CN114235020A - Penetration driver based on shear thickening effect and working method thereof - Google Patents
Penetration driver based on shear thickening effect and working method thereof Download PDFInfo
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- CN114235020A CN114235020A CN202111605654.3A CN202111605654A CN114235020A CN 114235020 A CN114235020 A CN 114235020A CN 202111605654 A CN202111605654 A CN 202111605654A CN 114235020 A CN114235020 A CN 114235020A
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- 230000035515 penetration Effects 0.000 title claims abstract description 61
- 230000000694 effects Effects 0.000 title claims abstract description 20
- 230000008719 thickening Effects 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 27
- 230000000149 penetrating effect Effects 0.000 claims abstract description 24
- 239000012530 fluid Substances 0.000 claims abstract description 16
- 238000007789 sealing Methods 0.000 claims abstract description 7
- 239000002245 particle Substances 0.000 claims abstract description 4
- 239000007787 solid Substances 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 claims description 20
- 230000001133 acceleration Effects 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 7
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 description 12
- 238000009434 installation Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
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Abstract
一种基于剪切增稠效应的贯入式驱动器及其工作方法，该贯入式驱动器包括贯入端、驱动器外壳、进给装置、传动结构、限位套筒与密封盖板。本发明贯入式驱动器在完全浸没入介质非牛顿流体介质或类非牛顿流体的固体颗粒后，依靠介质的剪切增稠效应完成贯入式驱动。本发明具有贯入深度大，结构简单，质量轻巧，便于携带的特点，特别适合于地理环境勘察、海底探测、深空星体着陆探查等极端环境下的使用。
A penetrating driver based on shear thickening effect and its working method, the penetrating driver comprises a penetration end, a driver casing, a feeding device, a transmission structure, a limit sleeve and a sealing cover. After the penetrating driver of the present invention is completely immersed in a medium of a non-Newtonian fluid medium or a solid particle similar to a non-Newtonian fluid, the penetrating drive is completed by relying on the shear thickening effect of the medium. The invention has the characteristics of large penetration depth, simple structure, light weight and easy portability, and is especially suitable for use in extreme environments such as geographical environment survey, seabed exploration, and deep space star landing exploration.
Description
Technical Field
The invention relates to a penetration driver, in particular to a penetration driver based on shear thickening effect driving and a working method thereof.
Background
With the continuous development of science and technology, higher requirements are put forward on the penetration driver in the fields of geographic environment exploration, seabed exploration, deep space celestial body landing exploration and the like, and the penetration driver is expected to have a deeper exploration stroke while being as light and handy as possible. The detection stroke of the traditional penetration driver is limited by the characteristic length of the driver, the penetration depth is limited, and the traditional penetration driver has heavy volume and does not have the characteristics of portability and lightness. Therefore, it is necessary to research, explore and design a novel driving principle and a driving structure of the penetration driver to realize related functions.
Disclosure of Invention
In order to meet the above-mentioned needs, the present invention aims to provide a small and lightweight penetration driver, in particular a penetration driver based on shear thickening effect, and a penetration working method thereof, wherein the working depth of the penetration driver during penetration exploration is not affected by the characteristic length of the driver.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a penetration driver based on shear thickening effect comprises a penetration end 1, a driver shell 2 fixedly connected with two sides of the upper end of the penetration end 1, a feeding device 3 arranged in the driver shell 2 and positioned at the upper part of the penetration end 1 and fixedly connected with the driver shell 2, a transmission structure 4 arranged at the top of the driver shell 2, a transmission rod 4-1 of the transmission structure 4 penetrates through a through hole in the middle of the driver shell 2 in a clearance fit manner and is inserted into a feeding device moving end 3-2 at the top of the feeding device to be fixedly connected with the feeding device moving end 3-2, a limiting sleeve 5 inserted into the through hole in the middle of the driver shell 2 to limit the transmission structure 4 to only generate linear motion is inserted into the through hole in the middle of the driver shell 2, and a sealing cover plate 6 of the limiting sleeve 5 is pressed;
the bottom of the feeding device 3 is a feeding device fixed end 3-1; the feeding device is fixedly connected with a fixed end 3-1 of the feeding device, has a plurality of structures which jointly perform rigid body motion, has large mass and comprises a penetration end 1, a driver shell 2, a limiting sleeve 5 and a sealing cover plate 6; the mechanism is fixedly connected with the moving end 3-2 of the feeding device, has few structures for carrying out rigid body movement together, has light weight and comprises a transmission structure 4.
The feeding device 3 is a driving device capable of finishing linear displacement output, and adopts a voice coil motor, a linear motor, a pneumatic/hydraulic actuator, an ultrasonic motor, a magnetostrictive material, an electrostrictive material or a shape memory alloy and a linear actuator derived from the electrostrictive material or the shape memory alloy.
According to the working method of the penetration driver based on the shear thickening effect, the penetration driver is in the working initial state, is immersed into non-Newtonian fluid media or non-Newtonian fluid-like solid particles, and is in the minimum stroke state before the driving work is started, and the feeding device 3 is in the minimum stroke state;
driving step 1: applying a rapid control signal to the feeding device 3 to control the feeding device 3 to have a rapid body length, wherein the feeding device fixing end 3-1 and the feeding device moving end 3-2 contained in the feeding device 3 are far away from each other; in the process, as the feeding device fixed end 3-1 is fixedly connected, the mass of the structure moving together is large, and the acceleration is small, the moving speed v1 of the structure of the feeding device fixed end 3-1 and the structure fixedly connected with the feeding device fixed end is small; because the structure which is fixedly connected with the moving end 3-2 of the feeding device has small mass and large acceleration, the moving speed v2 of the structure which is fixedly connected with the moving end 3-2 of the feeding device is large; during the movement, the penetrating end 1 connected with the fixed end 3-1 of the feeding device is subjected to the action force of the non-Newtonian fluid medium in the movement as F1, the transmission structure 4 connected with the moving end 3-2 of the feeding device is subjected to the action force of the non-Newtonian fluid medium as F4, the moving speed relationship is V1 < V2, the medium shear stress tau 1 for generating the action of F1 is greater than the medium shear stress tau 4 for generating the action of F4, and the viscosity of the non-Newtonian fluid medium shows an increase of order of magnitude along with the increase of the shear rate or the shear stress, so that F1 is far smaller than F4, and the action forces on the two sides of the penetrating driver are unbalanced, so that the driver as a whole moves towards the direction pointed by F4, namely the penetrating end 1 of the penetrating driver;
and a driving step 2: applying a slow control signal to the feeding device 3 to control the feeding device 3 to slowly return to a minimum stroke state, wherein the moving speed of a fixed end 3-1 of the feeding device and a moving end 3-2 of the feeding device included in the feeding device 3 is close; in this stage, the acceleration is low, the movement speed is much lower than that in the driving step 1, the penetration end 1 of the penetration driver is close to the external force applied to the transmission structure 4 of the penetration driver, the medium force applied to the penetration driver is in an equilibrium state, and the penetration driver stops moving.
Compared with the prior art, the invention has the following advantages:
1. the driving structure is simple, and the driving device is different from other penetration drivers which need complex energy storage devices, and the driving device can be driven only by the simple linear motion of the feeding device 3.
2. The penetration driver has simple structure, light weight and convenient carrying, and is particularly suitable for extreme environments such as geographic environment exploration, seabed exploration, deep space celestial body landing exploration and the like.
3. The penetration type driver generates driving force by means of the shear thickening effect of the medium after the medium is completely immersed into the penetration type driver, the penetration type movement depth is not limited by the characteristic length of the driver, and the driving stroke is far beyond that of a common penetration type probing device.
Drawings
FIG. 1 is a cross-sectional view of a penetration driver of the present invention.
FIG. 2 is a schematic diagram of the driving principle of the penetration driver of the present invention.
FIG. 3 is a schematic view of the displacement control of the feeding device 3 of the penetration driver of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the present invention relates to a penetration driver based on shear thickening effect, which comprises a penetration end 1, a driver housing 2 fixedly connected to both sides of the upper end of the penetration end 1, a feeding device 3 disposed in the driver housing 2 and located at the upper portion of the penetration end 1 and fixedly connected to the driver housing 2, a transmission structure 4 disposed at the top of the driver housing 2, a transmission rod of the transmission structure 4 passing through a through hole in the middle of the driver housing 2 in a clearance fit manner and being inserted into the moving end 3-2 of the feeding device to be fixedly connected to the moving end 3-2 of the feeding device, a limiting sleeve 5 inserted into the through hole in the middle of the driver housing 2 to limit the transmission structure 4 to generate only linear motion, and a sealing cover plate 6 pressing the limiting sleeve 5.
In the penetration type driver based on the shear thickening effect, as shown in fig. 1, a boss in the middle of a driving structure shell 2 forms a feeding device installation bin 2-1 at the upper part in the driver shell and a driver shell guide bin 2-2 at the lower part; the feeding device 3 comprises a feeding device fixed end 3-1 and a feeding device moving end 3-2; the transmission structure 4 comprises a transmission rod 4-1 and a transmission structure output end 4-2. The feeding device 3 is arranged in a feeding device installation bin 2-1 in the driving structure shell 2, a fixed end 3-1 of the feeding device is fixedly connected with the driver shell 2 and the penetrating end 1, and a moving end 3-2 of the feeding device is fixedly connected with a transmission rod 4-1; the transmission structure 4 passes through a through hole in the middle of the drive structure shell 2 from the drive shell guide bin 2-2 and is led into the feeding device installation bin 2-1 of the drive shell.
The feed device 3 of the penetration driver based on the shear thickening effect should be a drive device capable of finishing linear displacement output, and the drive device comprises a voice coil motor, a linear motor, a pneumatic/hydraulic actuator, an ultrasonic motor, a magnetostrictive material, an electrostrictive material, a shape memory alloy and a linear actuator derived from the shape memory alloy.
In the injection driver based on the shear thickening effect, two ends of the feeding device 3 are respectively a feeding device fixed end 3-1 and a feeding device moving end 3-2; the feeding device is fixedly connected with a fixed end 3-1 of the feeding device, has a plurality of structures for carrying out rigid body motion together, has large mass and comprises a penetration end 1, a driver shell 2, a limiting sleeve 5 and a sealing cover plate 6; the mechanism is fixedly connected with the moving end 3-2 of the feeding device, has few structures for carrying out rigid body movement together, has light weight and comprises a transmission structure 4.
The shear thickening effect based penetration driver can work in solid particles of non-newtonian or non-newtonian-like fluids with viscosities that exhibit orders of magnitude increase with increasing shear rate or shear stress, such as concentrated solutions and suspensions of high molecular polymers, high sand-laden water streams, debris streams, mantle, marsh, earth and celestial body sand and the like.
The working method of the penetration driver based on the shear thickening effect is shown in fig. 2 and 3. The penetration driver works in the initial state, is immersed into the non-Newtonian fluid medium, and the feeding device 3 is in the minimum stroke state before the driving work is started.
Driving step 1: and applying a quick control signal to the feeding device 3 to control the feeding device 3 to have a quick length, wherein the feeding device fixed end 3-1 and the feeding device moving end 3-2 contained in the feeding device 3 are far away from each other. In the process, as the feeding device fixed end 3-1 is fixedly connected, the mass of the structure moving together is large, and the acceleration is small, the moving speed v1 of the structure of the feeding device fixed end 3-1 and the structure fixedly connected with the feeding device fixed end is small; because the structure which is fixedly connected with the moving end 3-2 of the feeding device has small mass and large acceleration, the moving speed v2 of the structure which is fixedly connected with the moving end 3-2 of the feeding device is large. During the movement, the penetrating end 1 connected with the fixed end 3-1 of the feeding device is subjected to the action force of the non-Newtonian fluid medium in the movement process, F1, the action force of the non-Newtonian fluid medium on the transmission structure 4 connected with the moving end 3-2 of the feeding device is F4, the action speed relationship is V1 < V2, the medium shear stress tau 1 for generating the action of F1 is greater than the medium shear stress tau 4 for generating the action of F4, and the action forces on two sides of the penetration driver are unbalanced because the viscosity of the non-Newtonian fluid medium shows an increase along with the increase of the shear rate or the shear stress, F1 is far smaller than F4, and the action forces on two sides of the penetration driver are considered as a whole, so that the driver moves towards the direction pointed by F4, namely the direction of the penetrating end 1 of the penetration driver.
And a driving step 2, applying a slow control signal to the feeding device 3 to control the feeding device 3 to slowly return to a minimum stroke state, wherein the moving speed of a fixed end 3-1 of the feeding device and the moving end 3-2 of the feeding device included in the feeding device 3 is close. In this stage, the acceleration is low, the movement speed is much lower than that in the driving step 1, the penetration end 1 of the penetration driver is close to the external force applied to the transmission structure 4 of the penetration driver, the medium force applied to the penetration driver is in an equilibrium state, and the penetration driver stops moving.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111605654.3A CN114235020B (en) | 2021-12-25 | 2021-12-25 | A Penetration Actuator Based on Shear Thickening Effect and Its Working Method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111605654.3A CN114235020B (en) | 2021-12-25 | 2021-12-25 | A Penetration Actuator Based on Shear Thickening Effect and Its Working Method |
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| Publication Number | Publication Date |
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| CN114235020A true CN114235020A (en) | 2022-03-25 |
| CN114235020B CN114235020B (en) | 2022-12-09 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1993008608A1 (en) * | 1991-10-18 | 1993-04-29 | Aura Systems, Inc. | Piezoelectric actuator |
| US20040124745A1 (en) * | 2002-09-23 | 2004-07-01 | Goodson J. Michael | Sleeved ultrasonic transducer |
| US20080054762A1 (en) * | 2004-03-04 | 2008-03-06 | Ludwiczak Damian R | Vibrating debris remover |
| CN103916045A (en) * | 2014-02-21 | 2014-07-09 | 西安交通大学 | Stepping type rotation driving device and method on basis of piezoelectric ceramics |
| CN107623461A (en) * | 2017-09-05 | 2018-01-23 | 西安交通大学 | A shear type inertial piezoelectric rotary actuator and its actuating method |
| CN108512457A (en) * | 2018-04-19 | 2018-09-07 | 西安交通大学 | Linear inertial piezoelectric actuator with displacement perceptional function and start method |
| CN108768205A (en) * | 2018-06-07 | 2018-11-06 | 西安交通大学 | The step-by-step movement actuator devices and method of two Piezoelectric Ceramics with E type tracks |
-
2021
- 2021-12-25 CN CN202111605654.3A patent/CN114235020B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1993008608A1 (en) * | 1991-10-18 | 1993-04-29 | Aura Systems, Inc. | Piezoelectric actuator |
| US20040124745A1 (en) * | 2002-09-23 | 2004-07-01 | Goodson J. Michael | Sleeved ultrasonic transducer |
| US20080054762A1 (en) * | 2004-03-04 | 2008-03-06 | Ludwiczak Damian R | Vibrating debris remover |
| CN103916045A (en) * | 2014-02-21 | 2014-07-09 | 西安交通大学 | Stepping type rotation driving device and method on basis of piezoelectric ceramics |
| CN107623461A (en) * | 2017-09-05 | 2018-01-23 | 西安交通大学 | A shear type inertial piezoelectric rotary actuator and its actuating method |
| CN108512457A (en) * | 2018-04-19 | 2018-09-07 | 西安交通大学 | Linear inertial piezoelectric actuator with displacement perceptional function and start method |
| CN108768205A (en) * | 2018-06-07 | 2018-11-06 | 西安交通大学 | The step-by-step movement actuator devices and method of two Piezoelectric Ceramics with E type tracks |
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| CN114235020B (en) | 2022-12-09 |
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