Underwater robot based on sandwich type piezoelectric transducer and working method thereof

By using a sandwich-type piezoelectric transducer to drive the underwater robot, the longitudinal and bending vibrations generated by the piezoelectric ceramic sheet are directly driven by the wheels. This solves the problems of sealing and transmission complexity in traditional underwater robots under high water pressure, and achieves lightweight and efficient drive.

CN122035256APending Publication Date: 2026-05-15NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Patent Information

Application Number
CN202610149959.4
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-01-28
Publication Date
2026-05-15

AI Technical Summary

Technical Problem

Traditional electromagnetic motor-driven underwater robots require a thick, pressure-resistant shell for sealing in high-pressure water environments, resulting in a complex structure that is not conducive to miniaturization and high-pressure resistance, and the transmission mechanism is also complex.

Method used

The robot employs a sandwich-type piezoelectric transducer, utilizing piezoelectric ceramic sheets to generate longitudinal and bending vibrations to drive the wheels. Direct drive is achieved through friction, eliminating the need for a transmission mechanism. The robot has an open structure and uses bearings made of zirconia ceramic material, with the wheel axle in contact with the driving foot plane.

Benefits of technology

It achieves the elimination of the need for sealing under high water pressure, avoiding seal leakage, with large driving force, high output efficiency, lightweight and miniaturized robot, and avoids the phenomenon of drive feet and wheel axles getting stuck.

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Abstract

The invention discloses a novel underwater robot based on a sandwich type piezoelectric transducer, and relates to the field of piezoelectric driving. The device comprises a sandwich type piezoelectric transducer, a clamping structure, a base body, two tension springs, four bearings, a first axle, a second axle and four wheels. The sandwich type piezoelectric transducer is fixed between two vertical plates of the base body through a clamping structure, two wheel shafts of the wheel are clamped in wheel shaft holes of the base body through bearings and limiting gaskets, and two tension springs are hung on bolts on the two sides of the base body and are in a stretching state, so that two plane driving feet at the bottom of the piezoelectric transducer abut against the two wheel shafts. When the robot works, the sandwich type piezoelectric transducer is excited, the two plane driving feet at the bottom of the sandwich type piezoelectric transducer generate elliptical motion in the same direction, the two wheel shafts are driven to rotate through friction, then the wheels are driven to rotate, and movement of the robot is achieved. According to the technical scheme, the problems that an existing underwater robot is large in size, complex in structure and difficult in dynamic sealing in the high-water-pressure environment are solved.
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