Piezoelectric driving-based oil-immersed inspection micro-aircraft with multiple working modes

Abstract

The invention discloses a piezoelectric-driving-based oil-immersed inspection micro-aircraft with multiple working modes, and belongs to the technical field of detection equipment, the piezoelectric-driving-based oil-immersed inspection micro-aircraft comprises a main cavity, the outer side of the main cavity is sleeved with a piezoelectric ceramic assembly, and the two sides of the main cavity are connected with a connecting sleeve I and a connecting sleeve II respectively; the connecting sleeve I is connected with the injection valve I and the suction valve I, the connecting sleeve II is connected with the injection valve II and the suction valve II, the injection valve I is in glue joint with the injection cavity I, and the injection valve II is in glue joint with the injection cavity II. According to the oil-immersed polling micro-aircraft with the multiple working modes based on piezoelectric driving, a transmission system and a dynamic seal are not needed, the size of the whole machine is greatly reduced, the influence of the transmission system failure rate and energy consumption loss and the whole machine failure risk caused by dynamic seal failure are eliminated, controllability is good, and the service life of the whole machine is prolonged. Forward movement and turning movement can be flexibly completed, the turning radius is small, and the cruising ability is good.

Description

Technical Field

[0001] The present invention relates to the technical field of detection equipment, and in particular to an oil-immersed inspection micro-aerial vehicle with multiple working modes based on piezoelectric drive. Background Art

[0002] The safe and stable operation of the power system is crucial to people's daily life. As one of the main equipment of hydropower stations and substations, transformers have been widely used in power systems. The reliability and performance of transformers play a vital role in the normal operation of power systems. In order to ensure the safe, normal and efficient operation of transformers, it is necessary to perform fault detection on transformers at regular intervals to eliminate the potential safety hazards of transformers. Therefore, how to efficiently, timely and accurately identify and locate internal faults of transformers is of great significance to the stable operation of power systems. In order to check the internal faults of transformers, all transformer oil should be completely drained in general, and maintenance personnel or endoscopes should be used to enter the transformer. After the inspection is completed, the transformer oil needs to be refilled into the transformer before it can be put back into operation, which requires a continuous power outage of ten days or even longer. Manual detection has problems such as high risk of confined space operation and secondary pollution of transformers. In other words, the current maintenance plan seriously restricts the production progress of the user and increases maintenance costs.

[0003] Transformer internal fault detection is an essential part of power equipment operation and maintenance. If the detection time can be shortened and the maintenance cost can be reduced, the after-sales quality and customer satisfaction of power equipment companies will be greatly improved, which is in line with the current development strategy and needs of power equipment companies. At present, oil-immersed internal inspection vehicles / robots for transformers are a research hotspot for major power grid companies. Oil-immersed internal inspection vehicles carry ultrasonic probes to perform fixed-point flaw detection on key parts of transformers to achieve rapid and accurate detection of various risk points. At present, oil-immersed inspection robots at home and abroad mainly use electromagnetic drive. The complex transmission system and dynamic seal restrict the size and stability of the vehicle. It is currently difficult to meet the needs of efficient and high-precision internal inspection of transformers with multiple obstacles and complex pipelines. Summary of the invention

[0004] The purpose of the present invention is to provide an oil-immersed inspection micro-aerial vehicle with multiple working modes based on piezoelectric drive, which does not require a transmission system and dynamic seals, thereby greatly reducing the size of the entire machine, eliminating the failure rate of the transmission system, the influence of energy loss and the risk of failure of the entire machine caused by failure of the dynamic seal, having good maneuverability, being able to flexibly complete forward and turning movements, and having a small turning radius and good endurance.

[0005] To achieve the above-mentioned objectives, the present invention provides an oil-immersed inspection micro-drone with multiple working modes based on piezoelectric drive, comprising a main cavity, wherein a piezoelectric ceramic component is sleeved on the outer side of the main cavity, and the two sides of the main cavity are respectively connected to a connecting sleeve I and a connecting sleeve II, wherein the connecting sleeve I is connected to an injection valve I and an intake valve I, wherein the connecting sleeve II is connected to an injection valve II and an intake valve II, wherein the injection valve I is glued to the injection cavity I, and wherein the injection valve II is glued to the injection cavity II.

[0006] Preferably, a shell I and a shell II are provided on the outside of the main cavity, and the shell I and the shell II are coaxially matched with the connecting sleeve I and the connecting sleeve II, and the shell I and the shell II are both provided with open grooves.

[0007] Preferably, the connecting sleeve I and the connecting sleeve II are both provided with a main cavity interface, an injection valve I interface, a suction valve interface and a drainage hole, the main cavity interface is respectively connected to the injection valve I interface and the suction valve interface, the suction valve interface is located on one side of the injection valve I interface, and the suction valve interface is perpendicular to the injection valve I interface.

[0008] Preferably, the right side of the main cavity is glued to the main cavity interface of the connecting sleeve I, and the left side thereof is glued to the main cavity interface of the connecting sleeve II, the suction valve I and the injection valve I are respectively glued to the suction valve interface and the injection valve I interface of the connecting sleeve I, and the suction valve II and the injection valve II are respectively glued to the suction valve interface and the injection valve I interface of the connecting sleeve II.

[0009] Preferably, the piezoelectric ceramic component includes two or more piezoelectric ceramics, and the distance between two piezoelectric ceramics is consistent.

[0010] Preferably, the injection cavity I and the injection cavity II are both provided with an injection valve II interface, the injection valve II interface is respectively glued to the injection valve I and the injection valve II, the injection valve II interface is connected to the drainage channel, and a nozzle is provided at the end of the drainage channel.

[0011] Preferably, the suction valve I, the suction valve II, the injection valve I and the injection valve II are all one-way valves, the suction valve I, the suction valve II, the injection valve I and the injection valve II all include valve bodies, pistons are provided inside the valve bodies, a spring I is placed inside the piston of the injection valve I, a spring II is placed inside the piston of the injection valve II, a spring III is placed inside the piston of the suction valve I, and a spring IV is placed inside the piston of the suction valve II.

[0012] Therefore, the present invention adopts the above-mentioned oil-immersed inspection micro-drone with multiple working modes based on piezoelectric drive, which has the following technical effects:

[0013] 1) Since the driver is directly used as an actuator, there is no need for a transmission system and dynamic seal, which eliminates the failure rate of the transmission system, the impact of energy loss and the risk of machine failure caused by dynamic seal failure.

[0014] 2) Since there is no need for dynamic seals and transmission systems, the size of the entire machine is greatly reduced, which can meet the needs of micro-sized inspection vehicles in the multi-obstacle and multi-pipeline working environment inside the transformer.

[0015] 3) The oil-immersed inspection micro-aerial vehicle has a traveling wave drive mode and a synchronous drive mode, has good maneuverability, can flexibly complete forward and turning movements, and has a small turning radius.

[0016] 4) Since piezoelectric ceramics are a functional material with low power consumption, multi-axis aircraft have good endurance.

[0017] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional structural schematic diagram of an oil-immersed inspection micro-aerocraft embodiment with multiple working modes based on piezoelectric drive of the present invention;

[0019] Figure 2 It is an exploded view of an embodiment of an oil-immersed inspection micro-aerial vehicle with multiple working modes based on piezoelectric drive of the present invention;

[0020] Figure 3 It is a full cross-sectional view of an embodiment of an oil-immersed inspection micro-aerocraft with multiple working modes based on piezoelectric drive of the present invention;

[0021] Figure 4 It is a cross-sectional view of a connection sleeve I of an oil-immersed inspection micro-aerocraft embodiment with multiple working modes based on piezoelectric drive according to the present invention;

[0022] Figure 5 It is a cross-sectional view of the injection cavity of an oil-immersed inspection micro-drone with multiple working modes based on piezoelectric drive according to the present invention;

[0023] Figure 6 It is a half-section view of the injection valve I of the oil-immersed inspection micro-drone embodiment with multiple working modes based on piezoelectric drive of the present invention;

[0024] Figure 7 It is a half-section view of the injection valve I of the oil-immersed inspection micro-drone embodiment with multiple working modes based on piezoelectric drive of the present invention;

[0025] Figure 8It is a half-section view of the suction valve I of an oil-immersed inspection micro-aerocraft embodiment with multiple working modes based on piezoelectric drive of the present invention;

[0026] Fig. 9 It is a half-section view of the suction valve II of an oil-immersed inspection micro-aerocraft embodiment with multiple working modes based on piezoelectric drive of the present invention;

[0027] Fig.10 This is a forward motion diagram of a first embodiment of an oil-immersed inspection micro-aerocraft with multiple working modes based on piezoelectric drive according to the present invention;

[0028] Fig.11 It is a left-turn motion diagram of the first embodiment of the oil-immersed inspection micro-aerocraft with multiple working modes based on piezoelectric drive of the present invention;

[0029] Fig.12 It is a right turn motion diagram of the first embodiment of the oil-immersed inspection micro-aerocraft with multiple working modes based on piezoelectric drive of the present invention;

[0030] Fig.13 It is a forward motion diagram of the second, third, fourth and fifth embodiments of the oil-immersed inspection micro-aerocraft with multiple working modes based on piezoelectric drive of the present invention;

[0031] Fig.14 It is a left-turn motion diagram of the second, third, fourth and fifth embodiments of the oil-immersed inspection micro-aerocraft with multiple working modes based on piezoelectric drive of the present invention;

[0032] Fig.15 The present invention is a right-turn motion diagram of an oil-immersed inspection micro-aerial vehicle with multiple working modes based on piezoelectric drive.

[0033] Reference numerals

[0034] 1. Shell I; 2. Piezoelectric ceramics I; 3. Piezoelectric ceramics II; 4. Piezoelectric ceramics III; 5. Piezoelectric ceramics IV; 6. Piezoelectric ceramics V; 7. Main cavity; 8. Connecting sleeve I; 9. Injection valve I; 10. Injection cavity I; 11. Intake valve I; 12. Intake valve II; 13. Injection cavity II; 14. Injection valve II; 15. Connecting sleeve II; 16. Valve body; 17. Piston; 18. Spring I; 19. Spring II; 20. Spring III; 21. Spring IV; 22. Shell II; 23. Main cavity interface; 24. Intake valve interface; 25. Injection valve I interface; 26. Drainage hole; 27. Injection valve II interface; 28. Nozzle. DETAILED DESCRIPTION

[0035] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0036] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0037] Example

[0038] like Figures 1 to 9 As shown, the present invention provides an oil-immersed inspection micro-drone with multiple working modes based on piezoelectric drive, including a main cavity 7, a piezoelectric ceramic component is sleeved outside the main cavity 7, the piezoelectric ceramic component includes two or more piezoelectric ceramics, the distance between the two piezoelectric ceramics is consistent, the excitation signal applied to the piezoelectric ceramic component can be any waveform, and the inverse piezoelectric effect of the piezoelectric ceramic component can cause the cavity to shrink and expand. In this embodiment, the piezoelectric ceramic component includes piezoelectric ceramic I2, piezoelectric ceramic II3, piezoelectric ceramic III4, piezoelectric ceramic IV5 and piezoelectric ceramic V6, and the piezoelectric ceramic component is bonded to the outer surface of the main cavity 7.

[0039] When an excitation signal is applied to the piezoelectric ceramic component, the piezoelectric ceramic component can extend or contract radially. When the piezoelectric ceramic component extends radially, the volume of the main cavity 7 increases, and the outer fluid passes through to open the piston 17 of the suction valve, and enters the main cavity 7 along the suction valve interface 24 and the drainage hole 26 of the connecting sleeve. When the piezoelectric ceramic component contracts radially, the fluid in the main cavity 7 is squeezed and moves toward the drainage holes 26 of the connecting sleeve on both sides, and the pistons 17 of the injection valve I 9 and the injection valve II 14 are respectively opened through the injection valve I interface 25 and the injection valve II interface 27 to enter the drainage channel of the injection cavity and spray out along the nozzle 28 to form a jet, so that the micro-aircraft moves.

[0040] Both sides of the main cavity 7 are connected to the connecting sleeve I8 and the connecting sleeve II15 respectively. The connecting sleeve I8 and the connecting sleeve II15 are both provided with a main cavity interface 23, a suction valve interface 24, an injection valve I interface 25 and a drainage hole 26.

[0041] The connecting sleeve Ⅰ8 is connected to the injection valve Ⅰ9 and the suction valve Ⅰ11 respectively through the injection valve Ⅰ interface 25 and the suction valve interface 24. The connecting sleeve Ⅱ15 is connected to the injection valve Ⅱ14 and the suction valve Ⅱ12 respectively through the injection valve Ⅰ interface 25 and the suction valve interface 24. The suction valve Ⅰ11, the suction valve Ⅱ12, the injection valve Ⅰ9 and the injection valve Ⅱ14 are all one-way valves. The suction valve Ⅰ11, the suction valve Ⅱ12, the injection valve Ⅰ9 and the injection valve Ⅱ14 all include a valve body 16. A piston 17 is arranged inside the valve body 16. A spring Ⅰ18 is placed inside the piston 17 of the injection valve Ⅰ9, a spring Ⅱ19 is placed inside the piston 17 of the injection valve Ⅱ14, a spring Ⅲ20 is placed inside the piston 17 of the suction valve Ⅰ11, and a spring Ⅳ21 is placed inside the piston 17 of the suction valve Ⅱ12. The oil can enter the inner cavity of the main cavity 7 through the suction valve I11 and the suction valve II12, and the oil in the main cavity 7 can pass through the injection valve I9 ​​and the injection valve II14 and be ejected from the injection valve I9 ​​and the injection valve II14 to form a jet.

[0042] The right side of the main cavity 7 is glued to the main cavity interface 23 of the connecting sleeve Ⅰ8, and the left side is glued to the main cavity interface 23 of the connecting sleeve Ⅱ15. The suction valve Ⅰ11 and the injection valve Ⅰ9 are respectively glued to the suction valve interface 24 and the injection valve Ⅰ interface 25 of the connecting sleeve Ⅰ8, and the suction valve Ⅱ12 and the injection valve Ⅱ14 are respectively glued to the suction valve interface 24 and the injection valve Ⅰ interface 25 of the connecting sleeve Ⅱ15. The oil flushes open the suction valve Ⅰ11 and the suction valve Ⅱ12 and enters the interior of the main cavity 7 through the suction valve interface 24 and the drainage hole 26.

[0043] The injection valve I9 ​​is ​​glued to the injection cavity I10, and the injection valve II14 is glued to the injection cavity II13. The injection cavity I10 and the injection cavity II13 are both provided with an injection valve II interface 27, which is glued to the injection valve I9 ​​and the injection valve II14 respectively, and the injection valve II interface 27 is connected to the drainage channel, and a nozzle 28 is provided at the end of the drainage channel. The oil inside the main cavity 7 is ejected from the injection valve I9 ​​and the injection valve II14 and then ejected from the nozzle 28 through the drainage channel, so as to realize the control of the movement direction of the micro-aerocraft.

[0044] The main cavity 7 is provided with a shell Ⅰ1 and a shell Ⅱ22 on the outside. The shell Ⅰ1 and the shell Ⅱ22 are coaxially matched with the connecting sleeve Ⅰ8 and the connecting sleeve Ⅱ15. The shell Ⅰ1 and the shell Ⅱ22 are provided with an opening groove. The opening groove allows oil to enter the inside of the shell Ⅰ1 and the shell Ⅱ22, thereby facilitating the oil to flush the suction valve Ⅰ11 and the suction valve Ⅱ12 to enter the inside of the main cavity 7.

[0045] Embodiment 1

[0046] like Fig.10As shown, when the same excitation signal is applied to the piezoelectric ceramic assembly, the piezoelectric ceramics I2, II3, III4, IV5 and V6 shrink or stretch radially at the same time. When the piezoelectric ceramic assembly shrinks radially, the oil in the main cavity 7 is squeezed to move toward the drainage holes 26 on both sides, and the oil passes through the injection valve I interface 25 and the injection valve II interface 27 to open the pistons 17 in the injection valve I9 ​​and the injection valve II14, and then enters the injection cavity I10 and the injection cavity II13, and then passes through the drainage channels of the injection cavity I10 and the injection cavity II13 respectively, and is ejected from the nozzle 28 to form a jet, generating driving forces F1 and F2, and F1=F2, and the micro-aerocraft moves forward under the action of F1 and F2. When the piezoelectric ceramic stretches radially, the volume of the inner cavity of the main cavity 7 increases, and the oil outside the micro-aircraft breaks open the pistons 17 of the suction valve Ⅰ11 and the suction valve Ⅱ12 and flows into the main cavity 7 through the suction valve interface 24 and the drainage hole 26. This process is repeated, and the micro-aircraft will continue to move forward.

[0047] like Fig.11 As shown, excitation signals are applied to piezoelectric ceramics V6, IV5, III4, II3 and I2 in sequence, and each excitation signal is 90° apart from the other to generate a positive traveling wave in the positive direction, and piezoelectric ceramics V6, IV5, III4, II3 and I2 contract or extend radially in sequence. When the piezoelectric ceramic components contract radially in sequence, most of the oil in the main cavity 7 is squeezed and enters the drainage hole 26 of the connecting sleeve II15 and the interface 27 of the injection valve II in the positive direction, and the piston 17 of the injection valve II14 is opened, flows through the drainage channel of the injection cavity II13 and is ejected from the nozzle 28 to form a jet, generating a driving force F3. After being squeezed, a small part of the oil in the main cavity 7 will enter the drainage hole 26 of the connecting sleeve Ⅰ8 and the interface 25 of the injection valve Ⅰ in the opposite direction and flush the piston 17 of the injection valve Ⅰ9, flow through the drainage channel of the injection cavity Ⅰ10 and spray out from the nozzle 28 to form a jet, generating a driving force F4. Since the jet generated at the nozzle 28 of the injection cavity Ⅱ13 is much larger than the jet generated at the nozzle 28 of the injection cavity Ⅰ10, F3>F4, and the micro-aircraft will turn left. When the piezoelectric ceramic components extend radially in sequence, the volume of the inner cavity of the main cavity 7 increases, and the oil outside the micro-aircraft will flush the pistons 17 of the suction valve Ⅰ11 and the suction valve Ⅱ12, and enter the inner cavity of the main cavity 7 along the suction valve interface 24 and the drainage hole 26. Repeatedly, the micro-aircraft will continue to move.

[0048] like Fig.12As shown, excitation signals are applied to piezoelectric ceramics Ⅰ2, Ⅱ3, Ⅲ4, Ⅳ5 and Ⅴ6 in sequence, and the phases of the excitation signals are 90° apart, which will generate a reverse wave in the opposite direction, and the piezoelectric ceramics Ⅰ2, Ⅱ3, Ⅲ4, Ⅳ5 and Ⅴ6 will contract or extend radially in sequence. When the piezoelectric ceramic components contract radially in sequence, most of the oil in the main cavity 7 is squeezed and enters the drainage hole 26 of the connecting sleeve Ⅰ8 and the interface 25 of the injection valve Ⅰ in the positive direction, and the piston 17 of the injection valve Ⅰ9 is opened, and flows through the drainage channel of the injection cavity Ⅰ10 and is ejected from the nozzle 28 to form a jet, generating a driving force F6. After being squeezed, a small part of the oil in the main cavity 7 will enter the drainage hole 26 of the connecting sleeve Ⅱ15 and the interface 27 of the injection valve Ⅱ in the opposite direction and flush the piston 17 of the injection valve Ⅱ14, flow through the drainage channel of the injection cavity Ⅱ13 and spray out from the nozzle 28 to form a jet, generating a driving force F5. Since the jet generated at the nozzle 28 of the injection cavity Ⅰ10 is much larger than the jet generated at the nozzle 28 of the injection cavity Ⅱ13, F6>F5, and the micro-aircraft will turn right. When the piezoelectric ceramic components extend radially in sequence, the volume of the inner cavity of the main cavity 7 increases, and the oil outside the micro-aircraft will flush the pistons 17 of the suction valve Ⅰ11 and the suction valve Ⅱ12, and enter the inner cavity of the main cavity 7 along the suction valve interface 24 and the drainage hole 26. Repeatedly, the micro-aircraft will continue to move.

[0049] Embodiment 2

[0050] like Fig.13 As shown, both the injection valve Ⅰ9 and the injection valve Ⅱ14 have two opening stiffnesses, namely the first opening stiffness and the second opening stiffness. The first opening stiffness of the two valves is the same but the second opening stiffness is different. The suction valve Ⅰ11 and the suction valve Ⅱ12 have different opening stiffnesses. Assume that the frequency required to apply the first opening stiffness of the injection valve Ⅰ9 and the injection valve Ⅱ14 is x, the frequencies required to apply the second opening stiffness are y and z respectively, and the frequencies required to apply the opening stiffness of the suction valve Ⅰ11 and the suction valve Ⅱ12 are m and l respectively. Apply an excitation signal with a frequency of x to the piezoelectric ceramics Ⅰ2, Ⅱ3, Ⅲ4, Ⅳ5 and Ⅴ6, the injection valve Ⅰ9 and the injection valve Ⅱ14 are in the open state, and the piezoelectric ceramic components shrink or stretch radially at the same time. When the piezoelectric ceramic component shrinks radially, the oil in the main cavity 7 is squeezed to move toward the drainage holes 26 of the connecting sleeve Ⅰ8 and the connecting sleeve Ⅱ15 on both sides, the injection valve Ⅰ interface 25 and the injection valve Ⅱ interface 27, and then enters the drainage channels of the injection cavity Ⅰ10 and the injection cavity Ⅱ13 through the injection valve Ⅰ9 and the injection valve Ⅱ14 respectively and is ejected from the nozzle 28 to form a jet, generating driving forces F1 and F2, and F1=F2. Under the action of F1 and F2, the micro-aircraft moves forward.

[0051] like Fig.14As shown, an excitation signal with a frequency of z is applied to piezoelectric ceramics Ⅰ2, Ⅱ3, Ⅲ4, Ⅳ5 and Ⅴ6, and the injection valve Ⅱ14 is in an open state while the injection valve Ⅰ9 remains in a closed state, and the piezoelectric ceramic assembly shrinks or stretches radially at the same time. When the piezoelectric ceramic assembly shrinks radially, since the injection valve Ⅰ9 is in a closed state, the oil in the main cavity 7 is squeezed and passes through the drainage hole 26 of the connecting sleeve Ⅱ15 and the injection valve Ⅱ interface 27 to open the piston 17 of the injection valve Ⅱ14. After the oil enters the injection cavity Ⅱ13, it flows through the drainage channel and sprays out from the nozzle 28 to form a jet, generating a driving force F3. No oil is sprayed out of the nozzle 28 of the injection cavity Ⅰ10. Under the action of F3, the micro-aerocraft completes the left turn.

[0052] like Fig.15 As shown, an excitation signal with a frequency of y is applied to piezoelectric ceramics Ⅰ2, Ⅱ3, Ⅲ4, Ⅳ5 and Ⅴ6, and the injection valve Ⅰ9 is in an open state while the injection valve Ⅱ14 remains in a closed state, and the piezoelectric ceramic assembly shrinks or stretches radially at the same time. When the piezoelectric ceramic assembly shrinks radially, since the injection valve Ⅱ14 is in a closed state, the oil in the main cavity 7 is squeezed and passes through the drainage hole 26 of the connecting sleeve Ⅰ8 and the injection valve Ⅰ interface 25 to open the piston 17 of the injection valve Ⅰ9. After the oil enters the injection cavity Ⅰ10, it flows through the drainage channel and sprays out from the nozzle 28 to form a jet, generating a driving force F4. No oil is sprayed out of the nozzle 28 of the injection cavity Ⅱ13. Under the action of F4, the micro-aerocraft completes the right turn movement.

[0053] When an excitation signal with a frequency of m is applied to piezoelectric ceramics Ⅰ2, Ⅱ3, Ⅲ4, Ⅳ5 and Ⅴ6, the suction valve Ⅰ11 is in an open state while the suction valve Ⅱ12 remains closed, and the piezoelectric ceramic component shrinks or stretches in the radial direction at the same time. When the piezoelectric ceramic component stretches in the radial direction, the volume of the inner cavity of the main cavity 7 increases, and the oil outside the micro-aerocraft flushes the piston 17 of the suction valve Ⅰ11, and the oil enters the inner cavity of the main cavity 7 along the suction valve interface 24 and the drainage hole 26 of the connecting sleeve Ⅰ8. When an excitation signal with a frequency of l is applied to piezoelectric ceramics Ⅰ2, Ⅱ3, Ⅲ4, Ⅳ5 and Ⅴ6, the suction valve Ⅱ12 is in an open state while the suction valve Ⅰ11 remains closed, and the piezoelectric ceramic component shrinks or stretches in the radial direction at the same time. When the piezoelectric ceramic component stretches radially, the volume of the inner cavity of the main cavity 7 increases, and the oil outside the micro-aircraft pushes open the piston 17 of the suction valve II 12, and the oil enters the inner cavity of the main cavity 7 along the suction valve interface 24 and the drainage hole 26 of the connecting sleeve II 15.

[0054] Embodiment 3

[0055] like Fig.13As shown, both the injection valve Ⅰ9 and the injection valve Ⅱ14 have two opening stiffnesses, namely the first opening stiffness and the second opening stiffness. The first opening stiffness of the two valves is the same but the second opening stiffness is different. The suction valve Ⅰ11 and the suction valve Ⅱ12 have the same second opening stiffness as the injection valve Ⅰ9 and the injection valve Ⅱ14. Assume that the frequency required to apply the first opening stiffness of the injection valve Ⅰ9 and the injection valve Ⅱ14 is x, the frequency required to apply the second opening stiffness is y and z respectively, and the frequency required to apply the opening stiffness of the suction valve Ⅰ11 and the suction valve Ⅱ12 is y and z respectively. Apply an excitation signal with a frequency of x to the piezoelectric ceramics Ⅰ2, Ⅱ3, Ⅲ4, Ⅳ5 and Ⅴ6, the injection valve Ⅰ9 and the injection valve Ⅱ14 are in the open state, and the piezoelectric ceramic components shrink or stretch radially at the same time. When the piezoelectric ceramic component shrinks radially, the oil in the main cavity 7 is squeezed to move toward the drainage holes 26 of the connecting sleeve Ⅰ8 and the connecting sleeve Ⅱ15 on both sides, the injection valve Ⅰ interface 25 and the injection valve Ⅱ interface 27, and then enters the drainage channels of the injection cavity Ⅰ10 and the injection cavity Ⅱ13 through the injection valve Ⅰ9 and the injection valve Ⅱ14 respectively and is ejected from the nozzle 28 to form a jet, generating driving forces F1 and F2, and F1=F2. Under the action of F1 and F2, the micro-aircraft moves forward.

[0056] like Fig.14 As shown, an excitation signal with a frequency of z is applied to piezoelectric ceramics Ⅰ2, Ⅱ3, Ⅲ4, Ⅳ5 and Ⅴ6, and the injection valve Ⅱ14 and the suction valve Ⅱ12 are in an open state, while the injection valve Ⅰ9 and the suction valve Ⅰ11 are in a closed state, and the piezoelectric ceramic components shrink or stretch radially at the same time. When the piezoelectric ceramic components shrink radially, since the injection valve Ⅰ9 is in a closed state, the oil in the main cavity 7 is squeezed and passes through the drainage hole 26 of the connecting sleeve Ⅱ15 and the injection valve Ⅱ interface 27 to open the piston 17 of the injection valve Ⅱ14. After the oil enters the injection cavity Ⅱ13, it flows through the drainage channel and sprays out from the nozzle 28 to form a jet, generating a driving force F3. No oil is sprayed out of the nozzle 28 of the injection cavity Ⅰ10. Under the action of F3, the micro-aircraft completes the left turn. When the piezoelectric ceramic component stretches radially, the volume of the inner cavity of the main cavity 7 increases. Since the suction valve I11 is in a closed state, the oil outside the micro-aircraft will open the piston 17 of the suction valve II12 and enter the inner cavity of the main cavity 7 along the suction valve interface 24 and the drainage hole 26 of the connecting sleeve II15.

[0057] like Fig.15As shown, an excitation signal with a frequency of y is applied to piezoelectric ceramics Ⅰ2, Ⅱ3, Ⅲ4, Ⅳ5 and Ⅴ6, and the injection valve Ⅰ9 and the suction valve Ⅰ11 are in the open state, while the injection valve Ⅱ14 and the suction valve Ⅱ12 are in the closed state, and the piezoelectric ceramic components shrink or stretch radially at the same time. When the piezoelectric ceramic components shrink radially, since the injection valve Ⅱ14 is in the closed state, the oil in the main cavity 7 is squeezed and passes through the drainage hole 26 of the connecting sleeve Ⅰ8 and the injection valve Ⅰ interface 25 to open the piston 17 of the injection valve Ⅰ9. After the oil enters the injection cavity Ⅰ10, it flows through the drainage channel and sprays out from the nozzle 28 to form a jet, generating a driving force F4, and the micro-aerocraft completes the right turn under the action of F4. When the piezoelectric ceramic component stretches radially, the volume of the inner cavity of the main cavity 7 increases. Since the suction valve II12 is in a closed state, the oil outside the micro-aircraft will open the piston 17 of the suction valve I11 and enter the inner cavity of the main cavity 7 along the suction valve interface 24 and the drainage hole 26 of the connecting sleeve I8.

[0058] Embodiment 4

[0059] like Fig.13 As shown, both the injection valve Ⅰ9 and the injection valve Ⅱ14 have two opening stiffnesses, namely the first opening stiffness and the second opening stiffness. The first opening stiffness of the two valves is the same but the second opening stiffness is different. The suction valve Ⅰ11 and the suction valve Ⅱ12 have the same opening stiffness. Assume that the frequency required for the first opening stiffness of the injection valve Ⅰ9 and the injection valve Ⅱ14 is x, the frequencies required for the second opening stiffness are y and z respectively, and the frequencies required for the opening stiffness of the suction valve Ⅰ11 and the suction valve Ⅱ12 are m respectively. An excitation signal with a frequency of x is applied to the piezoelectric ceramics Ⅰ2, Ⅱ3, Ⅲ4, Ⅳ5 and Ⅴ6, the injection valve Ⅰ9 and the injection valve Ⅱ14 are in the open state, and the piezoelectric ceramic components shrink or stretch radially at the same time. When the piezoelectric ceramic component shrinks radially, the oil in the main cavity 7 is squeezed to move toward the drainage holes 26 of the connecting sleeve Ⅰ8 and the connecting sleeve Ⅱ15 on both sides, the injection valve Ⅰ interface 25 and the injection valve Ⅱ interface 27, and then enters the drainage channels of the injection cavity Ⅰ10 and the injection cavity Ⅱ13 through the injection valve Ⅰ9 and the injection valve Ⅱ14 respectively and is ejected from the nozzle 28 to form a jet, generating driving forces F1 and F2, and F1=F2. Under the action of F1 and F2, the micro-aircraft moves forward.

[0060] like Fig.14As shown, an excitation signal with a frequency of z is applied to piezoelectric ceramics Ⅰ2, Ⅱ3, Ⅲ4, Ⅳ5 and Ⅴ6, and the injection valve Ⅱ14 is in an open state while the injection valve Ⅰ9 remains in a closed state, and the piezoelectric ceramic assembly shrinks or stretches radially at the same time. When the piezoelectric ceramic assembly shrinks radially, since the injection valve Ⅰ9 is in a closed state, the oil in the main cavity 7 is squeezed and passes through the drainage hole 26 of the connecting sleeve Ⅱ15 and the injection valve Ⅱ interface 27 to open the piston 17 of the injection valve Ⅱ14. After the oil enters the injection cavity Ⅱ13, it flows through the drainage channel and sprays out from the nozzle 28 to form a jet, generating a driving force F3. No oil is sprayed out of the nozzle 28 of the injection cavity Ⅰ10. Under the action of F3, the micro-aerocraft completes the left turn.

[0061] like Fig.15 As shown, an excitation signal with a frequency of y is applied to piezoelectric ceramics Ⅰ2, Ⅱ3, Ⅲ4, Ⅳ5 and Ⅴ6, and the injection valve Ⅰ9 is in an open state while the injection valve Ⅱ14 remains in a closed state, and the piezoelectric ceramic assembly shrinks or stretches radially at the same time. When the piezoelectric ceramic assembly shrinks radially, since the injection valve Ⅱ14 is in a closed state, the oil in the main cavity 7 is squeezed and passes through the drainage hole 26 of the connecting sleeve Ⅰ8 and the injection valve Ⅰ interface 25 to open the piston 17 of the injection valve Ⅰ9. After the oil enters the injection cavity Ⅰ10, it flows through the drainage channel and sprays out from the nozzle 28 to form a jet, generating a driving force F4. No oil is sprayed out of the nozzle 28 of the injection cavity Ⅱ13. Under the action of F4, the micro-aerocraft completes the right turn movement.

[0062] An excitation signal with a frequency of m is applied to piezoelectric ceramics Ⅰ2, Ⅱ3, Ⅲ4, Ⅳ5 and Ⅴ6, and the suction valves Ⅰ11 and Ⅱ12 are in the open state. The piezoelectric ceramic components extend radially at the same time, and the inner volume of the main cavity 7 increases. The oil outside the micro-aircraft pushes open the pistons 17 of the suction valves Ⅰ11 and Ⅱ12, and the oil enters the main cavity 7 along the suction valve interfaces 24 and the drainage holes 26 of the connecting sleeves Ⅰ8 and Ⅱ15.

[0063] Embodiment 5

[0064] like Fig.13As shown, both the injection valve Ⅰ9 and the injection valve Ⅱ14 have two opening stiffnesses, namely the first opening stiffness and the second opening stiffness. The first opening stiffness of the two valves is the same but the second opening stiffness is different. The suction valve Ⅰ11 and the suction valve Ⅱ12 have the same second opening stiffness as the injection valve Ⅱ14 and the injection valve Ⅰ9, respectively. Assume that the frequency required to apply the first opening stiffness of the injection valve Ⅰ9 and the injection valve Ⅱ14 is x, the frequency required to apply the second opening stiffness is y and z, respectively, and the frequency required to apply the opening stiffness of the suction valve Ⅰ11 and the suction valve Ⅱ12 is z and y, respectively. Apply an excitation signal with a frequency of x to the piezoelectric ceramics Ⅰ2, piezoceramics Ⅱ3, piezoceramics Ⅲ4, piezoceramics Ⅳ5 and piezoceramics Ⅴ6, the injection valve Ⅰ9 and the injection valve Ⅱ14 are in the open state, and the piezoelectric ceramic components shrink or stretch radially at the same time. When the piezoelectric ceramic component shrinks radially, the oil in the main cavity 7 is squeezed to move toward the drainage holes 26 of the connecting sleeve Ⅰ8 and the connecting sleeve Ⅱ15 on both sides, the injection valve Ⅰ interface 25 and the injection valve Ⅱ interface 27, and then enters the drainage channels of the injection cavity Ⅰ10 and the injection cavity Ⅱ13 through the injection valve Ⅰ9 and the injection valve Ⅱ14 respectively and is ejected from the nozzle 28 to form a jet, generating driving forces F1 and F2, and F1=F2. Under the action of F1 and F2, the micro-aircraft moves forward.

[0065] like Fig.14 As shown, an excitation signal with a frequency of z is applied to piezoelectric ceramics Ⅰ2, Ⅱ3, Ⅲ4, Ⅳ5 and Ⅴ6, and the injection valve Ⅱ14 and the suction valve Ⅰ11 are in an open state, while the injection valve Ⅰ9 and the suction valve Ⅱ12 are in a closed state, and the piezoelectric ceramic components shrink or stretch radially at the same time. When the piezoelectric ceramic components shrink radially, since the injection valve Ⅰ9 is in a closed state, the oil in the main cavity 7 is squeezed and passes through the drainage hole 26 of the connecting sleeve Ⅱ15 and the injection valve Ⅱ interface 27 to open the piston 17 of the injection valve Ⅱ14. After the oil enters the injection cavity Ⅱ13, it flows through the drainage channel and sprays out from the nozzle 28 to form a jet, generating a driving force F3. No oil is sprayed out of the nozzle 28 of the injection cavity Ⅰ10. Under the action of F3, the micro-aircraft completes the left turn. When the piezoelectric ceramic component stretches radially, the volume of the inner cavity of the main cavity 7 increases. Since the suction valve II12 is in a closed state, the oil outside the micro-aircraft will open the piston 17 of the suction valve I11 and enter the inner cavity of the main cavity 7 along the suction valve interface 24 and the drainage hole 26 of the connecting sleeve I8.

[0066] like Fig.15As shown, an excitation signal with a frequency of y is applied to piezoelectric ceramics Ⅰ2, Ⅱ3, Ⅲ4, Ⅳ5 and Ⅴ6, and the injection valve Ⅰ9 and the suction valve Ⅱ12 are in the open state, while the injection valve Ⅱ14 and the suction valve Ⅰ11 are in the closed state, and the piezoelectric ceramic components shrink or stretch radially at the same time. When the piezoelectric ceramic components shrink radially, since the injection valve Ⅱ14 is in the closed state, the oil in the main cavity 7 is squeezed and passes through the drainage hole 26 of the connecting sleeve Ⅰ8 and the injection valve Ⅰ interface 25 to flush the piston 17 of the injection valve Ⅰ9. After the oil enters the injection cavity Ⅰ10, it flows through the drainage channel and sprays out from the nozzle 28 to form a jet, generating a driving force F4, and the micro-aircraft completes the right turn under the action of F4. When the piezoelectric ceramic component stretches radially, the volume of the inner cavity of the main cavity 7 increases. Since the suction valve I11 is in a closed state, the oil outside the micro-aircraft will open the piston 17 of the suction valve II12 and enter the inner cavity of the main cavity 7 along the suction valve interface 24 and the drainage hole 26 of the connecting sleeve II15.

[0067] Therefore, the present invention adopts the above-mentioned piezoelectric-driven oil-immersed inspection micro-aerial vehicle with multiple working modes, which does not require a transmission system and dynamic seals, greatly reducing the size of the entire machine, eliminating the failure rate of the transmission system, the impact of energy loss and the risk of failure of the entire machine caused by failure of the dynamic seal, and has good maneuverability, can flexibly complete forward and turning movements, and has a small turning radius and good endurance.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. An oil-immersed inspection micro-drone with multiple working modes based on piezoelectric drive, characterized in that: It includes a main cavity, and a piezoelectric ceramic component is sleeved on the outer side of the main cavity. The two sides of the main cavity are respectively connected to a connecting sleeve I and a connecting sleeve II. The connecting sleeve I is connected to an injection valve I and an intake valve I, and the connecting sleeve II is connected to an injection valve II and an intake valve II. The injection valve I is glued to the injection cavity I, and the injection valve II is glued to the injection cavity II.

2. According to claim 1, the oil-immersed inspection micro-drone with multiple working modes based on piezoelectric drive is characterized by: The outer side of the main cavity is provided with a shell I and a shell II, the shell I and the shell II are coaxially matched with the connecting sleeve I and the connecting sleeve II, and the shell I and the shell II are both provided with an open groove.

3. The oil-immersed inspection micro-drone with multiple working modes based on piezoelectric drive according to claim 1 is characterized by: The connecting sleeve I and the connecting sleeve II are both provided with a main cavity interface, an injection valve I interface, a suction valve interface and a drainage hole. The main cavity interface is connected to the injection valve I interface and the suction valve interface respectively. The suction valve interface is located on one side of the injection valve I interface, and the suction valve interface is perpendicular to the injection valve I interface.

4. The oil-immersed inspection micro-drone with multiple working modes based on piezoelectric drive according to claim 3 is characterized by: The right side of the main cavity is glued to the main cavity interface of the connecting sleeve I, and the left side is glued to the main cavity interface of the connecting sleeve II. The suction valve I and the injection valve I are respectively glued to the suction valve interface and the injection valve I interface of the connecting sleeve I, and the suction valve II and the injection valve II are respectively glued to the suction valve interface and the injection valve I interface of the connecting sleeve II.

5. The oil-immersed inspection micro-drone with multiple working modes based on piezoelectric drive according to claim 1, characterized in that: The piezoelectric ceramic component includes two or more piezoelectric ceramics, and the distance between the two piezoelectric ceramics is consistent.

6. The oil-immersed inspection micro-drone with multiple working modes based on piezoelectric drive according to claim 1, characterized in that: The injection cavity I and the injection cavity II are both provided with an injection valve II interface, and the injection valve II interface is respectively glued to the injection valve I and the injection valve II, and the injection valve II interface is connected to the drainage channel, and a nozzle is provided at the end of the drainage channel.

7. The oil-immersed inspection micro-drone with multiple working modes based on piezoelectric drive according to claim 1, characterized in that: The suction valve I, the suction valve II, the injection valve I and the injection valve II are all one-way valves, and the suction valve I, the suction valve II, the injection valve I and the injection valve II all include valve bodies, and pistons are arranged inside the valve bodies. A spring I is placed inside the piston of the injection valve I, a spring II is placed inside the piston of the injection valve II, a spring III is placed inside the piston of the suction valve I, and a spring IV is placed inside the piston of the suction valve II.

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