Piezoelectric driving ship body adsorption walking robot and working method thereof

Abstract

The application discloses a piezoelectric driving ship body adsorption walking robot and a working method thereof, and comprises a connecting rod and two walking assemblies; the walking assembly comprises a motion conversion mechanism, a piezoelectric driving mechanism and two electromagnetic adsorption feet; the electromagnetic adsorption foot comprises a direct-current electromagnet, an outer cylinder, a countersunk bolt and two cylindrical pins; the motion conversion mechanism comprises a transmission shaft and two motion columns; the piezoelectric driving mechanism comprises two stators, two rotors, two piezoelectric ceramic modules, two pre-pressure nuts, two pre-pressure springs, a connecting ring and a threaded pipe. The application converts the rotary motion generated by the piezoelectric driving mechanism into linear motion through the motion conversion mechanism, and cooperates with the electromagnetic adsorption feet to realize adsorption walking on the wall surface of a nuclear submarine. The application has no sealing device, can resist high pressure in deep sea, has no complex transmission device, is easy to miniaturize, has high walking stability and strong anti-overturning capacity.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of piezoelectric driving technology and deep-sea operation equipment, and particularly relates to a piezoelectric driving ship body adsorption walking robot and a working method thereof. BACKGROUND

[0002] However, the strong corrosion of seawater and the strong adhesion of marine organisms cause various shellfish to adhere to the wall surface of the nuclear submarine and rust. If the wall surface of the nuclear submarine can be timely inspected and maintained under the premise of ensuring concealment in deep sea, the safe operation of the nuclear submarine can be effectively ensured, and the time of sea cruise can be prolonged. In addition, timely inspection and maintenance of the ship body can also reduce fuel consumption, speed up the speed and ensure safety for various surface ships. However, the existing underwater robots have problems such as difficulty in sealing the body and driving motor under high pressure in deep sea and large size.

[0003] Piezoelectric driving is a driving mode in which micro-amplitude vibration is generated by exciting a stator through the inverse piezoelectric effect of a piezoelectric ceramic, and macroscopic rotation of a rotor is realized through friction transmission between the stator and the rotor. When the piezoelectric driving technology is used in deep sea environment, the piezoelectric actuator can be designed as a completely open structure, and only needs to be coated with glue for insulation treatment at a specific position, so there is no problem of deep-sea high-pressure sealing. The piezoelectric actuator does not need a transmission mechanism, which is beneficial to miniaturization. In addition, the low-temperature environment in deep sea is beneficial to reducing the temperature rise effect caused by high-frequency vibration of the piezoelectric actuator, and can further improve the reliability of the system. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a piezoelectric driving ship body adsorption walking robot and a working method thereof aiming at the defects involved in the background technology.

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

[0006] A piezoelectric driving ship body adsorption walking robot comprises a first walking assembly, a second walking assembly and a connecting rod.

[0007] The first walking assembly and the second walking assembly are identical in structure and each comprises a first electromagnetic adsorption foot, a second electromagnetic adsorption foot, a motion conversion mechanism and a piezoelectric driving mechanism.

[0008] The first electromagnetic adsorption foot and the second electromagnetic adsorption foot are identical in structure and each comprises a DC electromagnet, an outer cylinder, a countersunk bolt, a first cylindrical pin and a second cylindrical pin.

[0009] The DC electromagnet is a cylinder, one end face of which is provided with a threaded blind hole for cooperating with the countersunk bolt, and the other end face can generate an adsorption force in the axial direction.

[0010] The outer cylinder is a hollow cylinder with open ends, and a countersunk through hole is arranged on the side wall of the outer cylinder for cooperating with the countersunk bolt;

[0011] The countersunk bolt is connected with the threaded blind hole on the surface of the DC electromagnet through the countersunk through hole on the outer cylinder, so as to fix the DC electromagnet on the outer wall of the outer cylinder, and the axis of the DC electromagnet is perpendicular to the axis of the outer cylinder;

[0012] A first mounting hole and a second mounting hole are symmetrically arranged on the side wall of the outer cylinder, and the axis of the first mounting hole is perpendicular to the axis of the DC electromagnet;

[0013] The first cylindrical pin and the second cylindrical pin are arranged in the first mounting hole and the second mounting hole respectively, and are symmetrically arranged and fixed to the outer cylinder and protrude from the inner wall of the outer cylinder;

[0014] The motion conversion mechanism comprises a first motion column, a second motion column and a transmission shaft;

[0015] The first motion column and the second motion column are identical in structure and are both cylindrical bodies, and a limit groove is arranged on the side wall of each cylindrical body in a head-to-tail manner; the track development diagram of the limit groove is a sinusoidal curve with two periods, each period has a length of π and contains one wave crest and one wave trough, and the heights of the wave crest and the wave trough are both X;

[0016] One end of the transmission shaft is coaxially fixed to the first motion column, and the other end is coaxially fixed to the second motion column, so that the first motion column and the second motion column are symmetrically arranged;

[0017] The first motion column is arranged in the outer cylinder of the first electromagnetic adsorption foot, the outer wall of the first motion column is in clearance fit with the outer cylinder of the first electromagnetic adsorption foot, the first cylindrical pin and the second cylindrical pin of the first electromagnetic adsorption foot both extend into the limit groove of the first motion column, and when the first motion column rotates relative to the outer cylinder of the first electromagnetic adsorption foot, the first cylindrical pin and the second cylindrical pin of the first electromagnetic adsorption foot cooperate with the limit groove of the first motion column, so that the first motion column can move relative to the outer cylinder of the first electromagnetic adsorption foot in the axial direction;

[0018] The second motion column is arranged in the outer cylinder of the second electromagnetic adsorption foot, the outer wall of the second motion column is in clearance fit with the outer cylinder of the second electromagnetic adsorption foot, the first cylindrical pin and the second cylindrical pin of the second electromagnetic adsorption foot both extend into the limit groove of the second motion column, and when the second motion column rotates relative to the outer cylinder of the second electromagnetic adsorption foot, the first cylindrical pin and the second cylindrical pin of the second electromagnetic adsorption foot cooperate with the limit groove of the second motion column, so that the second motion column can move relative to the outer cylinder of the second electromagnetic adsorption foot in the axial direction;

[0019] The piezoelectric drive mechanism includes a first stator, a second stator, a first rotor, a second rotor, a first piezoelectric ceramic module, a second piezoelectric ceramic module, a first preload nut, a second preload nut, a first preload spring, a second preload spring, a connecting ring, and a threaded tube;

[0020] The drive shaft is provided with a symmetrical first external thread and a second external thread;

[0021] The inner wall of the threaded tube is smooth, and the outer wall is threaded. It is fitted onto the drive shaft between the first external thread and the second external thread, and is clearance-fitted with the drive shaft, allowing it to rotate freely relative to the drive shaft.

[0022] The first stator and the second stator have the same structure. They are both hollow cylinders with one end open and the other end closed. The center of the closed end is provided with a threaded hole for cooperating with the threaded tube. The outer wall is provided with several equally spaced spiral grooves.

[0023] The first and second piezoelectric ceramic modules have the same structure, each containing 2Y piezoelectric ceramic sheets and 2Y+1 electrode sheets, where Y is a natural number greater than or equal to 1. The piezoelectric ceramic sheets and electrode sheets are both annular, with the 2Y+1 electrode sheets and 2Y piezoelectric ceramic sheets stacked alternately, such that each piezoelectric ceramic sheet is located between two electrode sheets. The piezoelectric ceramic sheets are polarized along their thickness direction, with adjacent piezoelectric ceramic sheets having opposite polarization directions.

[0024] The connecting ring is circular in shape, and its outer wall is provided with a connecting handle; the connecting handle points to the center and inner end of the connecting ring and is fixedly connected to the outer wall of the connecting ring.

[0025] The first stator and the second stator are both connected to the threaded tube through the threaded hole at their closed end. The first piezoelectric ceramic module, the connecting ring, and the second piezoelectric ceramic module, which are sleeved on the threaded tube, are clamped between the closed end of the first stator and the closed end of the second stator in sequence, so that the first stator, the first piezoelectric ceramic module, the connecting ring, the second piezoelectric ceramic module, and the second stator are coaxial, and the first stator and the second stator are symmetrical, and the first piezoelectric ceramic module and the second piezoelectric ceramic module are symmetrical.

[0026] The first rotor and the second rotor are symmetrically arranged, with the open ends of the first rotor and the first stator abutting each other, and the open ends of the second rotor and the second stator abutting each other; both the first rotor and the second rotor are connected to the drive shaft by a key, so that the first rotor and the second rotor can slide freely relative to the drive shaft in the axial direction, and the first rotor and the second rotor cannot rotate relative to the drive shaft in the circumferential direction.

[0027] The first preload nut and the second preload nut are respectively connected to the drive shaft thread via the first external thread, the second external thread, and the drive shaft thread.

[0028] The first preload spring is sleeved on the drive shaft between the first preload thread and the first rotor, with one end abutting against the first preload nut and the other end abutting against the first rotor; the second preload spring is sleeved on the drive shaft between the second preload thread and the second rotor, with one end abutting against the second preload nut and the other end abutting against the second rotor.

[0029] One end of the connecting rod is hinged to the end of the connecting handle in the first walking assembly that is away from the connecting ring, and the other end is hinged to the end of the connecting handle in the second walking assembly that is away from the connecting ring;

[0030] The axis of the DC electromagnet of the first electromagnetic adsorption foot in the first walking assembly is parallel to the axis of the DC electromagnet of the first electromagnetic adsorption foot in the second walking assembly; the first electromagnetic adsorption foot of the first walking assembly and the first electromagnetic adsorption foot of the second walking assembly are on the same side of the connecting rod; the polarization direction of the first piezoelectric ceramic sheet of the first piezoelectric ceramic module in the first walking assembly is the same as the polarization direction of the first piezoelectric ceramic sheet of the first piezoelectric ceramic module in the second walking assembly; and the position of the first cylindrical pin in the limiting groove in the first walking assembly and the position of the first cylindrical pin in the limiting groove in the second walking assembly differ by 1 / 2 cycle.

[0031] As a further optimization of the piezoelectrically driven hull adsorption walking robot of the present invention, the surfaces of the piezoelectric ceramic sheets in the first piezoelectric ceramic module and the second piezoelectric ceramic module are coated with DP460 epoxy adhesive.

[0032] As a further optimization of the piezoelectrically driven hull adsorption walking robot of the present invention, the first stator, the second stator and the threaded tube engagement joint are sealed with DP460 epoxy glue.

[0033] As a further optimization of the piezoelectrically driven hull-adsorption walking robot of the present invention, the outer cylinder is also provided with through holes for observation on its side wall.

[0034] The present invention also discloses a working method of the piezoelectrically driven ship hull adsorption walking robot, comprising the following steps:

[0035] For the first piezoelectric ceramic module and the second piezoelectric ceramic module in the first walking assembly, as well as the first piezoelectric ceramic module and the second piezoelectric ceramic module in the second walking assembly, their 2j+1th electrode is grounded, and a first electrical signal is applied to the 2jth electrode, where j is a natural number greater than or equal to 1 and less than or equal to Y; the first electrical signal is an AC harmonic signal.

[0036] Under the excitation of the first electrical signal, in the first and second walking components, the piezoelectric drive mechanism drives the transmission shaft in the motion conversion mechanism to rotate, causing the hull-adhesive walking robot to move forward, as detailed below:

[0037] When the drive shaft rotates from 0° to 45°, the first traveling component executes process 1, and the second traveling component executes process 2; when the drive shaft rotates from 45° to 90°, the first traveling component executes process 2, and the second traveling component executes process 1; when the drive shaft rotates from 90° to 135°, the first traveling component executes process 2, and the second traveling component executes process 1; when the drive shaft rotates from 135° to 180°, the first traveling component executes process 1, and the second traveling component executes process 2.

[0038] Process 1: The DC electromagnet of the second electromagnetic adsorption foot is energized and fixed, while the DC electromagnet of the first electromagnetic adsorption foot is de-energized. At this time, the first electromagnetic adsorption foot moves closer to the second electromagnetic adsorption foot by a distance of 2X.

[0039] Process 2: The DC electromagnet of the first electromagnetic adsorption foot is energized and fixed, while the DC electromagnet of the second electromagnetic adsorption foot is de-energized. At this time, the second electromagnetic adsorption foot moves away from the first electromagnetic adsorption foot by a distance of 2X.

[0040] Compared with the prior art, the present invention, employing the above technical solution, has the following technical effects:

[0041] 1. Without a sealing device, seawater can enter the cavity, but it can withstand high pressure in the deep sea;

[0042] 2. Utilizing piezoelectric drive technology eliminates the need for complex transmission devices, making it easy to miniaturize, less restricted by space, and portable;

[0043] 3. The foot-based walking gait ensures that two diagonally opposite electromagnetically adsorbed feet are always energized and fixed in place, resulting in high stability during walking. It is suitable for postures such as large-angle inclines and has strong anti-overturning ability. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the structure of the present invention;

[0045] Figure 2 This is a schematic diagram of the structure of the first electromagnetic adsorption foot of the first walking component in this invention;

[0046] Figure 3 This is a schematic diagram of the motion conversion mechanism in this invention;

[0047] Figure 4 This is a schematic diagram of the structure of the piezoelectric drive mechanism and the transmission shaft in this invention.

[0048] Figure 5 This is a gait diagram of the present invention within one linear forward motion cycle;

[0049] Figure 6 This is a schematic diagram of the arrangement of electrode plates and excitation signals in the first piezoelectric ceramic module of the first walking component in this invention;

[0050] Figure 7 This is a schematic diagram of the structure elongating in the first-order longitudinal vibration and second-order torsional vibration coupling modes of the piezoelectric drive unit in this invention.

[0051] Figure 8 This is a schematic diagram of the structure shortening in the first-order longitudinal vibration and second-order torsional vibration coupling modes of the piezoelectric drive unit in this invention;

[0052] Figure 9 This is a schematic diagram of the contact between the piezoelectric drive unit and the rotor during one vibration cycle in this invention;

[0053] Figure 10 This is a trajectory unfolded diagram of the limiting groove in this invention;

[0054] Figure 11 This is a schematic diagram of the initial motion state of the first to second motion conversion mechanisms in this invention;

[0055] Figure 12 This is a schematic diagram of the motion of the first motion conversion mechanism, the third electromagnetic adsorption foot, and the fourth electromagnetic adsorption foot within one rotation cycle in this invention.

[0056] Figure 13 This is a schematic diagram of the motion of the second motion conversion mechanism, the first electromagnetic adsorption foot, and the second electromagnetic adsorption foot within one rotation cycle in this invention.

[0057] In the figure, 1-first electromagnetic adsorption foot of the second walking component, 2-first electromagnetic adsorption foot of the first walking component, 3-second electromagnetic adsorption foot of the first walking component, 4-second electromagnetic adsorption foot of the first walking component, 5-second motion conversion mechanism, 6-first motion conversion mechanism, 7-first piezoelectric drive mechanism, 8-second piezoelectric drive mechanism, 9-connecting rod, 2.1-DC electromagnet, 2.2-outer cylinder, 2.3 first cylindrical pin, 2.4-second cylindrical pin, 3.1-first moving column, 3.2-second moving column, 3.3-drive shaft, 4.1-first preload nut, 4.2-first preload spring, 4.3-first rotor, 4.4-first stator, 4.5-second piezoelectric ceramic module, 4.6-first piezoelectric ceramic module, 4.7-connecting ring, 4.8-second stator, 4.9-second rotor, 4.10-second preload spring, 4.11-second preload nut, 4.12-threaded tube. Implementation

[0058] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings:

[0059] This invention can be implemented in many different forms and should not be considered limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully express the scope of the invention to those skilled in the art. In the drawings, components are enlarged for clarity.

[0060] It should be understood that although the terms first, second, third, etc., may be used herein to describe various elements, components, and / or parts, these elements, components, and / or parts are not limited by these terms. These terms are merely used to distinguish elements, components, and / or parts from one another. Therefore, the first element, component, and / or part discussed below may be a second element, component, or part without departing from the teachings of this invention.

[0061] like Figure 1 As shown, the present invention discloses a piezoelectrically driven ship hull adsorption walking robot, characterized in that it includes a first walking component, a second walking component, and a connecting rod;

[0062] The first walking component and the second walking component have the same structure, both including a first electromagnetic adsorption foot, a second electromagnetic adsorption foot, a motion conversion mechanism and a piezoelectric drive mechanism;

[0063] like Figure 2 As shown, the first electromagnetic adsorption foot and the second electromagnetic adsorption foot have the same structure, both including a DC electromagnet, an outer cylinder, a countersunk bolt, a first cylindrical pin and a second cylindrical pin.

[0064] The DC electromagnet is a cylinder with a threaded blind hole at the center of one end face for engaging with the countersunk bolt, and the other end face is capable of generating an adsorption force along the axial direction.

[0065] The outer cylinder is a hollow cylinder with openings at both ends, and its side wall is provided with countersunk through holes for cooperating with the countersunk bolts;

[0066] The countersunk bolt passes through the countersunk through hole on the outer cylinder from the inside to the outside and is threaded into the threaded blind hole on the DC electromagnet, fixing the DC electromagnet to the outer wall of the outer cylinder, so that the axis of the DC electromagnet is perpendicular to the axis of the outer cylinder.

[0067] The outer cylinder is also symmetrically provided with a first mounting hole and a second mounting hole, the axis of the first mounting hole being perpendicular to the axis of the DC electromagnet;

[0068] The first cylindrical pin and the second cylindrical pin are respectively disposed in the first mounting hole and the second mounting hole, symmetrically disposed, both fixedly connected to the outer cylinder, and both protrude on the inner wall of the outer cylinder;

[0069] like Figure 3 As shown, the motion conversion mechanism includes a first motion column, a second motion column, and a transmission shaft;

[0070] The first and second moving columns have identical structures, both being cylinders with end-to-end limiting grooves on their side walls. The trajectory of these limiting grooves unfolds into a two-cycle sine curve, each cycle being π in length, containing one peak and one trough, with both the peak and trough having a height of X. Figure 10 As shown;

[0071] One end of the drive shaft is coaxially fixed to the first moving column, and the other end is coaxially fixed to the second moving column, so that the first moving column and the second moving column are symmetrically arranged.

[0072] The first moving column is disposed in the outer cylinder of the first electromagnetic adsorption foot. The outer wall of the first moving column and the outer cylinder of the first electromagnetic adsorption foot are in clearance fit. The first cylindrical pin and the second cylindrical pin of the first electromagnetic adsorption foot both extend into the limiting groove of the first moving column. When the first moving column rotates relative to the outer cylinder of the first electromagnetic adsorption foot, the first cylindrical pin and the second cylindrical pin of the first electromagnetic adsorption foot and the limiting groove of the first moving column cooperate, so that the first moving column can move relative to the outer cylinder of the first electromagnetic adsorption foot in the axial direction.

[0073] The second moving column is disposed in the outer cylinder of the second electromagnetic adsorption foot. The outer wall of the second moving column and the outer cylinder of the second electromagnetic adsorption foot are fitted with a clearance. The first cylindrical pin and the second cylindrical pin of the second electromagnetic adsorption foot both extend into the limiting groove of the second moving column. When the second moving column rotates relative to the outer cylinder of the second electromagnetic adsorption foot, the first cylindrical pin and the second cylindrical pin of the second electromagnetic adsorption foot and the limiting groove of the second moving column are fitted together, so that the second moving column can move relative to the outer cylinder of the second electromagnetic adsorption foot in the axial direction.

[0074] like Figure 4 As shown, the piezoelectric drive mechanism includes a first stator, a second stator, a first rotor, a second rotor, a first piezoelectric ceramic module, a second piezoelectric ceramic module, a first preload nut, a second preload nut, a first preload spring, a second preload spring, a connecting ring, and a threaded tube;

[0075] The drive shaft is provided with a symmetrical first external thread and a second external thread;

[0076] The inner wall of the threaded tube is smooth, and the outer wall is threaded. It is fitted onto the drive shaft between the first external thread and the second external thread, and is clearance-fitted with the drive shaft, allowing it to rotate freely relative to the drive shaft.

[0077] The first stator and the second stator have the same structure. They are both hollow cylinders with one end open and the other end closed. The center of the closed end is provided with a threaded hole for cooperating with the threaded tube. The outer wall is provided with several equally spaced spiral grooves.

[0078] The first and second piezoelectric ceramic modules have the same structure, each containing 2Y piezoelectric ceramic sheets and 2Y+1 electrode sheets, where Y is a natural number greater than or equal to 1. The piezoelectric ceramic sheets and electrode sheets are both annular, with the 2Y+1 electrode sheets and 2Y piezoelectric ceramic sheets stacked alternately, such that each piezoelectric ceramic sheet is located between two electrode sheets. The piezoelectric ceramic sheets are polarized along their thickness direction, with adjacent piezoelectric ceramic sheets having opposite polarization directions.

[0079] The connecting ring is circular in shape, and its outer wall is provided with a connecting handle; the connecting handle points to the center and inner end of the connecting ring and is fixedly connected to the outer wall of the connecting ring.

[0080] The first stator and the second stator are both connected to the threaded tube through the threaded hole at their closed end. The first piezoelectric ceramic module, the connecting ring, and the second piezoelectric ceramic module, which are sleeved on the threaded tube, are clamped between the closed end of the first stator and the closed end of the second stator in sequence, so that the first stator, the first piezoelectric ceramic module, the connecting ring, the second piezoelectric ceramic module, and the second stator are coaxial, and the first stator and the second stator are symmetrical, and the first piezoelectric ceramic module and the second piezoelectric ceramic module are symmetrical.

[0081] The first rotor and the second rotor are symmetrically arranged, with the open ends of the first rotor and the first stator abutting each other, and the open ends of the second rotor and the second stator abutting each other; both the first rotor and the second rotor are connected to the drive shaft by a key, so that the first rotor and the second rotor can slide freely relative to the drive shaft in the axial direction, and the first rotor and the second rotor cannot rotate relative to the drive shaft in the circumferential direction.

[0082] The first preload nut and the second preload nut are respectively connected to the drive shaft thread via the first external thread, the second external thread, and the drive shaft thread.

[0083] The first preload spring is sleeved on the drive shaft between the first preload thread and the first rotor, with one end abutting against the first preload nut and the other end abutting against the first rotor; the second preload spring is sleeved on the drive shaft between the second preload thread and the second rotor, with one end abutting against the second preload nut and the other end abutting against the second rotor.

[0084] One end of the connecting rod is hinged to the end of the connecting handle in the first walking assembly that is away from the connecting ring, and the other end is hinged to the end of the connecting handle in the second walking assembly that is away from the connecting ring;

[0085] The axis of the DC electromagnet of the first electromagnetic adsorption foot in the first walking assembly is parallel to the axis of the DC electromagnet of the first electromagnetic adsorption foot in the second walking assembly; the first electromagnetic adsorption foot of the first walking assembly and the first electromagnetic adsorption foot of the second walking assembly are on the same side of the connecting rod; the polarization direction of the first piezoelectric ceramic sheet of the first piezoelectric ceramic module in the first walking assembly is the same as the polarization direction of the first piezoelectric ceramic sheet of the first piezoelectric ceramic module in the second walking assembly.

[0086] like Figure 11 As shown, the position of the first cylindrical pin in the limiting groove in the first traveling assembly differs from the position of the first cylindrical pin in the limiting groove in the second traveling assembly by 1 / 2 cycle.

[0087] The surfaces of the piezoelectric ceramic sheets in the first and second piezoelectric ceramic modules are coated with DP460 epoxy adhesive; the joints of the first stator, the second stator, and the threaded tube are sealed with DP460 epoxy adhesive.

[0088] The outer cylinder is also provided with a through hole for observation on its side wall.

[0089] The present invention also discloses a working method of the piezoelectrically driven ship hull adsorption walking robot, comprising the following steps:

[0090] like Figure 6 As shown, for the first piezoelectric ceramic module and the second piezoelectric ceramic module in the first walking assembly, as well as the first piezoelectric ceramic module and the second piezoelectric ceramic module in the second walking assembly, their 2j+1th electrode is grounded, and a first electrical signal is applied to the 2jth electrode, where j is a natural number greater than or equal to 1 and less than or equal to Y; the first electrical signal is an AC harmonic signal.

[0091] Under the excitation of the first electrical signal, the drive shafts of the first and second traveling components rotate, as follows:

[0092] like Figure 7 , Figure 8 As shown: In the first and second walking assemblies, when the first and second piezoelectric ceramic modules extend, the open end faces of the first and second stators simultaneously undergo elongation motion and clockwise torsional motion when viewed directly from the open end faces; when the first and second piezoelectric ceramic modules shorten, the open end faces of the first and second stators simultaneously undergo shortening motion and counterclockwise torsional motion when viewed directly from the open end faces; under the superposition of these motions, the vibration of the particles at the open end faces of the first and second stators exhibits an elliptical trajectory; as... Figure 9As shown, during one vibration cycle, in the rising phase of the elliptical trajectory, the first stator and the second stator contact the first rotor and the second rotor respectively, transmitting torsion through friction. In the falling phase of the elliptical trajectory, the first stator and the second stator disengage from the first rotor and the second rotor respectively. Under the high-frequency reciprocating action, the first rotor and the second rotor exhibit macroscopically synchronized rotational motion. The transmission shaft rotates under the drive of the first rotor and the second rotor.

[0093] In the first and second walking components, the piezoelectric drive mechanism drives the transmission shaft in the motion conversion mechanism to rotate, causing the hull-adhesive walking robot to move forward, as detailed below:

[0094] like Figure 5 As shown, when the drive shaft rotates from 0° to 45°, the first walking component executes process 1, and the second walking component executes process 2; when the drive shaft rotates from 45° to 90°, the first walking component executes process 2, and the second walking component executes process 1; when the drive shaft rotates from 90° to 135°, the first walking component executes process 2, and the second walking component executes process 1; when the drive shaft rotates from 135° to 180°, the first walking component executes process 1, and the second walking component executes process 2; Process 1: The DC electromagnet of the second electromagnetic adsorption foot is energized and fixed, and the DC electromagnet of the first electromagnetic adsorption foot is de-energized. At this time, the first electromagnetic adsorption foot moves closer to the second electromagnetic adsorption foot by a distance of 2X.

[0095] Process 2: The DC electromagnet of the first electromagnetic adsorption foot is energized and fixed, while the DC electromagnet of the second electromagnetic adsorption foot is de-energized. At this time, the second electromagnetic adsorption foot moves away from the first electromagnetic adsorption foot by a distance of 2X.

[0096] The first and second walking components do not generate relative displacement between each other during movement, and therefore the piezoelectric drive mechanisms also do not generate relative displacement, moving forward synchronously. The overall structure exhibits a periodic linear forward movement state, with each linear forward movement cycle containing four steps, executing process 1, process 2, process 2, and process 1 in sequence. After one cycle, the relative positions of each component return to their initial state, and the robot moves a total distance of 4X.

[0097] like Figure 13As shown, the movement of the first walking component within one rotation cycle is divided into four steps, each rotating 45°. In the first step: the DC electromagnet of the second electromagnetic adsorption foot is energized and fixed in place; the DC electromagnet of the first electromagnetic adsorption foot is de-energized; after the motion conversion mechanism of the first walking component rotates 45°, it moves forward a distance X relative to the second electromagnetic adsorption foot; the first electromagnetic adsorption foot also moves forward a distance X relative to the motion conversion mechanism of the first walking component. After these steps are combined, the first electromagnetic adsorption foot actually moves forward 2X distances. In the second step: the DC electromagnet of the first electromagnetic adsorption foot is energized and fixed in place; the DC electromagnet of the second electromagnetic adsorption foot is de-energized; after the motion conversion mechanism of the first walking component rotates 45°, it moves forward a distance X relative to the first electromagnetic adsorption foot; the second electromagnetic adsorption foot also moves forward a distance X relative to the motion conversion mechanism of the first walking component. After these steps are combined, the second electromagnetic adsorption foot actually moves forward 2X distances. Step 3: The DC electromagnet of the first electromagnetic adsorption foot remains energized and fixed, while the DC electromagnet of the second electromagnetic adsorption foot remains de-energized. After the motion conversion mechanism of the first walking component rotates 45°, it moves forward a distance X relative to the first electromagnetic adsorption foot. The second electromagnetic adsorption foot also moves forward a distance X relative to the motion conversion mechanism of the first walking component. After these steps are combined, the second electromagnetic adsorption foot actually moves forward 2X distances. Step 4: The DC electromagnet of the second electromagnetic adsorption foot is energized and fixed, while the DC electromagnet of the first adsorption foot is de-energized. After the motion conversion mechanism of the first walking component rotates 45°, it moves forward a distance X relative to the second electromagnetic adsorption foot. The first electromagnetic adsorption foot also moves forward a distance X relative to the motion conversion mechanism of the first walking component. After these steps are combined, the first electromagnetic adsorption foot actually moves forward 2X distances. At this point, the relative positions of each component return to their initial state, and the first walking component moves forward a total distance of 4X.

[0098] like Figure 12As shown, the motion conversion mechanism of the second walking component moves in four steps within one rotation cycle, each step rotating 45°. In the first step: the DC electromagnet of the first electromagnetic adsorption foot is energized and fixed in place; the DC electromagnet of the second electromagnetic adsorption foot is de-energized; after the motion conversion mechanism of the second walking component rotates 45°, it moves forward a distance X relative to the first electromagnetic adsorption foot; the second electromagnetic adsorption foot moves forward a distance X relative to the motion conversion mechanism of the second walking component. After these steps are combined, the second electromagnetic adsorption foot actually moves forward 2X distances. In the second step: the DC electromagnet of the second electromagnetic adsorption foot is energized and fixed in place; the DC electromagnet of the first electromagnetic adsorption foot is de-energized; after the motion conversion mechanism of the second walking component rotates 45°, it moves forward a distance X relative to the second electromagnetic adsorption foot; the first electromagnetic adsorption foot moves forward a distance X relative to the motion conversion mechanism of the second walking component. After these steps are combined, the first electromagnetic adsorption foot actually moves forward... Step 3: The DC electromagnet of the second electromagnetic adsorption foot remains energized and fixed, while the DC electromagnet of the first electromagnetic adsorption foot remains de-energized. After the motion conversion mechanism of the second walking component rotates 45°, it moves forward X distance relative to the second electromagnetic adsorption foot. The first electromagnetic adsorption foot also moves forward X distance relative to the motion conversion mechanism of the second walking component. After these steps are combined, the first electromagnetic adsorption foot actually moves forward 2X distance. Step 4: The DC electromagnet of the first electromagnetic adsorption foot is energized and fixed, while the DC electromagnet of the second electromagnetic adsorption foot is de-energized. After the motion conversion mechanism of the second walking component rotates 45°, it moves forward X distance relative to the first electromagnetic adsorption foot. The second electromagnetic adsorption foot also moves forward X distance relative to the motion conversion mechanism of the second walking component. After these steps are combined, the second electromagnetic adsorption foot actually moves forward 2X distance. At this point, the relative positions of all components return to their initial state, and the second walking component moves forward a total distance of 4X.

[0099] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as herein.

[0100] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment 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 within the protection scope of the present invention.

Claims

1. A piezoelectrically driven ship hull adsorption walking robot, characterized in that, It includes a first traveling assembly, a second traveling assembly, and a connecting rod; The first walking component and the second walking component have the same structure, both including a first electromagnetic adsorption foot, a second electromagnetic adsorption foot, a motion conversion mechanism and a piezoelectric drive mechanism; The first electromagnetic adsorption foot and the second electromagnetic adsorption foot have the same structure, both including a DC electromagnet, an outer cylinder, a countersunk bolt, a first cylindrical pin and a second cylindrical pin; The DC electromagnet is a cylinder with a threaded blind hole at the center of one end face for engaging with the countersunk bolt, and the other end face is capable of generating an adsorption force along the axial direction. The outer cylinder is a hollow cylinder with openings at both ends, and its side wall is provided with countersunk through holes for cooperating with the countersunk bolts; The countersunk bolt passes through the countersunk through hole on the outer cylinder from the inside to the outside and is threaded into the threaded blind hole on the DC electromagnet, fixing the DC electromagnet to the outer wall of the outer cylinder, so that the axis of the DC electromagnet is perpendicular to the axis of the outer cylinder. The outer cylinder is also symmetrically provided with a first mounting hole and a second mounting hole, the axis of the first mounting hole being perpendicular to the axis of the DC electromagnet; The first cylindrical pin and the second cylindrical pin are respectively disposed in the first mounting hole and the second mounting hole, symmetrically disposed, both fixedly connected to the outer cylinder, and both protrude on the inner wall of the outer cylinder; The motion conversion mechanism includes a first motion column, a second motion column, and a transmission shaft; The first and second moving columns have the same structure, both being cylinders, with end-to-end limiting grooves on their side walls; the trajectory of the limiting grooves is a sine curve with two cycles, each cycle having a length of π, containing a peak and a trough, and the height of both the peak and the trough is X. One end of the drive shaft is coaxially fixed to the first moving column, and the other end is coaxially fixed to the second moving column, so that the first moving column and the second moving column are symmetrically arranged. The first moving column is disposed in the outer cylinder of the first electromagnetic adsorption foot. The outer wall of the first moving column and the outer cylinder of the first electromagnetic adsorption foot are in clearance fit. The first cylindrical pin and the second cylindrical pin of the first electromagnetic adsorption foot both extend into the limiting groove of the first moving column. When the first moving column rotates relative to the outer cylinder of the first electromagnetic adsorption foot, the first cylindrical pin and the second cylindrical pin of the first electromagnetic adsorption foot and the limiting groove of the first moving column cooperate, so that the first moving column can move relative to the outer cylinder of the first electromagnetic adsorption foot in the axial direction. The second moving column is disposed in the outer cylinder of the second electromagnetic adsorption foot. The outer wall of the second moving column and the outer cylinder of the second electromagnetic adsorption foot are fitted with a clearance. The first cylindrical pin and the second cylindrical pin of the second electromagnetic adsorption foot both extend into the limiting groove of the second moving column. When the second moving column rotates relative to the outer cylinder of the second electromagnetic adsorption foot, the first cylindrical pin and the second cylindrical pin of the second electromagnetic adsorption foot and the limiting groove of the second moving column are fitted together, so that the second moving column can move relative to the outer cylinder of the second electromagnetic adsorption foot in the axial direction. The piezoelectric drive mechanism includes a first stator, a second stator, a first rotor, a second rotor, a first piezoelectric ceramic module, a second piezoelectric ceramic module, a first preload nut, a second preload nut, a first preload spring, a second preload spring, a connecting ring, and a threaded tube; The drive shaft is provided with a symmetrical first external thread and a second external thread; The inner wall of the threaded tube is smooth, and the outer wall is threaded. It is fitted on the drive shaft between the first external thread and the second external thread, and is clearance-fitted with the drive shaft, allowing it to rotate freely relative to the drive shaft. The first stator and the second stator have the same structure. They are both hollow cylinders with one end open and the other end closed. The center of the closed end is provided with a threaded hole for cooperating with the threaded tube. The outer wall is provided with several equally spaced spiral grooves. The first and second piezoelectric ceramic modules have the same structure, each containing 2Y piezoelectric ceramic sheets and 2Y+1 electrode sheets, where Y is a natural number greater than or equal to 1. The piezoelectric ceramic sheets and electrode sheets are both annular, with the 2Y+1 electrode sheets and 2Y piezoelectric ceramic sheets stacked alternately, such that each piezoelectric ceramic sheet is located between two electrode sheets. The piezoelectric ceramic sheets are polarized along their thickness direction, with adjacent piezoelectric ceramic sheets having opposite polarization directions. The connecting ring is circular in shape, and its outer wall is provided with a connecting handle; the connecting handle points to the center and inner end of the connecting ring and is fixedly connected to the outer wall of the connecting ring. The first stator and the second stator are both connected to the threaded tube through the threaded hole at their closed end. The first piezoelectric ceramic module, the connecting ring, and the second piezoelectric ceramic module, which are sleeved on the threaded tube, are clamped between the closed end of the first stator and the closed end of the second stator in sequence, so that the first stator, the first piezoelectric ceramic module, the connecting ring, the second piezoelectric ceramic module, and the second stator are coaxial, and the first stator and the second stator are symmetrical, and the first piezoelectric ceramic module and the second piezoelectric ceramic module are symmetrical. The first rotor and the second rotor are symmetrically arranged, with the open ends of the first rotor and the first stator abutting each other, and the open ends of the second rotor and the second stator abutting each other; both the first rotor and the second rotor are connected to the drive shaft by a key, so that the first rotor and the second rotor can slide freely relative to the drive shaft in the axial direction, and the first rotor and the second rotor cannot rotate relative to the drive shaft in the circumferential direction. The first preload nut and the second preload nut are respectively connected to the drive shaft thread via the first external thread, the second external thread, and the drive shaft thread. The first preload spring is sleeved on the drive shaft between the first preload thread and the first rotor, with one end abutting against the first preload nut and the other end abutting against the first rotor; the second preload spring is sleeved on the drive shaft between the second preload thread and the second rotor, with one end abutting against the second preload nut and the other end abutting against the second rotor. One end of the connecting rod is hinged to the end of the connecting handle in the first walking assembly that is away from the connecting ring, and the other end is hinged to the end of the connecting handle in the second walking assembly that is away from the connecting ring; The axis of the DC electromagnet of the first electromagnetic adsorption foot in the first walking assembly is parallel to the axis of the DC electromagnet of the first electromagnetic adsorption foot in the second walking assembly; the first electromagnetic adsorption foot of the first walking assembly and the first electromagnetic adsorption foot of the second walking assembly are on the same side of the connecting rod; the polarization direction of the first piezoelectric ceramic sheet of the first piezoelectric ceramic module in the first walking assembly is the same as the polarization direction of the first piezoelectric ceramic sheet of the first piezoelectric ceramic module in the second walking assembly; and the position of the first cylindrical pin in the limiting groove in the first walking assembly and the position of the first cylindrical pin in the limiting groove in the second walking assembly differ by 1 / 2 cycle.

2. The piezoelectrically driven hull-adhesive walking robot according to claim 1, characterized in that, The surfaces of the piezoelectric ceramic sheets in both the first and second piezoelectric ceramic modules are coated with DP460 epoxy adhesive.

3. The piezoelectrically driven hull-adhesive walking robot according to claim 1, characterized in that, The first stator, the second stator, and the threaded tube joint are sealed with DP460 epoxy adhesive.

4. The piezoelectrically driven hull-adhesive walking robot according to claim 1, characterized in that, The outer cylinder also has through holes for observation on its side wall.

5. The working method of the piezoelectrically driven ship hull adsorption walking robot according to claim 1, characterized in that, It includes the following steps: For the first piezoelectric ceramic module and the second piezoelectric ceramic module in the first walking assembly, as well as the first piezoelectric ceramic module and the second piezoelectric ceramic module in the second walking assembly, their 2j+1th electrode is grounded, and a first electrical signal is applied to the 2jth electrode, where j is a natural number greater than or equal to 1 and less than or equal to Y; the first electrical signal is an AC harmonic signal. Under the excitation of the first electrical signal, in the first and second walking components, the piezoelectric drive mechanism drives the transmission shaft in the motion conversion mechanism to rotate, causing the hull-adhesive walking robot to move forward, as detailed below: When the drive shaft rotates from 0° to 45°, the first traveling component executes process 1, and the second traveling component executes process 2; when the drive shaft rotates from 45° to 90°, the first traveling component executes process 2, and the second traveling component executes process 1; when the drive shaft rotates from 90° to 135°, the first traveling component executes process 2, and the second traveling component executes process 1; when the drive shaft rotates from 135° to 180°, the first traveling component executes process 1, and the second traveling component executes process 2. Process 1: The DC electromagnet of the second electromagnetic adsorption foot is energized and fixed, while the DC electromagnet of the first electromagnetic adsorption foot is de-energized. At this time, the first electromagnetic adsorption foot moves closer to the second electromagnetic adsorption foot by a distance of 2X. Process 2: The DC electromagnet of the first electromagnetic adsorption foot is energized and fixed, while the DC electromagnet of the second electromagnetic adsorption foot is de-energized. At this time, the second electromagnetic adsorption foot moves away from the first electromagnetic adsorption foot by a distance of 2X.

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