CN115195368B - Amphibious propeller for 4D printing - Google Patents
Amphibious propeller for 4D printing Download PDFInfo
- Publication number
- CN115195368B CN115195368B CN202210810745.9A CN202210810745A CN115195368B CN 115195368 B CN115195368 B CN 115195368B CN 202210810745 A CN202210810745 A CN 202210810745A CN 115195368 B CN115195368 B CN 115195368B
- Authority
- CN
- China
- Prior art keywords
- blade
- blades
- deformable
- propeller
- printing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000007639 printing Methods 0.000 title claims abstract description 25
- 239000000463 material Substances 0.000 claims abstract description 23
- 238000010438 heat treatment Methods 0.000 claims abstract description 8
- 229920002379 silicone rubber Polymers 0.000 claims description 18
- 239000004945 silicone rubber Substances 0.000 claims description 13
- 230000006870 function Effects 0.000 claims description 5
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims description 5
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 claims description 4
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 claims description 2
- 229910052759 nickel Inorganic materials 0.000 claims description 2
- 238000011084 recovery Methods 0.000 claims description 2
- 239000010936 titanium Substances 0.000 claims description 2
- 229910052719 titanium Inorganic materials 0.000 claims description 2
- 238000012549 training Methods 0.000 claims description 2
- 230000009977 dual effect Effects 0.000 claims 1
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 4
- 239000002002 slurry Substances 0.000 description 4
- 230000005284 excitation Effects 0.000 description 2
- 241000446313 Lamella Species 0.000 description 1
- HZEWFHLRYVTOIW-UHFFFAOYSA-N [Ti].[Ni] Chemical compound [Ti].[Ni] HZEWFHLRYVTOIW-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005485 electric heating Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910001000 nickel titanium Inorganic materials 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/12—Propulsive elements directly acting on water of rotary type with rotation axis substantially in propulsive direction
- B63H1/14—Propellers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/12—Propulsive elements directly acting on water of rotary type with rotation axis substantially in propulsive direction
- B63H1/14—Propellers
- B63H1/26—Blades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2231/00—Material used for some parts or elements, or for particular purposes
- B63B2231/02—Metallic materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2231/00—Material used for some parts or elements, or for particular purposes
- B63B2231/02—Metallic materials
- B63B2231/18—Titanium or titanium alloys
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2231/00—Material used for some parts or elements, or for particular purposes
- B63B2231/40—Synthetic materials
- B63B2231/42—Elastomeric materials
- B63B2231/44—Rubber
- B63B2231/48—Synthetic rubber, e.g. silicone rubber, Neoprene, polyurethane
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Toys (AREA)
- Printing Methods (AREA)
Abstract
The invention discloses a 4D printing amphibious propeller, and belongs to the technical field of propeller blade structural design. The propeller comprises a hub and deformable blades; the deformable blades are uniformly arranged along the circumferential direction and fixedly mounted on the hub, the deformable blades are formed by 4D printing, heating components are arranged inside the deformable blades, blade materials deform after the temperature of the heating components rises, the appearance of the deformable blades is consistent with that of common blades when the deformable blades work underwater, the deformable blades are divided into two blades which are reversely bent and unfolded to form a blade leg structure when the deformable blades work on land, and the blade leg structure is driven by the hub to complete the land walking function. The invention can realize the state conversion from underwater driving to land walking of the propeller, and can effectively reduce the propulsion noise of the propeller during underwater driving.
Description
Technical Field
The invention belongs to the technical field of propeller blade structural design, and particularly relates to a 4D printing amphibious propeller.
Background
The traditional amphibious robot is usually integrated with two sets of motion mechanisms on water and on land at the same time, and the motion devices are switched under different environments to obtain the amphibious capacity, so that the amphibious robot has a complex mechanical structure, the difficulty of control is increased, and the development of the amphibious robot is further limited. In addition, the existing amphibious robot has a plurality of propulsion modes, and the different propulsion modes determine the design of the propulsion structure of the amphibious robot. Common amphibious robot is according to the different propulsion forms can be divided into: the existing wheel-type amphibious robot propulsion devices such as foot-type amphibious robots, wheel-type amphibious robots and bionic-type amphibious robots are mostly composed of paddles, wheels and flange plates, when the land advances, the paddles shrink in the outline of the wheels, when the robots enter water, the paddles are controlled to be unfolded, and when the wheels rotate, the paddles play a role in drawing water. However, since the conversion of the amphibious motion function is accomplished by controlling the mechanical structure, the mechanical structure and the control system thereof are complicated. Therefore, how to make the amphibious robot have amphibious motion capability and simultaneously keep lower structural complexity is a problem to be solved.
The propelling/travelling mechanism of the part of amphibious robot is designed into a slurry leg, the slurry leg consists of a plurality of propeller blades and a circular arc-shaped bottom plate at the bottom of the propeller blades, the robot is pushed to move through the rotation of the propeller blades when the slurry leg works under water, and when the slurry leg works on land, the bottom plate is driven to alternately fall down through the rotation of the propeller blades so as to realize the running of the robot on land. Although the propeller legs reduce the complexity of the mechanism and solve the problem of propulsion/walking of the robot under water and on land, the propeller structurally integrated with the walking function can damage the shape of the traditional propeller blades, reduce the efficiency of the propeller and generate larger propulsion noise.
Disclosure of Invention
In view of the above, the invention provides a 4D printing amphibious propeller, which can realize the state conversion from underwater driving to land walking, and can effectively reduce the propulsion noise of the propeller during the underwater driving.
A 4D printing amphibious propeller comprising a hub and deformable blades; the utility model provides a paddle, including a plurality of deformable blades, a plurality of deformable blades are evenly arranged and fixed mounting on the oar hub along circumferencial direction, deformable blade is through 4D printing shaping, and deformable blade is inside to have heating element, makes blade material take place deformation after heating element temperature rise, and when working under water, deformable blade's appearance is unanimous with ordinary blade, and at the land during operation, deformable blade's branch into two lamella and form oar leg structure after the reverse crooked expansion, and the oar leg structure accomplishes land walking function under the drive of oar hub.
Further, the deformable blade comprises an upper blade, a lower blade, silicone rubber and an electrothermal material; the shape of the upper blade and the lower blade are completely consistent, the thickness of the upper blade and the thickness of the lower blade are half of the thickness of the whole blade, electrothermal materials are arranged in the upper blade and the lower blade, the upper blade and the lower blade form a deformable blade after being vulcanized by silicone rubber, and the silicone rubber is positioned between the upper blade and the lower blade and coats the outer surface of the blade.
Further, the deformable blade is printed by using a double-nozzle 4D printing device, and the upper blade and the electrothermal material, the lower blade and the electrothermal material are printed together.
Further, the upper blade and the lower blade are processed by adopting nickel-titanium two-way shape memory alloy.
Further, corresponding positions are selected on the upper blade and the lower blade to carry out two-way shape memory alloy deformation recovery training, so that the flexible blade is deformed at the positions.
The beneficial effects are that:
1. The propeller comprises a propeller hub and deformable blades, wherein a plurality of deformable blades are uniformly arranged along the circumferential direction and fixedly arranged on the propeller hub, heating components are arranged in the deformable blades, blade materials deform after the temperature of the heating components is increased, the shape of the deformable blades is consistent with that of common blades when the propeller works underwater, the deformable blades are divided into two flaps to be reversely bent and unfolded to form a propeller leg structure when the propeller works on land, and the propeller leg structure is driven by the propeller hub to complete the land walking function. Because the deformable blade is formed through 4D printing, the blade integrated forming can be realized, the forming precision is improved, in addition, the deformable blade forms a propeller leg structure in a heat deformation mode, the deformable blade returns to an initial working state immediately after the temperature is reduced, the deformation mode not only reduces the complexity of a mechanism, but also does not damage the shape of the traditional propeller blade, and compared with a propeller with the propeller leg structure, the propeller disclosed by the invention does not reduce the working efficiency and does not generate larger propelling noise.
2. The deformable blade comprises an upper blade, a lower blade, silicon rubber and electrothermal materials; the shape of the upper blade and the lower blade are completely consistent, the thickness of the upper blade and the thickness of the lower blade are half of the thickness of the whole blade, electrothermal materials are arranged in the upper blade and the lower blade, the upper blade and the lower blade form a deformable blade after being vulcanized by silicone rubber, the slightly outer surface of the blade is coated by the silicone rubber, the silicone rubber can deform elastically along with the deformation of the upper blade and the lower blade, the sealing between the upper blade and the lower blade can be provided, structural support can be provided for the blade after the blade deforms, and when the blade is required to return to work in water again, the silicone rubber provides reverse tensile force for the upper blade and the lower blade, so that the deformable blade is favorable to return to the appearance of the initial state.
3. The invention uses double spray heads 4D printing equipment when printing the deformable blade, and prints the upper blade, the electrothermal material, the lower blade and the electrothermal material together when printing, because the 4D printing forming precision is high, the 4D printing propeller blade can realize the integral forming of the blade to improve the forming precision, and can ensure the space curved surface form of the blade, and because the blade is integrally formed, the bearing capacity of the blade can be greatly improved.
Drawings
Fig. 1 is a schematic view of the 4D printing amphibious propeller of the present invention in a state when operated underwater;
FIG. 2 is a schematic view of the state of the 4D printing amphibious propeller of the present invention when in land operation;
figure 3 is a side view of the 4D printing amphibious propeller of the present invention.
Wherein, 1-paddle hub, 2-deformable blade, 2-1-upper half blade, 2-2-lower half blade, 2-3-electrothermal material and 2-4-silicon rubber.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The invention provides a 4D printing amphibious propeller, which comprises a propeller hub 1 and deformable blades 2, wherein six deformable propellers 2 are uniformly arranged along the circumferential direction and fixedly mounted on the propeller hub 1.
As shown in fig. 2 and 3, the deformable blade 2 includes an upper blade 2-1, a lower blade 2-2, silicone rubber 2-4, and an electrothermal material 2-3; the shapes of the upper blade 2-1 and the lower blade 2-2 are completely consistent, the thickness of the upper blade 2-1 and the lower blade 2-2 is one half of the thickness of the whole blade, electrothermal materials 2-3 are arranged in the upper blade and the lower blade, the electrothermal materials 2-3 in the embodiment adopt nickel and titanium two-way shape memory alloy, the upper blade 2-1 and the electrothermal materials 2-3 are synchronously printed by adopting double-nozzle 4D printing equipment during processing, the lower blade 2-2 and the electrothermal materials 2-3 are integrally printed together, finally the upper blade 2-1 and the lower blade 2-2 form a deformable blade after being vulcanized by silicone rubber 2-4, and the silicone rubber 2-4 is positioned between the upper blade 2-1 and the lower blade 2-2 and covers the outer surface of the blade.
When the robot works underwater, the upper half blade 2-1 and the lower half blade 2-1 of the deformable blade 2 are connected together through the silicone rubber 2-4 to form a complete propeller blade, and the rotation of the blade pushes the robot to advance, and the shape of the blade is shown in figure 1; when the robot works on land, the upper blade 2-1 and the lower blade 2-2 of the deformable blade 2 are heated and deformed by applying an electric excitation source to the electric heating material 2-3, the blade tip positions of the upper blade 2-1 and the lower blade 2-2 are separated, the high-elasticity silicon rubber 2-4 is pulled to form a structure with wide upper part and narrow lower part, when the deformation of the upper blade 2-1 and the lower blade 2-2 is in place, the main body structure of the deformable blade 2 becomes a paddle leg, the silicon rubber 2-4 on the outer surface of the blade tip forms the foot part of the paddle leg, and the shape of the paddle leg is shown in the figure 2, so that the robot can run on land; if the robot needs to work under water again, the upper blade 2-1 and the lower blade 2-2 can be restored to the original states after the temperature is reduced to normal temperature after the electric excitation is canceled.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A 4D printing amphibious propeller, the propeller comprising a hub and deformable blades; the deformable blades are uniformly arranged along the circumferential direction and fixedly mounted on the hub, the deformable blades are formed by 4D printing, heating components are arranged in the deformable blades, the blade materials deform after the temperature of the heating components rises, the shape of the deformable blades is consistent with that of the common blades when the deformable blades work underwater, the deformable blades are divided into two blades which are reversely bent and unfolded to form a blade leg structure when the deformable blades work on land, and the blade leg structure is driven by the hub to finish the land walking function;
The deformable blade comprises an upper blade, a lower blade, silicon rubber and electrothermal materials; the shape of the upper blade and the lower blade are completely consistent, the thickness of the upper blade and the thickness of the lower blade are respectively half of the thickness of the whole blade, electrothermal materials are arranged in the upper blade and the lower blade, the upper blade and the lower blade form a deformable blade after being vulcanized by silicone rubber, and the silicone rubber is positioned between the upper blade and the lower blade and coats the outer surface of the blade.
2. A 4D printing amphibious propeller as claimed in claim 1 wherein the deformable blades are printed using dual jet 4D printing equipment, the upper blades being printed with the electro-thermal material, the lower blades being printed with the electro-thermal material.
3. A 4D printing amphibious propeller as claimed in claim 2, wherein the upper and lower blades are fabricated from a nickel, titanium two-way shape memory alloy.
4. A 4D printed amphibious propeller as claimed in claim 2 or claim 3, wherein the flexible blade is deformed in a corresponding position on the flexible blade by two-way shape memory alloy deformation recovery training.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210810745.9A CN115195368B (en) | 2022-07-11 | 2022-07-11 | Amphibious propeller for 4D printing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210810745.9A CN115195368B (en) | 2022-07-11 | 2022-07-11 | Amphibious propeller for 4D printing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115195368A CN115195368A (en) | 2022-10-18 |
| CN115195368B true CN115195368B (en) | 2024-08-16 |
Family
ID=83580262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210810745.9A Active CN115195368B (en) | 2022-07-11 | 2022-07-11 | Amphibious propeller for 4D printing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115195368B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104854310A (en) * | 2012-12-10 | 2015-08-19 | 夏洛工程有限公司 | Propeller |
| CN107244400A (en) * | 2017-06-07 | 2017-10-13 | 哈尔滨工程大学 | A kind of branch type propeller blade |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6974356B2 (en) * | 2003-05-19 | 2005-12-13 | Nekton Research Llc | Amphibious robot devices and related methods |
| ITMI20051001A1 (en) * | 2005-05-27 | 2006-11-28 | Fb Design Srl | PROPELLER FOR BOATS AND METHOD FOR ITS ASSEMBLY |
| US10065469B1 (en) * | 2015-10-21 | 2018-09-04 | Joseph Mitchell Pilcher, III | Box wheel vehicle and method for multi-medium transport |
| CN105966582A (en) * | 2016-05-25 | 2016-09-28 | 哈尔滨工业大学 | Ship transformable propeller based on bidirectional shape memory polymer composite propeller blades |
| GB2567607B (en) * | 2016-08-10 | 2021-08-18 | Superprop Ltd | Improvements to a drive system for a propeller |
| TWM553710U (en) * | 2017-01-13 | 2018-01-01 | Li hong fu | Triple-purpose propeller for land, water, and underwater applications |
| CN215890530U (en) * | 2021-07-13 | 2022-02-22 | 深圳市聚荣科技有限公司 | Portable fan |
| CN113635706B (en) * | 2021-09-14 | 2023-07-04 | 西湖大学 | Driving wheel for vehicle and vehicle |
-
2022
- 2022-07-11 CN CN202210810745.9A patent/CN115195368B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104854310A (en) * | 2012-12-10 | 2015-08-19 | 夏洛工程有限公司 | Propeller |
| CN107244400A (en) * | 2017-06-07 | 2017-10-13 | 哈尔滨工程大学 | A kind of branch type propeller blade |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115195368A (en) | 2022-10-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6877692B2 (en) | Oscillating foil propulsion system | |
| CN113415114B (en) | Cross-medium aircraft based on bionic variant wing | |
| CN109334365A (en) | A kind of land, water and air three are dwelt rotor robot and its working method | |
| CN102180249B (en) | Intelligent biomimetic robotic dolphin | |
| US20090294582A1 (en) | Propulsion Unit for Lighter-Than-Air Aircraft | |
| CN208867806U (en) | A kind of land, water and air three are dwelt rotor robot | |
| CN209410310U (en) | A motion-based bionic blue-spotted stingray underwater propeller | |
| CN104260885A (en) | Fishtail flapping mechanism suitable for flapping-wing micro air vehicle | |
| CN111891323A (en) | A two-joint pressure-driven flexible bionic robotic fish | |
| CN115195368B (en) | Amphibious propeller for 4D printing | |
| CN103213664A (en) | Dual-drive bionic pectoral fin framework | |
| KR20220106833A (en) | propulsion device | |
| CN206544587U (en) | A kind of Biomimetic Fish propulsion system and the Biomimetic Fish comprising the propulsion system | |
| CN211810153U (en) | Bionic small-skinned shrimp underwater rowing device based on motor drive | |
| CN211000799U (en) | Frog-wheel-paddle-leg-imitating integrated amphibious propeller | |
| CN114368254A (en) | Multi-purpose robot capable of realizing jumping and flying motion | |
| CN207045646U (en) | Nearly vector expression underwater robot propeller | |
| CN215155549U (en) | Separable underwater propeller integrating vector propulsion and blade type suction disc | |
| CN115432153B (en) | Waterproof flutter mechanism of flexible pectoral fin of imitative ray | |
| JP3385463B2 (en) | Internal drive type fluttering propulsion drive mechanism and control method thereof | |
| CN101549749B (en) | Automatic thrashing and propelling mechanism used for steamship and motor-driven boat | |
| CN218368238U (en) | Underwater vector propeller | |
| Wu et al. | Overall Design and Flutter Motion Analysis of a Semi-active Manta Ray Robot | |
| Li et al. | Motion stability evaluation of the improved spherical underwater robot with hybrid propulsion devices | |
| CN111959738B (en) | Omnidirectional propeller based on pitch modulation technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |