beam body; the second piezoelectric actuator changes from the equilibrium state to the bending vibration mode A, and each point on it moves toward a position close to the center axis of the front beam body; Process b: In the time period T / 4-2T / 4, the first piezoelectric actuator changes from the equilibrium state to the bending vibration mode B, and each point on it moves toward a position away from the center axis of the front beam; the second piezoelectric actuator changes from the bending vibration mode B to the equilibrium state, and each point on it moves toward a position away from the center axis of the beam; Process c: In the time period of 2T / 4-3T / 4, the first piezoelectric actuator changes from the bending vibration mode B to the equilibrium state, and each point on it moves toward a position close to the center axis of the front beam body; the second piezoelectric actuator changes from the equilibrium state to the bending vibration mode A, and each point on it moves toward a position away from the center axis of the front beam body; Process d: In the 3T / 4-T time period, the first piezoelectric actuator changes from the equilibrium state to the bending vibration mode A, and each point on it moves toward the position close to the node; the second piezoelectric actuator changes from the bending vibration mode A to the equilibrium state, and each point on it moves toward the position close to the center axis of the front beam; In process a, the first piezoelectric actuator bends, and the front end of the second piezoelectric actuator head and the driving surface of the first piezoelectric actuator head tend to separate. Due to the pre-pressure on the second piezoelectric actuator, it will continue to contact the driving surface. However, since the inertial force generated by the micro-elliptical motion from process d to process a is greater than the friction between the front end of the second piezoelectric actuator head and the driving surface of the first piezoelectric actuator head at this time, the first piezoelectric actuator will continue to move horizontally to the right; In process b, the first piezoelectric actuator moves closer to the center axis of the front beam from the bending vibration mode B, and the friction force between the front end of the second piezoelectric actuator's actuator head and the driving surface of the first piezoelectric actuator's actuator head is smaller than the inertia force generated from process a to process b, and the first piezoelectric actuator will continue to move horizontally to the right; In process c, the second piezoelectric actuator bends away from the center axis of the front beam, and its top end and the driving surface make a slight elliptical motion, causing the first piezoelectric actuator to move horizontally to the right; In process d, the second piezoelectric actuator bends toward the center axis of the front beam, and its top end and the driving surface make a slight elliptical motion, causing the piezoelectric actuator to move horizontally to the right; When the slider slides upward along the slide rail so that the pulley at the end of the first limit strip of the limit plate and the slider are disengaged, the limit plate does not play a limiting role. Under the upward pulling force of the floating body and the downward pulling force of the anchored weight, the load-bearing bar rotates and tilts to drive the limit plate to rotate around the second rotating column, so that the lock body is released to disengage from the anchored weight.

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