Multi-degree-of-freedom underwater piezoelectric robot with cross structure

Abstract

The invention provides a multi-degree-of-freedom underwater piezoelectric robot with a cross structure, and belongs to the field of underwater robots. The invention can solve the problems that an underwater robot is large in deep sea structure size, noise is generated, the structure is complex, and the manufacturing cost is high. The robot comprises a vertical snorkeling driving module, a horizontal movement driving module, a middle connecting body and a buoyancy adjusting device. The number of the vertical snorkeling driving modules and the number of the horizontal movement driving modules are both N, and N is a positive integer larger than or equal to 2. The vertical snorkeling driving module and the horizontal movement driving module are each provided with a piezoelectric vibrator and a jet flow water spraying opening. There are N connecting ports formed in the periphery of the middle connecting body, wherein the vertical snorkeling driving module and the horizontal movement driving module correspond to the connecting ports in the middle connecting body one to one and are fixedly installed on the periphery of the middle connecting body to form a cross structure, and the buoyancy adjusting device is fixedly connected with the middle connecting body. The robot is mainly used for detection, sampling and the like of underwater resources.

Description

technical field [0001] The invention belongs to the field of underwater robots, in particular to a multi-freedom underwater piezoelectric robot with a cross structure. Background technique [0002] With the increasingly severe situation of land resources development and utilization, especially the low per capita value of land resources in China, the exploration of marine resources has become more and more important. The deep-sea field has extremely rich and diverse natural resources and vast operating space, as well as its political value, economic value, military value and ecological value. It has become a highland for human scientific research and exploration in the 21st century. Underwater robots can carry mechanical arms and electronic products to complete underwater resource detection and sampling, underwater remote control and military reconnaissance, offensive and defensive tasks. [0003] Common underwater robots include rigid body robots and soft body robots. Rigi...

AI Technical Summary

Problems solved by technology

The movement of soft robots is often two-dimensional, and the cost is relatively expensive

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