Small piezoelectric robot based on piezoelectric ceramics and reconfigurable robot configuration

Abstract

The present invention discloses a small piezoelectric robot based on built-in piezoelectric ceramics and a reconfigurable configuration of the robot, which relates to the technical field of reconfigurable robots and solves the problems of patch-type piezoelectric robots in terms of reconfigurability, environmental adaptability and piezoelectric ceramic protection. A control module and a drive unit are provided in the shell module of the present invention; the drive unit includes a metal body and piezoelectric ceramics, the piezoelectric ceramics are provided on the inner wall of a square through hole in the metal body and are connected to the control module, and two piezoelectric ceramics facing each other form a group, and the control module excites the two groups of piezoelectric ceramics respectively through two groups of sinusoidal signals; a number of integrated drive feet are provided on the metal body, and the integrated drive feet extend from the inside of the shell module. The present invention realizes the miniaturization of the robot, introduces a multi-point reconfigurable strategy, and significantly improves the configuration diversity and environmental adaptability of the robot; protects the piezoelectric ceramics from the influence of the external environment, and ensures the stable and reliable operation of the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of reconfigurable robots, in particular to a small piezoelectric robot based on built-in piezoelectric ceramics and a reconfigurable configuration of the robot. Background Art

[0002] In recent years, the growing demand for space applications and exploration of unknown environments has placed increasingly stringent demands on the environmental adaptability and module size of reconfigurable robots. Traditional electromagnetic motor drive components, due to their susceptibility to magnetic field interference and slow response speed, have become unable to meet the complex and ever-changing mission requirements. Furthermore, the bulky size of existing reconfigurable robot modules severely restricts their mobility and functional diversity. Against this backdrop, piezoelectric robots, with their unique advantages such as easy miniaturization, rapid response, self-locking upon power failure, and lack of electromagnetic interference, have gradually become a key technology for achieving robot miniaturization and lightweighting. Although studies have exploited the resonant properties of piezoelectric ceramics to develop multi-degree-of-freedom piezoelectric robots, their practicality and adaptability are limited by the lack of effective reconfiguration strategies and the separation of drive, control, communication, and power supply systems. Furthermore, in existing piezoelectric robots, the piezoelectric ceramics are typically externally mounted on a metal body, making the drive components and connecting wires susceptible to damage and aging. To address the above challenges, the present invention proposes a centimeter-level robot that adopts piezoelectric drive, has built-in piezoelectric ceramics, and is equipped with a multi-point reconfigurable strategy. The robot aims to significantly improve its environmental adaptability, movement flexibility, and multifunctional application capabilities through integrated system design and innovative reconfigurable methods, providing strong support for technological progress and application expansion in related fields.

[0003] The Chinese patent application number CN201710128346.3 discloses a patch-type piezoelectric driven four-wheel planetary exploration robot and its working method. The system adopts a piezoelectric drive method, using the second-order longitudinal vibration mode and first-order bending vibration mode of the beam to drive the bolt particles to perform elliptical motion, and drive the wheels to rotate through friction, so that the entire robot system can move forward or backward and turn. This technology solves the problem that traditional robot movement systems require complex transmission and deceleration mechanisms, making it difficult to achieve miniaturization design. However, this technology is mainly suitable for the planar multi-degree-of-freedom movement requirements of small piezoelectric robots, and cannot meet the requirements of reconfigurable applications, high environmental adaptability, and protection of piezoelectric ceramics. Summary of the Invention

[0004] To address the aforementioned shortcomings of existing patch-type piezoelectric-driven robots in terms of reconfigurability, environmental adaptability, and piezoelectric ceramic protection, this invention proposes a small piezoelectric robot and a reconfigurable robot configuration based on built-in piezoelectric ceramics. This invention inherits the high efficiency and simplicity of piezoelectric drive, achieving a miniaturized robot design. Furthermore, by introducing a multi-point reconfiguration strategy, it significantly improves the robot's configuration diversity and environmental adaptability. Furthermore, it protects the piezoelectric ceramics from external environmental influences, thereby ensuring stable and reliable operation of the robot.

[0005] The present invention proposes a small piezoelectric robot based on built-in piezoelectric ceramics, which specifically includes a shell module, a control module and a drive unit. The control module and the drive unit are arranged in the shell module; the drive unit includes a metal body and four piezoelectric ceramics, the metal body is provided with a square through hole, the piezoelectric ceramics are arranged on the inner wall of the square through hole and connected to the control module, the two piezoelectric ceramics facing each other on the front are a group, and the control module excites the two groups of piezoelectric ceramics respectively through two groups of sinusoidal excitation signals; a number of integrated drive feet are provided on the metal body, and the integrated drive feet extend from the inside of the shell module.

[0006] Furthermore, there is no phase and frequency coupling between the two groups of sinusoidal excitation signals emitted by the control module, and the two groups of sinusoidal excitation signals are independent of each other; the two piezoelectric ceramics in the same group receive the same sinusoidal excitation signal.

[0007] Furthermore, the piezoelectric ceramic is polarized along the thickness direction.

[0008] Furthermore, the two ends of the metal body are square, and a number of integrated driving feet are provided at the ends; the middle of the metal body is a cylindrical structure, and a square through hole is provided inside the cylindrical structure, and the inner wall of the square through hole and the edge of the square end of the metal body are at 45 degrees.

[0009] Furthermore, the control module includes a control board and a lithium battery, and the control board is connected to the lithium battery and the piezoelectric ceramic respectively.

[0010] Furthermore, the housing module includes a control module housing, an upper housing and a lower housing, and the control module housing, the upper housing and the lower housing are connected in sequence from top to bottom; the control module is arranged inside the cavity formed by the control module housing and the upper housing; the drive unit is arranged inside the cavity formed by the upper housing and the lower housing.

[0011] Furthermore, the upper shell and the lower shell are both provided with a number of clamping screws, and the drive unit is set inside the cavity formed by the upper shell and the lower shell through the clamping screws. The drive unit does not directly contact the upper shell and the lower shell, and the integrated drive foot extends to the outside from the through hole provided on the lower shell.

[0012] Furthermore, a multi-point magnetic connection module is provided on the outer surface of the upper shell and the lower shell; the plurality of small piezoelectric robots based on piezoelectric ceramics are connected to each other through the multi-point magnetic connection module.

[0013] Furthermore, the multi-point magnetic connection module includes a plurality of magnets.

[0014] A robot reconfigurable configuration using the above-mentioned small piezoelectric robot based on piezoelectric ceramics includes several small piezoelectric robots based on piezoelectric ceramics and several magnetic connection modules. The several small piezoelectric robots based on piezoelectric ceramics are connected to each other through the several magnetic connection modules; the magnetic connection modules include triangular blocks and square blocks, the triangular blocks and square blocks are prismatic structures, and several magnets are provided on the surfaces of the triangular blocks and square blocks.

[0015] The beneficial effects of the small piezoelectric robot based on built-in piezoelectric ceramics and the reconfigurable configuration of the robot described in the present invention are:

[0016] (1) The present invention discloses a small piezoelectric robot and a reconfigurable robot configuration based on built-in piezoelectric ceramics, which overcome the problems of the prior art in terms of reconfigurability, environmental adaptability and piezoelectric ceramic protection of patch-type piezoelectric drive robots. A piezoelectric ceramic built-in drive unit is adopted, whose operating frequency exceeds 20kHz and has a response speed of milliseconds. The drive unit cleverly converts the microscopic vibration (micrometer level) of the integrated drive foot end of the drive unit into the macroscopic motion (centimeter level) of the robot through the friction effect, thereby realizing the rapid planar motion of the robot. In addition, the present invention places the piezoelectric ceramics inside the drive unit, so that the piezoelectric robot can be further miniaturized and the piezoelectric ceramics are protected. This design not only solves the problems of the traditional reconfigurable robot unit being bulky and the transmission mechanism being complex, but also avoids the wear of the external piezoelectric ceramics, so that the system has a faster response speed, lighter weight and better scalability.

[0017] (2) The present invention describes a small piezoelectric robot and a reconfigurable robot configuration based on piezoelectric ceramics. Through a multi-point reconfigurable strategy, a variety of reconfigurable robot configurations (such as chain configuration groups and ring configuration groups) are achieved. These configurations have their own motion characteristics and can adapt to different motion terrains, such as: passing through wide grooves, crossing narrow slits, passing through narrow passages, passing through terrain with height differences, and passing through narrow bends. The robot can also realize wireless image capture through an external module, which means that the robot has the ability to expand multi-functional applications, greatly improving the robot's adaptability and multi-scenario application capabilities. The system is not only easy to miniaturize and respond quickly, but also has a variety of reconfigurable configurations, providing strong technical support for applications in space applications, disaster relief, terrain exploration and other fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0019] In the attached figure:

[0020] Figure 1 This is an exploded view of a small piezoelectric robot based on built-in piezoelectric ceramics according to the present invention;

[0021] Figure 2 This is a schematic structural diagram of a small piezoelectric robot based on built-in piezoelectric ceramics according to the present invention;

[0022] Figure 3 This is a schematic structural diagram of a metal base of a small piezoelectric robot with built-in piezoelectric ceramics according to the present invention;

[0023] Figure 4 This is a schematic diagram of the arrangement of piezoelectric ceramics of a small piezoelectric robot based on built-in piezoelectric ceramics according to the present invention;

[0024] Figure 5 This is a schematic diagram of the polarization direction of the piezoelectric ceramic of a small piezoelectric robot based on built-in piezoelectric ceramics according to the present invention;

[0025] Figure 6 This is a schematic structural diagram of a triangular body of a small piezoelectric robot based on built-in piezoelectric ceramics according to the present invention;

[0026] Figure 7 This is a schematic structural diagram of a quadrangular body of a small piezoelectric robot based on built-in piezoelectric ceramics according to the present invention;

[0027] Figure 8 This is a schematic structural diagram of a chain-I robot configuration of a small piezoelectric robot based on built-in piezoelectric ceramics according to the present invention;

[0028] Figure 9 This is a schematic structural diagram of a chain-II robot configuration of a small piezoelectric robot based on built-in piezoelectric ceramics according to the present invention;

[0029] Figure 10 This is a schematic structural diagram of a chain-III robot configuration of a small piezoelectric robot based on built-in piezoelectric ceramics according to the present invention;

[0030] Figure 11 This is a schematic structural diagram of a chain-IV robot configuration of a small piezoelectric robot based on built-in piezoelectric ceramics according to the present invention;

[0031] Figure 12 This is a schematic structural diagram of a chain-V robot configuration of a small piezoelectric robot based on built-in piezoelectric ceramics according to the present invention;

[0032] Figure 13 This is a schematic structural diagram of a chain-VI robot configuration of a small piezoelectric robot based on built-in piezoelectric ceramics according to the present invention;

[0033] Figure 14 This is a schematic structural diagram of a ring-type-I robot configuration of a small piezoelectric robot based on built-in piezoelectric ceramics according to the present invention;

[0034] Figure 15 This is a schematic structural diagram of a ring-type-II robot configuration of a small piezoelectric robot based on built-in piezoelectric ceramics according to the present invention;

[0035] Figure 16 This is a schematic structural diagram of a ring-type-III robot configuration of a small piezoelectric robot based on built-in piezoelectric ceramics according to the present invention;

[0036] Figure 17 This is a schematic structural diagram of a ring-IV robot configuration of a small piezoelectric robot based on built-in piezoelectric ceramics according to the present invention;

[0037] Figure 18 This is a schematic structural diagram of a ring-type-V robot configuration of a small piezoelectric robot based on built-in piezoelectric ceramics according to the present invention;

[0038] Among them: 1-housing module, 1-1-control module housing, 1-2-upper housing, 1-3-lower housing, 2-control module, 2-1-control board, 2-2-lithium battery, 3-magnet, 4-drive unit, 4-1-metal body, 4-2-piezoelectric ceramic, 4-2-1-piezoelectric ceramic one, 4-2-2-piezoelectric ceramic two, 4-2-3-piezoelectric ceramic three, 4-2-4-piezoelectric ceramic four, 5-clamping screw, 6-triangular block, 7-quadrant block. DETAILED DESCRIPTION

[0039] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings:

[0040] Specific implementation method 1: See Figures 1-15Specifically describe this embodiment. The small piezoelectric robot based on built-in piezoelectric ceramics described in this embodiment specifically includes a shell module 1, a control module 2 and a drive unit 4. The shell module 1 is provided with the control module 2 and the drive unit 4; the drive unit 4 includes a metal body 4-1 and four piezoelectric ceramics 4-2. The metal body 4-2 is made of hard aluminum alloy and is provided with square through holes along the axial direction. The piezoelectric ceramics 4-2 are provided in the grooves on the inner walls of the square through holes by gluing and are connected to the control module 2. The metal body 4-1 provides protection and support for the piezoelectric ceramics 4-2. The two piezoelectric ceramics 4-2 facing each other form a group. The control module 2 excites the two groups of piezoelectric ceramics 4-2 respectively through two groups of sinusoidal excitation signals. Figure 4 As shown; a number of integrated driving feet are provided on the metal body 4-1, and the integrated driving feet extend from the inside of the shell module 1 to the outside and contact the external plane; the driving unit 4 is driven by the vibration of the piezoelectric ceramic 4-2, and the integrated driving foot end is excited to produce an oblique trajectory through the first-order bending vibration mode, impacting the contact surface, and finally forming a macroscopic motion.

[0041] There is no phase and frequency coupling between the two sets of sinusoidal excitation signals emitted by the control module 2, and the two sets of sinusoidal excitation signals are independent of each other; the two piezoelectric ceramics 4-2 in the same group receive the same sinusoidal excitation signal (the frequency, voltage amplitude and phase are all the same).

[0042] The piezoelectric ceramics 4-2 are polarized along the thickness direction. The polarization direction of the piezoelectric ceramic 1 4-2-1 is from the outside of the metal body 4-1 to the inside of the square through hole. The polarization direction of the piezoelectric ceramic 2 4-2-2 is from the outside of the metal body 4-1 to the inside of the square through hole. The polarization direction of the piezoelectric ceramic 3 4-2-3 is from the inside of the square through hole to the outside of the metal body 4-1. The polarization direction of the piezoelectric ceramic 4-2-4 is from the inside of the square through hole to the outside of the metal body 4-1. Figure 5 shown.

[0043] The two ends of the metal body 4-1 are square, and four integrated driving feet are provided at the ends. The four integrated driving feet can ensure the stability of the overall posture. When the driving unit 4 is excited, the ends of the integrated driving feet generate an oblique actuation trajectory, impacting the contact surface to form a macroscopic movement; the middle of the metal body 4-1 is a cylindrical structure, and a square through hole is provided inside the cylindrical structure along the axial direction. The inner wall of the square through hole and the edge of the square end of the metal body 4-1 are at 45 degrees, so that the piezoelectric ceramic 4-2 is tilted at 45 degrees. Figure 4 shown.

[0044] The control module 2 includes a control board 2-1 and a lithium battery 2-2. The control board 2-1 is connected to the lithium battery 2-2 and the piezoelectric ceramic 4-2 respectively. The control board 2-1 can generate a square wave signal and has a wireless communication function. The lithium battery 2-2 can support the device to work continuously for several hours, providing the reconfigurable pressure point robot unit with long endurance, communication function and self-movement ability, greatly improving the mobility and scalability of the piezoelectric robot.

[0045] The shell module 1 includes a control module shell 1-1, an upper shell 1-2 and a lower shell 1-3. The control module shell 1-1, the upper shell 1-2 and the lower shell 1-3 are glued together from top to bottom by epoxy resin glue to form an integrated structure; the control module 2 is arranged inside the cavity formed by the control module shell 1-1 and the upper shell 1-2; the drive unit 4 is arranged inside the cavity formed by the upper shell 1-2 and the lower shell 1-3; the control module shell 1-1 is provided with heat dissipation holes, a controller interface and a charging interface.

[0046] The upper shell 1-2 and the lower shell 1-3 are both provided with four screw holes, and clamping screws 5 are provided in the screw holes. The drive unit 4 is provided in the cavity formed by the upper shell 1-2 and the lower shell 1-3 by the clamping screws 5. The drive unit 4 does not directly contact the upper shell 1-2 and the lower shell 1-3, and the integrated drive foot extends to the outside from the through hole provided on the lower shell 1-3; the metal body 4-1 provides a basis for clamping the clamping screws 5; the clamping positions of the eight clamping screws 5 are distributed at the node positions of the first-order bending vibration mode vibration of the drive unit (4), and the nodes of the drive unit 4 are clamped by point contact, thereby isolating the vibration and preventing the vibration from being transmitted to the shell module 1, effectively reducing the influence of the shell module 1 on the vibration of the drive unit 4 and avoiding the vibration loss of the drive unit 4.

[0047] Several grooves are provided on the outer surfaces of the upper shell 1-2 and the lower shell 1-3, and multi-point magnetic connection modules are provided in the grooves; the several small piezoelectric robots based on piezoelectric ceramics are connected to each other through the multi-point magnetic connection modules.

[0048] The multi-point magnetic connection module includes a plurality of magnets 3, which are arranged in an annular direction on the upper shell 1-2 and the lower shell 1-3. Figure 1 As shown; the several small piezoelectric robots based on piezoelectric ceramics can be directly connected to each other through several magnets 3 set in themselves to form different chain distribution configurations. The chain configuration indicates that the distribution between the reconfigurable piezoelectric robot units is a series relationship. Through the magnetic connection module between the units, the robot topology configuration is directly formed, which is divided into chain-Ⅰ, chain-Ⅱ, chain-Ⅲ, chain-Ⅳ, chain-Ⅴ and chain-Ⅵ robot configurations, as shown Figures 8-13 shown.

[0049] A robot reconfigurable configuration using the above-mentioned small piezoelectric robot based on piezoelectric ceramics includes several small piezoelectric robots based on piezoelectric ceramics and several magnetic connection modules. Several small piezoelectric robots based on piezoelectric ceramics are connected to each other through several magnetic connection modules; the magnetic connection module includes a triangular block 6 and a square block 7. The triangular block 6 and the square block 7 are prismatic structures. Several magnets 3 are provided on the circumferential side surfaces of the triangular block 6 and the square block 7. The triangular block 6 and the square block 7 can form a central ring configuration group, and the square block 7 can also be distributed at the four corner points of a rectangle to form a rectangular structure. shaped topological configuration; the small piezoelectric robot based on the built-in piezoelectric ceramic can be connected through the magnetic connection module to form a ring distribution configuration. The ring configuration indicates that the distribution between the reconfigurable piezoelectric robot units is a ring-shaped relationship. Through the triangular block 6, the square block 7 and its own multi-point magnetic connection module, ring-Ⅰ, ring-Ⅱ, ring-Ⅲ, ring-Ⅳ and ring-Ⅴ robot configurations are formed, among which the ring-Ⅴ configuration is connected into a ring by itself, and the other configurations all have the participation of magnetic connection modules; these ring configurations show characteristics different from the chain structure, such as some ring configurations have excellent rotation characteristics.

[0050] The small reconfigurable piezoelectric robot unit with built-in piezoelectric ceramics described in this embodiment has the capabilities of autonomous movement, wireless communication, and ultra-long battery life. The unit also has a reconfigurable and charging interface, laying the foundation for the high adaptability and functional application of the reconfigurable robot.

[0051] To summarize the above implementation cases, the small piezoelectric robot based on built-in piezoelectric ceramics described in the present invention overcomes the problems of the patch-type piezoelectric drive robot in the prior art in terms of reconfigurability, environmental adaptability and piezoelectric ceramic protection, and adopts a piezoelectric ceramic built-in drive unit 4, whose operating frequency exceeds 20kHz and has a millisecond-level response speed; the drive unit 4 cleverly converts the microscopic vibration (micrometer level) of the integrated drive foot end of the drive unit 4 into the robot's macroscopic motion (centimeter level) through the friction effect, thereby realizing the robot's rapid planar motion; in addition, the present invention places the piezoelectric ceramic 4-2 inside the drive unit 4, so that the piezoelectric robot can be further miniaturized and the piezoelectric ceramic 4-2 is protected. This design not only solves the problems of the traditional reconfigurable robot unit being bulky and the transmission mechanism being complex, but also avoids the external piezoelectric ceramic 4-2. Wear makes the system have faster response speed, lighter weight and better scalability; the small piezoelectric robot and robot reconfigurable configuration based on built-in piezoelectric ceramics described in the present invention realize rich reconfigurable robot configurations (such as chain configuration groups and ring configuration groups) through a multi-point reconfiguration strategy; these configurations have their own movement characteristics and can adapt to different movement terrains, such as: passing through wide grooves, crossing narrow slits, passing through narrow passages, passing through terrain with height differences and passing through narrow bends; the robot can also realize wireless image capture function through external modules, which means that the robot has the ability of multi-functional expansion application, which greatly improves the robot's adaptability and multi-scenario application capability; the system is not only easy to miniaturize and respond quickly, but also has rich reconfigurable configurations, which provides strong technical support for applications in space applications, disaster relief and terrain exploration.

[0052] The specific embodiments described above further illustrate the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above description is merely a specific embodiment of the present invention and is not intended to limit the invention. Reasonable combinations of the features described in the above embodiments are also possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A small piezoelectric robot based on piezoelectric ceramics, characterized by: The invention comprises a housing module (1), a control module (2) and a drive unit (4), wherein the housing module (1) is provided with the control module (2) and the drive unit (4); the drive unit (4) comprises a metal body (4-1) and four piezoelectric ceramics (4-2); a square through hole is provided on the metal body (4-1); the four piezoelectric ceramics (4-2) are respectively provided on the inner walls of the four sides of the square through hole and connected to the control module (2); two piezoelectric ceramics (4-2) facing each other form a group; the control module (2) respectively excites the two groups of piezoelectric ceramics (4-2) through two groups of sinusoidal excitation signals; a plurality of integrated drive feet are provided on the metal body (4-1), and the integrated drive feet extend from the interior of the housing module (1); There is no phase and frequency coupling between the two sets of sinusoidal excitation signals emitted by the control module (2), and the two sets of sinusoidal excitation signals are independent of each other; the two piezoelectric ceramics (4-2) in the same group receive the same sinusoidal excitation signal; The piezoelectric ceramic (4-2) is polarized along the thickness direction; The two ends of the metal body (4-1) are square, and a plurality of integrated driving feet are provided at the ends; the middle of the metal body (4-1) is a cylindrical structure, and a square through hole is provided inside the cylindrical structure, and the inner wall of the square through hole and the edge of the square end of the metal body (4-1) are at a 45-degree angle; The housing module (1) comprises a control module housing (1-1), an upper housing (1-2) and a lower housing (1-3), wherein the control module housing (1-1), the upper housing (1-2) and the lower housing (1-3) are sequentially connected from top to bottom; a control module (2) is arranged inside a cavity formed by snapping the control module housing (1-1) and the upper housing (1-2); and a drive unit (4) is arranged inside a cavity formed by snapping the upper housing (1-2) and the lower housing (1-3).

2. The small piezoelectric robot based on piezoelectric ceramics according to claim 1, characterized in that: The control module (2) comprises a control board (2-1) and a lithium battery (2-2), and the control board (2-1) is connected to the lithium battery (2-2) and the piezoelectric ceramic (4-2) respectively.

3. The small piezoelectric robot based on piezoelectric ceramics according to claim 1, characterized in that: The upper shell (1-2) and the lower shell (1-3) are both provided with a plurality of clamping screws (5), and the drive unit (4) is arranged inside a cavity formed by the upper shell (1-2) and the lower shell (1-3) being buckled together by the plurality of clamping screws (5). The drive unit (4) does not directly contact the upper shell (1-2) and the lower shell (1-3), and the integrated drive foot extends to the outside from a through hole provided on the lower shell (1-3).

4. The small piezoelectric robot based on piezoelectric ceramics according to claim 1, characterized in that: Multi-point magnetic connection modules are provided on the outer surfaces of the upper shell (1-2) and the lower shell (1-3); the plurality of small piezoelectric robots based on built-in piezoelectric ceramics are connected to each other via the multi-point magnetic connection modules.

5. The small piezoelectric robot based on built-in piezoelectric ceramics according to claim 4, characterized in that: The multi-point magnetic connection module comprises a plurality of magnets (3).

6. A reconfigurable robot structure using the small piezoelectric robot based on built-in piezoelectric ceramics according to claim 5, characterized in that: The invention comprises a plurality of small piezoelectric robots based on piezoelectric ceramics and a plurality of magnetic connection modules, wherein the small piezoelectric robots based on piezoelectric ceramics are connected to each other via the plurality of magnetic connection modules; the magnetic connection modules comprise a triangular block (6) and a square block (7), the triangular block (6) and the square block (7) are prismatic structures, and a plurality of magnets (3) are arranged on the surfaces of the triangular block (6) and the square block (7).

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