Oil-immersed inspection micro air vehicle with multiple working modes based on piezoelectric drive

Abstract

The application discloses an oil-immersed inspection micro-air vehicle with multiple working modes based on piezoelectric driving, and belongs to the technical field of detection equipment. The oil-immersed inspection micro-air vehicle comprises a main cavity, a piezoelectric ceramic assembly is arranged outside the main cavity, 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 a jet valve I and a suction valve I, the connecting sleeve II is connected with a jet valve II and a suction valve II, the jet valve I is glued with a jet cavity I, and the jet valve II is glued with a jet cavity II. The oil-immersed inspection micro-air vehicle with multiple working modes based on piezoelectric driving has the advantages that 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, energy consumption loss and the whole machine failure risk caused by the dynamic seal failure are eliminated, the controllability is good, the forward and turning movements can be flexibly completed, the turning radius is small, and the oil-immersed inspection micro-air vehicle has good endurance.

Description

TECHNICAL FIELD

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

[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 transformer substations, transformers have been widely used in the power system. The reliability and performance of the transformer play a crucial role in the normal operation of the power system. In order to ensure the safe, normal and efficient operation of the transformer, periodic fault detection of the transformer is required to eliminate the safety hazards of the transformer. Therefore, how to efficiently, timely and accurately identify and locate the internal faults of the transformer is of great significance to the stable operation of the power system. In order to check the internal faults of the transformer, all the transformer oil should be completely drained under normal circumstances, and the maintenance personnel should enter the transformer using an endoscope. After the inspection is completed, the transformer oil needs to be injected back into the transformer before the transformer can be put into operation again, which requires continuous power outage for ten days or even longer. Manual detection has the problems of high risk of limited space operation and secondary pollution of the transformer. That is, the current maintenance scheme seriously restricts the production progress of the users and increases the maintenance cost.

[0003] The detection of internal faults of the transformer is a necessary link in the operation and maintenance of power equipment. If the detection time can be shortened and the maintenance cost can be reduced, the after-sales quality and customer satisfaction of the power equipment company will be greatly improved, which meets the current development strategy and demand of the power equipment company. At present, the oil-immersed internal inspection aerial vehicle / robot of the transformer is the research focus of major power grid companies. The oil-immersed internal inspection aerial vehicle carries an ultrasonic probe to perform fixed-point detection on the key parts of the transformer, so as to realize rapid and accurate detection of each risk point. At present, the oil-immersed inspection robot mainly adopts electromagnetic driving mode. The complex transmission system and dynamic seal restrict the size and stability of the aerial vehicle, and it is currently difficult to meet the high-efficiency and high-precision internal inspection requirements of transformers with multiple obstacles and complex pipelines. SUMMARY

[0004] The purpose of the present application is to provide an oil-immersed inspection micro-aerial vehicle with multiple working modes based on piezoelectric driving, which does not require a transmission system and a dynamic seal, greatly reduces the size of the whole machine, eliminates the influence of the failure rate and energy loss of the transmission system and the whole machine failure risk caused by the failure of the dynamic seal, has good controllability, can flexibly complete forward and turning movements, has a small turning radius, and has good endurance.

[0005] In order to achieve the above object, the application provides a piezoelectric driving based oil-immersed inspection micro-air vehicle with multiple working modes, which comprises a main cavity, a piezoelectric ceramic assembly is arranged outside the main cavity, 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 a jet valve I and a suction valve I, the connecting sleeve II is connected with a jet valve II and a suction valve II, the jet valve I is glued with a jet cavity I, and the jet valve II is glued with a jet cavity II.

[0006] Preferably, the main cavity is provided with an outer shell I and an outer shell II, the outer shell I and the outer shell II are coaxially matched with the connecting sleeve I and the connecting sleeve II, and the outer shell I and the outer shell II are both provided with an open slot.

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

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

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

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

[0011] Preferably, the suction valve I, the suction valve II, the jet valve I and the jet valve II are all one-way valves, the suction valve I, the suction valve II, the jet valve I and the jet valve II all comprise a valve body, the valve body is internally provided with a piston, the inner side of the piston of the jet valve I is placed with a spring I, the inner side of the piston of the jet valve II is placed with a spring II, the inner side of the piston of the suction valve I is placed with a spring III, and the inner side of the piston of the suction valve II is placed with a spring IV.

[0012] Therefore, the application adopts the above-mentioned piezoelectric driving based oil-immersed inspection micro-air vehicle with multiple working modes, and 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 a dynamic seal, eliminating the influence of transmission system failure rate, energy consumption loss and the risk of whole machine failure caused by dynamic seal failure.

[0014] 2) Since there is no need for a dynamic seal and a transmission system, the size of the whole machine is greatly reduced, which can meet the demand of micro-sized inspection micro-aerial vehicle in the transformer internal multi-obstacle and multi-pipeline working environment.

[0015] 3) The oil-immersed inspection micro-aerial vehicle has a traveling wave driving mode and a same vibration driving mode, and has good controllability, and can flexibly complete forward and turning motion, and has a small turning radius.

[0016] 4) Since the piezoelectric ceramic is a functional material with low power consumption, the multi-axis aerial vehicle has good endurance.

[0017] The technical solutions of the present application will be further described in detail below by means of the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a perspective structural schematic view of an embodiment of an oil-immersed inspection micro-aerial vehicle with multiple working modes based on piezoelectric driving according to the present application;

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

[0020] Figure 3 is a full cross-sectional view of an embodiment of an oil-immersed inspection micro-aerial vehicle with multiple working modes based on piezoelectric driving according to the present application;

[0021] Figure 4 is a cross-sectional view of a connecting sleeve I of an embodiment of an oil-immersed inspection micro-aerial vehicle with multiple working modes based on piezoelectric driving according to the present application;

[0022] Figure 5 is a cross-sectional view of a jet cavity of an embodiment of an oil-immersed inspection micro-aerial vehicle with multiple working modes based on piezoelectric driving according to the present application;

[0023] Figure 6 is a half cross-sectional view of a jet valve I of an embodiment of an oil-immersed inspection micro-aerial vehicle with multiple working modes based on piezoelectric driving according to the present application;

[0024] Figure 7 is a half cross-sectional view of a jet valve I of an embodiment of an oil-immersed inspection micro-aerial vehicle with multiple working modes based on piezoelectric driving according to the present application;

[0025] Figure 8is a half sectional view of the suction valve I of an oil-immersed patrol micro-air vehicle embodiment with multiple working modes based on piezoelectric driving according to the present application;

[0026] Figure 9 is a half sectional view of the suction valve II of an oil-immersed patrol micro-air vehicle embodiment with multiple working modes based on piezoelectric driving according to the present application;

[0027] Figure 10 is a forward motion diagram of an oil-immersed patrol micro-air vehicle embodiment one with multiple working modes based on piezoelectric driving according to the present application;

[0028] Figure 11 is a left turn motion diagram of an oil-immersed patrol micro-air vehicle embodiment one with multiple working modes based on piezoelectric driving according to the present application;

[0029] Figure 12 is a right turn motion diagram of an oil-immersed patrol micro-air vehicle embodiment one with multiple working modes based on piezoelectric driving according to the present application;

[0030] Figure 13 is a forward motion diagram of an oil-immersed patrol micro-air vehicle embodiments two, three, four and five with multiple working modes based on piezoelectric driving according to the present application;

[0031] Figure 14 is a left turn motion diagram of an oil-immersed patrol micro-air vehicle embodiments two, three, four and five with multiple working modes based on piezoelectric driving according to the present application;

[0032] Figure 15 is a right turn motion diagram of an oil-immersed patrol micro-air vehicle embodiments according to the present application.

[0033] Reference signs

[0034] 1, shell I; 2, piezoelectric ceramic I; 3, piezoelectric ceramic II; 4, piezoelectric ceramic III; 5, piezoelectric ceramic IV; 6, piezoelectric ceramic V; 7, main cavity; 8, connecting sleeve I; 9, injection valve I; 10, injection cavity I; 11, suction valve I; 12, suction 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, suction valve interface; 25, injection valve I interface; 26, drainage hole; 27, injection valve II interface; 28, injection port. DETAILED DESCRIPTION

[0035] The technical solutions of the present application are further described below through the drawings and examples.

[0036] Unless otherwise defined, the technical or scientific terms used in the present invention shall have the usual meanings understood by persons of ordinary skill in the field to which the present invention belongs. The words "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" 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 object being described changes, the relative positional relationship may also change accordingly.

[0037] Example

[0038] like Figures 1 to 9 As shown, the present invention provides a piezoelectric-driven, multi-mode, oil-immersed inspection micro-drone. The micro-drone comprises a main cavity 7, sheathed with a piezoelectric ceramic assembly. The piezoelectric ceramic assembly includes two or more piezoelectric ceramics, each spaced uniformly apart. The excitation signal applied to the piezoelectric ceramic assembly can be any waveform, and the inverse piezoelectric effect of the piezoelectric ceramic assembly causes the cavity to contract and expand. In this embodiment, the piezoelectric ceramic assembly comprises piezoelectric ceramics I2, II3, III4, IV5, and V6, 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 respectively opens the pistons 17 of the injection valve I 9 and the injection valve II 14 through the injection valve I interface 25 and the injection valve II interface 27, enters the drainage channel of the injection cavity, and is ejected 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, an intake valve interface 24, an injection valve I interface 25 and a drainage hole 26.

[0041] The connecting sleeve I 8 is connected with the injection valve I 9 and the suction valve I 11 through the injection valve I interface 25 and the suction valve interface 24 respectively, the connecting sleeve II 15 is connected with the injection valve II 14 and the suction valve II 12 through the injection valve I interface 25 and the suction valve interface 24 respectively, the suction valve I 11, the suction valve II 12, the injection valve I 9 and the injection valve II 14 are all one-way valves, the suction valve I 11, the suction valve II 12, the injection valve I 9 and the injection valve II 14 all include valve bodies 16, the valve bodies 16 are all internally provided with pistons 17, the inside of the piston 17 of the injection valve I 9 is placed with a spring I 18, the inside of the piston 17 of the injection valve II 14 is placed with a spring II 19, the inside of the piston 17 of the suction valve I 11 is placed with a spring III 20, and the inside of the piston 17 of the suction valve II 12 is placed with a spring IV 21. The oil liquid can enter the inner cavity of the main cavity body 7 through the suction valve I 11 and the suction valve II 12, and the oil liquid in the main cavity body 7 can pass through the injection valve I 9 and the injection valve II 14 and be sprayed out of the injection valve I 9 and the injection valve II 14 to form a jet flow.

[0042] The right side of the main cavity body 7 is glued with the main cavity interface 23 of the connecting sleeve I 8, the left side is glued with the main cavity interface 23 of the connecting sleeve II 15, the suction valve I 11 and the injection valve I 9 are glued with the suction valve interface 24 and the injection valve I interface 25 of the connecting sleeve I 8 respectively, the suction valve II 12 and the injection valve II 14 are glued with the suction valve interface 24 and the injection valve I interface 25 of the connecting sleeve II 15 respectively, and the oil liquid passes through the suction valve interface 24 and the drainage hole 26 into the inside of the main cavity body 7 after breaking the suction valve I 11 and the suction valve II 12.

[0043] The injection valve I 9 is glued with the injection cavity I 10, and the injection valve II 14 is glued with the injection cavity II 13. The injection cavity I 10 and the injection cavity II 13 are both provided with injection valve II interfaces 27, the injection valve II interfaces 27 are glued with the injection valve I 9 and the injection valve II 14 respectively, the injection valve II interfaces 27 are connected with drainage channels, the drainage channels are provided with injection ports 28 at the ends, and the oil liquid in the inside of the main cavity body 7 is sprayed out of the injection ports 28 after being sprayed out of the injection valve I 9 and the injection valve II 14 through the drainage channels, so that the control of the movement direction of the micro aircraft can be realized.

[0044] The outside of the main cavity body 7 is provided with a shell I 1 and a shell II 22, the shell I 1 and the shell II 22 are coaxially matched with the connecting sleeve I 8 and the connecting sleeve II 15, the shell I 1 and the shell II 22 are both provided with open grooves, the open grooves can supply the oil liquid to enter the inside of the shell I 1 and the shell II 22, so that the oil liquid can break the suction valve I 11 and the suction valve II 12 to enter the inside of the main cavity body 7.

[0045] Example one

[0046] As Figure 10As shown, when the same excitation signal is applied to the piezoelectric ceramic assembly, the piezoelectric ceramic I 2, the piezoelectric ceramic II 3, the piezoelectric ceramic III 4, the piezoelectric ceramic IV 5 and the piezoelectric ceramic V 6 contract or expand simultaneously along the radial direction. When the piezoelectric ceramic assembly contracts along the radial direction, the oil in the main cavity 7 is extruded to move to 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 push the piston 17 in the injection valve I 9 and the injection valve II 14 to enter the injection cavity I 10 and the injection cavity II 13, and then passes through the drainage channels of the injection cavity I 10 and the injection cavity II 13 respectively to form a jet from the nozzle 28 to generate driving forces F1 and F2, and F1=F2, and the micro vehicle moves forward under the action of F1 and F2. When the piezoelectric ceramic expands along the radial direction, the volume of the main cavity 7 increases, and the oil outside the micro vehicle pushes the piston 17 of the suction valve I 11 and the suction valve II 12 to flow into the main cavity 7 through the suction valve interface 24 and the drainage hole 26, and so on. The micro vehicle will continue to move forward.

[0047] As shown in the figure, Figure 11 The excitation signal is applied to the piezoelectric ceramic V 6, the piezoelectric ceramic IV 5, the piezoelectric ceramic III 4, the piezoelectric ceramic II 3 and the piezoelectric ceramic I 2 in turn, and each excitation signal is separated by 90° phase to generate a positive traveling wave in the positive direction. The piezoelectric ceramic V 6, the piezoelectric ceramic IV 5, the piezoelectric ceramic III 4, the piezoelectric ceramic II 3 and the piezoelectric ceramic I 2 contract or expand in turn. When the piezoelectric ceramic assembly contracts along the radial direction, most of the oil in the main cavity 7 is extruded to move in the positive direction to the drainage hole 26 of the connecting sleeve II 15 and the injection valve II interface 27 and push the piston 17 of the injection valve II 14, flow through the drainage channel of the injection cavity II 13 and form a jet from the nozzle 28 to generate a driving force F3. A small part of the oil in the main cavity 7 is extruded in the opposite direction to the drainage hole 26 of the connecting sleeve I 8 and the injection valve I interface 25 and pushes the piston 17 of the injection valve I 9, flows through the drainage channel of the injection cavity I 10 and forms a jet from the nozzle 28 to generate a driving force F4. Because the jet generated at the nozzle 28 of the injection cavity II 13 is much larger than the jet generated at the nozzle 28 of the injection cavity I 10, F3>F4, and the micro vehicle will move to the left. When the piezoelectric ceramic assembly expands along the radial direction, the volume of the main cavity 7 increases, and the oil outside the micro vehicle will push the piston 17 of the suction valve I 11 and the suction valve II 12, and enter the inner cavity of the main cavity 7 through the suction valve interface 24 and the drainage hole 26, and so on. The micro vehicle will continue to move.

[0048] As shown in the figure, Figure 12As shown, excitation signals are sequentially applied to piezoelectric ceramics I2, II3, III4, IV5, and V6, with each excitation signal separated by a 90° phase interval. This generates a reverse wave in the opposite direction, causing piezoelectric ceramics I2, II3, III4, IV5, and V6 to contract or extend radially in sequence. As the piezoelectric ceramic components sequentially contract radially, the majority of the oil within main cavity 7 is squeezed in the positive direction, entering drainage holes 26 of connecting sleeve I8 and interface 25 of injection valve I, dislodging piston 17 of injection valve I9, flowing through the drainage channel of injection cavity I10, and ejecting from nozzle 28 to form a jet, generating driving force F6. After being squeezed, a small amount of oil within the main chamber 7 is forced in the opposite direction, entering the drainage hole 26 of the connecting sleeve II 15 and the interface 27 of the injection valve II. This pushes open the piston 17 of the injection valve II 14, flows through the drainage channel of the injection chamber II 13, and is ejected from the nozzle 28 to form a jet, generating a driving force F5. Because the jet generated at the nozzle 28 of the injection chamber I 10 is much larger than the jet generated at the nozzle 28 of the injection chamber II 13, F6>F5, and the micro-aircraft will turn right. As the piezoelectric ceramic components sequentially extend radially, the internal volume of the main chamber 7 increases. The oil outside the micro-aircraft will push open the pistons 17 of the suction valve I 11 and suction valve II 12, and enter the internal cavity of the main chamber 7 along the suction valve interface 24 and the drainage hole 26. This process repeats, and the micro-aircraft continues to move.

[0049] Example 2

[0050] like Figure 13 As shown, both injection valve I9 ​​and injection valve II14 have two opening stiffnesses: a first opening stiffness and a second opening stiffness. The first opening stiffness is the same for both, but different for the second opening stiffness. Intake valve I11 and intake valve II12 have different opening stiffnesses. Assume that the frequency required for the first opening stiffness of injection valves I9 and II14 is x, the frequencies required for the second opening stiffness are y and z, respectively. The frequencies required for the opening stiffness of intake valves I11 and II12 are m and l, respectively. When an excitation signal with a frequency of x is applied to piezoelectric ceramics I2, II3, III4, IV5, and V6, injection valves I9 and II14 are in the open state, and the piezoelectric ceramic components simultaneously contract or expand radially. 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 Figure 14As shown, the piezoelectric ceramic I 2, piezoelectric ceramic II 3, piezoelectric ceramic III 4, piezoelectric ceramic IV 5 and piezoelectric ceramic V 6 are applied with excitation signal of frequency z, the injection valve II 14 is in the open state and the injection valve I 9 remains closed, the piezoelectric ceramic assembly is simultaneously contracted or elongated in the radial direction. When the piezoelectric ceramic assembly is contracted in the radial direction, the oil in the main cavity 7 is extruded and then passes through the drainage hole 26 of the connecting sleeve II 15 and the injection valve II interface 27 to flush the piston 17 of the injection valve II 14, the oil enters the injection cavity II 13 and then flows through the drainage channel to be sprayed from the injection port 28 to form a jet, generating a driving force F3, the injection port 28 of the injection cavity I 10 does not spray oil, and the micro-hoverer completes a left turning motion under the action of F3.

[0052] As shown in Figure 15 As shown, the piezoelectric ceramic I 2, piezoelectric ceramic II 3, piezoelectric ceramic III 4, piezoelectric ceramic IV 5 and piezoelectric ceramic V 6 are applied with excitation signal of frequency z, the injection valve II 14 is in the open state and the injection valve I 9 remains closed, the piezoelectric ceramic assembly is simultaneously contracted or elongated in the radial direction. When the piezoelectric ceramic assembly is contracted in the radial direction, the oil in the main cavity 7 is extruded and then passes through the drainage hole 26 of the connecting sleeve II 15 and the injection valve II interface 27 to flush the piston 17 of the injection valve II 14, the oil enters the injection cavity II 13 and then flows through the drainage channel to be sprayed from the injection port 28 to form a jet, generating a driving force F3, the injection port 28 of the injection cavity I 10 does not spray oil, and the micro-hoverer completes a left turning motion under the action of F3.

[0053] The piezoelectric ceramic I 2, piezoelectric ceramic II 3, piezoelectric ceramic III 4, piezoelectric ceramic IV 5 and piezoelectric ceramic V 6 are applied with excitation signal of frequency m, the suction valve I 11 is in the open state and the suction valve II 12 remains closed, and the piezoelectric ceramic assembly is simultaneously contracted or elongated in the radial direction. When the piezoelectric ceramic assembly is elongated in the radial direction, the volume of the inner cavity of the main cavity 7 becomes larger, and the oil outside the micro-hoverer flushes the piston 17 of the suction valve I 11, and the oil enters the inner cavity of the main cavity 7 through the suction valve interface 24 and the drainage hole 26 of the connecting sleeve I 8. The piezoelectric ceramic I 2, piezoelectric ceramic II 3, piezoelectric ceramic III 4, piezoelectric ceramic IV 5 and piezoelectric ceramic V 6 are applied with excitation signal of frequency l, the suction valve II 12 is in the open state and the suction valve I 11 remains closed, and the piezoelectric ceramic assembly is simultaneously contracted or elongated in the radial direction. When the piezoelectric ceramic assembly is elongated in the radial direction, the volume of the inner cavity of the main cavity 7 becomes larger, and the oil outside the micro-hoverer flushes the piston 17 of the suction valve II 12, and the oil enters the inner cavity of the main cavity 7 through the suction valve interface 24 and the drainage hole 26 of the connecting sleeve II 15.

[0054] Example Three

[0055] As shown in Figure 13As shown, both injection valve I9 ​​and injection valve II14 have two opening stiffnesses: a first opening stiffness and a second opening stiffness. The first opening stiffness is the same for both, but the second opening stiffness is different. Intake valve I11 and intake valve II12 have the same second opening stiffness as injection valve I9 ​​and injection valve II14, respectively. Assume that the required frequency for the first opening stiffness of injection valves I9 and II14 is x, and the required frequencies for the second opening stiffness are y and z, respectively. The required frequencies for the opening stiffness of intake valves I11 and II12 are y and z, respectively. When an excitation signal with a frequency of x is applied to piezoelectric ceramics I2, II3, III4, IV5, and V6, injection valves I9 and II14 are in the open state, and the piezoelectric ceramic components simultaneously contract or expand radially. 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 Figure 14 As shown, an excitation signal with a frequency of z is applied to piezoelectric ceramics I2, II3, III4, IV5, and V6. Injection valve II14 and suction valve II12 are open, while injection valve I9 ​​and suction valve I11 are closed. The piezoelectric ceramic assembly simultaneously contracts or expands radially. When the piezoelectric ceramic assembly contracts radially, because injection valve I9 ​​is ​​closed, the oil in main cavity 7 is squeezed and passes through drainage holes 26 of connecting sleeve II15 and injection valve II interface 27, dislodging piston 17 of injection valve II14. The oil then enters injection cavity II13, flows through the drainage channel, and is ejected from nozzle 28 to form a jet, generating driving force F3. No oil is ejected from nozzle 28 of injection cavity I10, and under the action of F3, the micro-aircraft completes a 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 push 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 Figure 15As shown, an excitation signal with frequency y is applied to piezoelectric ceramics I2, II3, III4, IV5, and V6. Injection valve I9 ​​and suction valve I11 are open, while injection valve II14 and suction valve II12 are closed. The piezoelectric ceramic assembly simultaneously contracts and expands radially. When the piezoelectric ceramic assembly contracts radially, because injection valve II14 is closed, the oil in main cavity 7 is squeezed and flows through drainage hole 26 of connecting sleeve I8 and injection valve I interface 25, dislodging piston 17 of injection valve I9. The oil then enters injection cavity I10, flows through the drainage channel, and is ejected from nozzle 28 to form a jet, generating driving force F4. Driven by F4, the micro-aircraft completes a right turn. When the piezoelectric ceramic component stretches radially, the volume of the inner cavity of the main cavity 7 increases. Since the suction valve II 12 is in a closed state, the oil outside the micro-aircraft will push open the piston 17 of the suction valve I 11 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 I 8.

[0058] Example 4

[0059] like Figure 13 As shown, both injection valve I9 ​​and injection valve II14 have two opening stiffnesses: a first opening stiffness and a second opening stiffness. The first opening stiffness is the same for both, but the second opening stiffness is different. Intake valve I11 and intake valve II12 have the same opening stiffness. Assume that the frequency required for the first opening stiffness of injection valves I9 and 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 intake valves I11 and II12 are m. When an excitation signal with a frequency of x is applied to piezoelectric ceramics I2, II3, III4, IV5, and V6, injection valves I9 and II14 are in the open state, and the piezoelectric ceramic components simultaneously contract or expand radially. 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 Figure 14As shown, the piezoelectric ceramic I 2, the piezoelectric ceramic II 3, the piezoelectric ceramic III 4, the piezoelectric ceramic IV 5 and the piezoelectric ceramic V 6 are applied with the excitation signal of frequency z, the injection valve II 14 is in the open state and the injection valve I 9 remains in the closed state, the piezoelectric ceramic assembly is simultaneously contracted or elongated in the radial direction. When the piezoelectric ceramic assembly is contracted in the radial direction, the oil in the main cavity 7 is extruded and then passes through the drainage hole 26 of the connecting sleeve II 15 and the injection valve II interface 27 to flush the piston 17 of the injection valve II 14, the oil enters the injection cavity II 13 and then flows through the drainage channel to be sprayed from the injection port 28 to form a jet, generating a driving force F3. The injection port 28 of the injection cavity I 10 does not spray oil, and the micro-helicopter completes a left turning motion under the action of F3.

[0061] As shown in Figure 15 As shown, the piezoelectric ceramic I 2, the piezoelectric ceramic II 3, the piezoelectric ceramic III 4, the piezoelectric ceramic IV 5 and the piezoelectric ceramic V 6 are applied with the excitation signal of frequency z, the injection valve II 14 is in the open state and the injection valve I 9 remains in the closed state, the piezoelectric ceramic assembly is simultaneously contracted or elongated in the radial direction. When the piezoelectric ceramic assembly is contracted in the radial direction, the oil in the main cavity 7 is extruded and then passes through the drainage hole 26 of the connecting sleeve II 15 and the injection valve II interface 27 to flush the piston 17 of the injection valve II 14, the oil enters the injection cavity II 13 and then flows through the drainage channel to be sprayed from the injection port 28 to form a jet, generating a driving force F3. The injection port 28 of the injection cavity I 10 does not spray oil, and the micro-helicopter completes a left turning motion under the action of F3.

[0062] The piezoelectric ceramic I 2, the piezoelectric ceramic II 3, the piezoelectric ceramic III 4, the piezoelectric ceramic IV 5 and the piezoelectric ceramic V 6 are applied with the excitation signal of frequency m, the suction valve I 11 and the suction valve II 12 are in the open state, and the piezoelectric ceramic assembly is simultaneously elongated in the radial direction. The volume of the main cavity 7 increases, the oil outside the micro-helicopter flushes the piston 17 of the suction valve I 11 and the suction valve II 12, and the oil enters the main cavity 7 through the suction valve interface 24 and the drainage hole 26 of the connecting sleeve I 8 and the connecting sleeve II 15.

[0063] Example five

[0064] As shown in Figure 13As shown, both injection valve I9 ​​and injection valve II14 have two opening stiffnesses: a first opening stiffness and a second opening stiffness. The first opening stiffness is the same for both, but the second opening stiffness is different. Intake valve I11 and intake valve II12 have the same second opening stiffness as injection valve II14 and injection valve I9, respectively. Assume that the required frequency for the first opening stiffness of injection valves I9 and II14 is x, and the required frequencies for the second opening stiffness are y and z, respectively. The required frequencies for the opening stiffness of intake valves I11 and II12 are z and y, respectively. When an excitation signal with a frequency of x is applied to piezoelectric ceramics I2, II3, III4, IV5, and V6, injection valves I9 and II14 are in the open state, and the piezoelectric ceramic components simultaneously contract or expand radially. 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 Figure 14 As shown, an excitation signal with a frequency of z is applied to piezoelectric ceramics I2, II3, III4, IV5, and V6. Injection valve II14 and suction valve I11 are open, while injection valve I9 ​​and suction valve II12 are closed. The piezoelectric ceramic assembly simultaneously contracts or expands radially. When the piezoelectric ceramic assembly contracts radially, because injection valve I9 ​​is ​​closed, the oil in main cavity 7 is squeezed and passes through drainage holes 26 of connecting sleeve II15 and injection valve II interface 27, dislodging piston 17 of injection valve II14. The oil then enters injection cavity II13, flows through the drainage channel, and is ejected from nozzle 28 to form a jet, generating driving force F3. No oil is ejected from nozzle 28 of injection cavity I10. Under the action of F3, the micro-aircraft completes a 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 II 12 is in a closed state, the oil outside the micro-aircraft will push open the piston 17 of the suction valve I 11 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 I 8.

[0066] like Figure 15As shown, the piezoelectric ceramic I 2, the piezoelectric ceramic II 3, the piezoelectric ceramic III 4, the piezoelectric ceramic IV 5 and the piezoelectric ceramic V 6 are applied with an excitation signal with a frequency of y, the injection valve I 9 and the suction valve II 12 are in an open state, and the injection valve II 14 and the suction valve I 11 are in a closed state, and the piezoelectric ceramic assembly is simultaneously contracted or elongated in the radial direction. When the piezoelectric ceramic assembly is contracted in the radial direction, the oil in the main cavity 7 is extruded and then passes through the drainage hole 26 of the connecting sleeve I 8 and the injection valve I interface 25 to push away the piston 17 of the injection valve I 9, the oil enters the injection cavity I 10 and then flows through the drainage channel to be sprayed from the injection port 28 to form a jet, generating a driving force F4, and the micro vehicle completes the right turning motion under the action of the F4. When the piezoelectric ceramic assembly is elongated in the radial direction, the internal cavity volume of the main cavity 7 becomes larger, and because the suction valve I 11 is in a closed state, the oil outside the micro vehicle pushes away the piston 17 of the suction valve II 12, enters the internal cavity of the main cavity 7 along the suction valve interface 24 of the connecting sleeve II 15 and the drainage hole 26.

[0067] Therefore, the oil-immersed inspection micro vehicle with multiple working modes based on piezoelectric driving has the advantages of no need for a transmission system and dynamic sealing, greatly reduced size of the whole machine, elimination of the influence of transmission system failure rate, energy loss and the whole machine failure risk caused by dynamic sealing failure, good controllability, flexible completion of forward and turning motions, small turning radius, and good endurance.

[0068] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application and not to limit them, although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can still be modified or replaced by equivalents, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present application.

Claims

1. A piezoelectric-driven, multi-mode, oil-immersed inspection micro-drone, characterized by: It includes a main cavity, the outer side of which is sheathed with a piezoelectric ceramic component, 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 the injection valve I and the suction valve I, the connecting sleeve II is connected to the injection valve II and the suction 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; The connecting sleeve I and the connecting sleeve II are both provided with a main cavity interface, an injection valve I interface, an intake valve interface and a drainage hole. The main cavity interface is connected to the injection valve I interface and the intake valve interface respectively. The intake valve interface is located on one side of the injection valve I interface, and the intake valve interface is perpendicular to the injection valve I interface. The injection cavity I and the injection cavity II are both provided with an injection valve II interface, the injection valve II interface is glued to the injection valve I and the injection valve II respectively, the injection valve II interface is connected to the drainage channel, and the end of the drainage channel is provided with a nozzle; 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 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.

2. The oil-immersed inspection micro-drone with multiple working modes based on piezoelectric drive according to claim 1, characterized in that: 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, characterized in that: 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.

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

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