A turbine type ultrasonic underwater drive, robot and working method thereof

Abstract

The present application belongs to the field of water surface robots, and provides a turbine type underwater ultrasonic driver, a robot and a working method thereof, comprising a plurality of turbine type ultrasonic driving units, each of which comprises a turbine vibration body and a torsional piezoelectric ceramic, wherein the torsional piezoelectric ceramic is an n-equal-spliced annular structure, n is a positive integer, the turbine vibration body is arranged at the rear end of the torsional piezoelectric ceramic, and the central axis of the turbine vibration body is coaxial with the central axis of the torsional piezoelectric ceramic. The present application effectively excites the torsional mode of the piezoelectric ceramic in the underwater turbine type ultrasonic driving unit, and then drives the turbine configuration to vibrate; in the water medium environment, the turbine type underwater ultrasonic driver generates high-frequency ultrasonic waves which are transmitted spirally backward with water as the medium, the sound waves interact with the water body, and stable thrust is generated to push the ship body to move smoothly.

Description

Technical Field

[0001] This invention belongs to the field of surface robots, specifically relating to a turbine-type ultrasonic underwater actuator, a robot, and its working method. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Surface robots possess the ability to autonomously navigate open waters, enabling stable navigation in rivers, lakes, and seas. They are widely used in water quality monitoring, waterway patrol, waterway surveying, aquaculture, and emergency search and rescue. Their adaptability to various aquatic environments allows them to operate stably under complex hydrological conditions. Furthermore, surface robots can be equipped with remote operation and autonomous navigation capabilities, effectively reducing the risks to personnel operating in adverse weather conditions and dangerous waters, thus improving the efficiency and safety of aquatic operations. However, due to limitations in their propulsion methods, traditional surface robots tend to generate significant wave disturbance and mechanical noise during navigation, potentially impacting nearshore aquatic life and the aquatic ecosystem. In operational scenarios requiring low disturbance and low noise, their navigation trajectories and motion characteristics are easily detected, reducing operational concealment.

[0004] To meet the needs of various scenarios, a variety of surface robots have been developed. However, traditional surface robots mostly use propellers as their primary drive system. While these propellers offer advantages such as high propulsion efficiency, high speed, and simple and reliable structure, they generally suffer from excessive operating noise and noticeable water surface traces, severely limiting their use in concealed environments. When the propeller rotates at high speed, the blades and water flow undergo intense shearing, causing deformation and vibration in the water. Dissolved gases in the water are stripped away, forming numerous bubbles, and the resulting pressure pulses radiate significant underwater noise. Simultaneously, the blade tips easily generate wake vortices and turbulence, further exacerbating noise generation and creating clear wakes on the water surface, leaving obvious operational tracks. This strong noise and noticeable tracks are easily detected and tracked, directly leading to the robot's vulnerability during covert operations.

[0005] Regarding power sources, one type of surface robot uses an internal combustion engine, which, while powerful and with long endurance, generates significant engine noise and its exhaust emissions can pollute waterways, interfere with environmental monitoring, and increase exposure risks. Another type uses a combination of motors and batteries, which effectively controls power source noise but cannot fundamentally reduce the hydrodynamic noise generated by the propeller itself, and its wake trail remains largely unaffected. The drawbacks of traditional surface robots—such as high noise levels, noticeable wake trails, ease of tracking, and interference with the aquatic environment—make them unreliable for reconnaissance and covert monitoring. Therefore, developing surface robots for covert monitoring and reconnaissance scenarios is of significant practical importance. Summary of the Invention

[0006] To address the aforementioned problems, this invention proposes a turbine-type ultrasonic underwater actuator, a robot, and its operating method. This invention utilizes torsional piezoelectric ceramics as a vibration source, combined with a turbine-type structure to excite high-frequency ultrasonic waves in water at a set frequency. The ultrasonic waves couple with the water, thereby generating stable underwater propulsion. This achieves silent and traceless stealth movement, significantly improving energy utilization efficiency, reducing maintenance costs, and powerfully promoting the application and development of surface robots in fields such as environmental monitoring and unmanned reconnaissance.

[0007] According to some embodiments, the present invention adopts the following technical solution: A turbine-type ultrasonic underwater actuator includes several turbine-type ultrasonic driving units. Each turbine-type ultrasonic driving unit includes a turbine vibrator and a torsional piezoelectric ceramic. The torsional piezoelectric ceramic is a ring structure with n equally divided segments, where n is a positive integer. The turbine vibrator is disposed at the rear end of the torsional piezoelectric ceramic, and the central axis of the turbine vibrator is coaxial with the central axis of the torsional piezoelectric ceramic.

[0008] As an alternative implementation, the turbine-type ultrasonic drive unit includes two units, and the turbine vibrators of the two turbine-type ultrasonic drive units rotate in opposite directions.

[0009] As an alternative implementation, the torsion piezoelectric ceramic is an 8-part interlocking ring structure.

[0010] As an alternative implementation, the turbine vibrator is made of aluminum alloy, and the diameter of the turbine vibrator is consistent with the outer diameter of the torsional piezoelectric ceramic, ensuring that the outer edge of the torsional piezoelectric ceramic, i.e. the position with the greatest torque contribution, is in effective contact with the turbine vibrator.

[0011] As an alternative implementation, when the torsional piezoelectric ceramic is subjected to an excitation voltage of the same frequency, it is excited to generate torsional modal vibration.

[0012] A turbine-type ultrasonic robot includes a catamaran hull, and the aforementioned turbine-type ultrasonic underwater actuator is provided at the stern of the catamaran hull. The actuator includes two turbine-type ultrasonic drive units, one of which is a forward-rotating turbine-type ultrasonic drive unit and the other is a reverse-rotating turbine-type ultrasonic drive unit. A drive control circuit is provided inside the catamaran hull for applying a synchronous excitation voltage to the turbine-type ultrasonic underwater actuator. The drive control circuit is controlled by a switch.

[0013] As an alternative implementation, the catamaran is provided with a hatch on its hull, and the switch is located on the hatch.

[0014] As an alternative implementation, a power source is provided within the hull of the catamaran, which provides electrical energy to the drive control circuit and switches.

[0015] As an alternative implementation, the forward-rotating turbine-type ultrasonic drive unit and the reverse-rotating turbine-type ultrasonic drive unit are symmetrically arranged on both sides of the stern of the catamaran hull, and the turbine vibration bodies of the forward-rotating turbine-type ultrasonic drive unit and the reverse-rotating turbine-type ultrasonic drive unit rotate in opposite directions.

[0016] The working method of the above-mentioned turbine-type ultrasonic robot includes the following steps: The turbine-type ultrasonic underwater actuator is powered by a drive and control circuit installed inside the catamaran hull. In an aquatic environment, the turbine-type ultrasonic underwater actuator generates high-frequency ultrasonic waves that propagate backward in a spiral pattern through water. The sound waves interact with the water to generate stable thrust, propelling the hull forward smoothly.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention addresses the problems of traditional underwater surface robots using propeller drive, such as high operating noise, obvious running traces that easily affect environmental surveys and lead to self-exposure; and the drawbacks of using internal combustion engines or electric motors with multi-stage transmission structures, such as large size and weight of the drive device, high energy loss in the transmission links, and low energy conversion efficiency. Furthermore, propellers easily generate a large number of bubbles in water, causing cavitation and resulting in high equipment maintenance and repair costs. This invention innovatively proposes a turbine-type ultrasonic underwater actuator, driving method, and robot. Through optimized structural design, it effectively excites the torsional mode of the piezoelectric ceramic in the underwater turbine-type ultrasonic drive unit, thereby driving the turbine configuration to vibrate.

[0018] In an aquatic environment, the high-frequency ultrasonic waves generated by the turbine-type underwater ultrasonic actuator propagate backward in a spiral pattern through water, exhibiting strong directivity. The interaction between the sound waves and the water generates stable thrust, propelling the vessel forward smoothly. During operation, the vibrating body of the underwater turbine-type ultrasonic actuator exhibits no significant mechanical displacement, does not generate bubbles, and maintains a regular and orderly water flow, leaving no obvious navigational traces on the water surface. Simultaneously, the sound waves form a sound pressure field underwater through the water medium, without creating noticeable ripples on the surface.

[0019] This invention effectively solves the technical problems of high operating noise and obvious navigation traces of traditional surface robots, realizing silent and traceless stealth movement, significantly improving energy utilization efficiency, reducing maintenance costs, and powerfully promoting the application and development of surface robots in environmental monitoring, unmanned reconnaissance and other fields.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0021] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0022] Figure 1 A schematic diagram of an underwater turbine-type ultrasonic drive unit according to one embodiment; Figure 2 One embodiment of the underwater ultrasonic actuator unit is a torsional piezoelectric ceramic vibration mode; Figure 3 The image shows a finite element simulation diagram of an underwater turbine-type ultrasonic drive unit according to one embodiment, where (a) is a sound pressure diagram and (b) is a streamline diagram. Figure 4 This is an assembly drawing of an embodiment of an ultrasonic surface robot; Figure 5 An isometric view of an embodiment of an ultrasonic surface robot.

[0023] Among them, 1. Forward rotating turbine type ultrasonic drive unit; 11. Aluminum alloy turbine vibrator; 12. Torsional piezoelectric ceramic; 2. Reverse turbine type ultrasonic drive unit; 3. Waterproof switch; 4. Hatch cover; 5. Drive control circuit; 6. Lithium battery; 7. Catamaran hull. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0026] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0027] Where there is no conflict, the embodiments and features described in this application may be combined with each other.

[0028] Example 1 This embodiment uses piezoelectric ceramics as the core driving element, but it achieves significant innovation in working mechanism. It uses torsional piezoelectric ceramics as vibration source, and in conjunction with turbine structure, it excites high-frequency ultrasonic waves in the kHz band in water. The ultrasonic waves in this band are coupled with the water body to generate stable underwater propulsion.

[0029] like Figure 1 As shown, the underwater turbine-type ultrasonic drive unit in this example consists of an aluminum alloy turbine vibrator 11 and a torsional piezoelectric ceramic 12. The torsional piezoelectric ceramic is an 8-part spliced ​​ring structure, and the overall drive unit operates at a frequency of 348.27kHz.

[0030] The underwater turbine-type ultrasonic drive unit can be either a forward-rotating turbine-type ultrasonic drive unit 1 or a reverse-rotating turbine-type ultrasonic drive unit 2. The turbine arrangement directions of the aluminum alloy turbine vibrators 11 in the two turbine-type ultrasonic drive units are opposite.

[0031] The annular center of the torsional piezoelectric ceramic 12 and the center of the aluminum alloy turbine vibrator 11 are on the same axis. The aluminum alloy turbine vibrator 11 is located at the rear end of the torsional piezoelectric ceramic 12. Figure 3 As shown, when a synchronous excitation voltage is applied to the torsional piezoelectric ceramic, it can be excited to generate torsional modal vibration. The torsional piezoelectric ceramic 12 and the aluminum alloy turbine vibrator 11 are connected by an adhesive bonding method, with the contact surfaces being tight and gapless.

[0032] In this embodiment, regarding the detailed settings of the aluminum alloy turbine vibrator and the torsional piezoelectric ceramic, the diameter of the turbine vibrator is 30mm, the helical pitch is 50mm, the number of turns is 0.5, the torsional piezoelectric ceramic is model P51, the thickness is 2mm, it is spliced ​​in eight equal parts, has a circular ring structure, an outer diameter of 30mm, and an inner diameter of 15mm.

[0033] In this embodiment, the torsional piezoelectric ceramic 12 is selected from existing specifications with relatively stable processes. The diameter of the aluminum alloy turbine vibrator 11 is consistent with the outer diameter of the torsional piezoelectric ceramic 12 to ensure effective contact between the outer edge of the ceramic, i.e. the position with the greatest torque contribution, and the aluminum alloy turbine vibrator. Then, by changing the number of blades, the helical pitch, and the overall length, the outlet flow rate behind the drive unit under different sizes is analyzed, and the size with the largest flow rate is selected.

[0034] like Figure 3 As shown, the diameter and thickness of the torsional piezoelectric ceramic 12, as well as the pitch and angle of the aluminum alloy turbine vibrator 11, can be determined through finite element simulation diagrams according to requirements.

[0035] Similarly, in different embodiments, the shape or parameters of the underwater turbine-type ultrasonic actuator can be changed according to requirements, such as using piezoelectric ceramics of different thicknesses, using aluminum alloy turbine vibrators of different lengths, diameters, and pitches, or using higher-order torsional modes.

[0036] In this embodiment, as Figure 3 As shown, an acoustic-fluid coupling simulation of ultrasonic waves in water at this frequency band was performed. (a) is a sound pressure level image, in which it can be seen that the sound pressure at the center is significantly higher than that on both sides, indicating strong directionality of the sound wave. (b) is a fluid streamline image, showing that the sound wave at this frequency band can generate a vortex-shaped high-speed water flow behind it, producing a strong thrust on the water.

[0037] like Figure 4 As shown, the overall structure of the turbine-type ultrasonic surface robot in this embodiment includes a catamaran hull 7. A forward-rotating turbine-type ultrasonic drive unit 1 and a reverse-rotating turbine-type ultrasonic drive unit 2 are located at the stern of the catamaran hull 7. A hatch 4 is located on the catamaran hull 7, and a waterproof switch 3 is located on the hatch 4. A drive control circuit 5 is located inside the catamaran hull 7. A lithium battery 6 is used to provide power to the drive control circuit 5, and the waterproof switch 3 is used to control the operation of the drive control circuit 5 or the lithium battery 6. In this embodiment, two independent turbine-type ultrasonic drive units, the forward-rotating turbine-type ultrasonic drive unit 1 and the reverse-rotating turbine-type ultrasonic drive unit 2, are symmetrically arranged on both sides of the catamaran stern to provide thrust for the robot's movement on the water surface.

[0038] In some embodiments, two lithium batteries 6 are placed inside each of the catamaran hulls to power the entire machine; the catamaran hull 7 and the hatch 4 cooperate to form a sealed space, inside which a drive control circuit 5 is installed; a waterproof switch 3 is installed on the top of the hatch 4 to control the power supply to the drive control circuit and the lithium batteries 6, thereby realizing the start-stop control of the entire machine. Figure 5 As shown, the turbine-type ultrasonic surface robot in this example has a catamaran-type shell structure.

[0039] The working method of the turbine-type ultrasonic robot described above includes the following steps: The turbine-type ultrasonic underwater actuator is powered by a drive and control circuit installed inside the catamaran hull. In an aquatic environment, the turbine-type ultrasonic underwater actuator generates high-frequency ultrasonic waves that propagate backward in a spiral pattern through water. The sound waves interact with the water to generate stable thrust, propelling the hull forward smoothly.

[0040] In this embodiment, the forward and reverse rotations are because the turbine structure is designed with reference to a propeller. This configuration generates not only a backward force but also a lateral force. The forward and reverse rotation arrangement can counteract the lateral force. When both are driven simultaneously, the drive voltage is finely adjusted to ensure that the final resultant force is backward, thus completing the linear motion. Starting a single drive unit can achieve turning motion in the corresponding direction.

[0041] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made by those skilled in the art without creative effort within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A turbine-type ultrasonic underwater actuator, characterized in that, It includes several turbine-type ultrasonic driving units. Each turbine-type ultrasonic driving unit includes a turbine vibrator and a torsional piezoelectric ceramic. The torsional piezoelectric ceramic is a ring structure with n equal parts spliced ​​together, where n is a positive integer. The turbine vibrator is located at the rear end of the torsional piezoelectric ceramic, and the central axis of the turbine vibrator is coaxial with the central axis of the torsional piezoelectric ceramic.

2. The turbine-type ultrasonic underwater actuator as described in claim 1, characterized in that, The turbine-type ultrasonic drive unit includes two units, and the turbine vibrators of the two turbine-type ultrasonic drive units rotate in opposite directions.

3. The turbine-type ultrasonic underwater actuator as described in claim 1, characterized in that, The torsion piezoelectric ceramic has an 8-part, spliced ​​ring structure.

4. The turbine-type ultrasonic underwater actuator as described in claim 1, characterized in that, The turbine vibrator is made of aluminum alloy, and the diameter of the turbine vibrator is consistent with the outer diameter of the torsional piezoelectric ceramic, ensuring effective contact between the outer edge of the torsional piezoelectric ceramic, i.e. the position with the greatest torque contribution, and the turbine vibrator.

5. A turbine-type ultrasonic underwater actuator as described in claim 1, characterized in that, When the same frequency excitation voltage is applied to the torsional piezoelectric ceramic, it is excited to generate torsional mode vibration.

6. A turbine-type ultrasonic robot, characterized in that, The device includes a catamaran hull, and a turbine-type ultrasonic underwater actuator as described in any one of claims 1-5 is provided at the stern of the catamaran hull. The actuator includes two turbine-type ultrasonic drive units, one of which is a forward-rotating turbine-type ultrasonic drive unit and the other is a reverse-rotating turbine-type ultrasonic drive unit. A drive control circuit is provided inside the catamaran hull for applying a synchronous excitation voltage to the turbine-type ultrasonic underwater actuator. The drive control circuit is controlled by a switch.

7. A turbine-type ultrasonic robot as described in claim 6, characterized in that, The catamaran is equipped with a hatch on its hull, and the switch is located on the hatch.

8. A turbine-type ultrasonic robot as described in claim 6, characterized in that, The catamaran is equipped with a power source that provides power to the drive control circuit and switches.

9. A turbine-type ultrasonic robot as described in claim 6, characterized in that, The forward-rotating turbine-type ultrasonic drive unit and the reverse-rotating turbine-type ultrasonic drive unit are symmetrically arranged on both sides of the stern of the catamaran hull, and the turbine vibrators of the forward-rotating turbine-type ultrasonic drive unit and the reverse-rotating turbine-type ultrasonic drive unit rotate in opposite directions.

10. The method of operating the turbine-type ultrasonic robot as described in any one of claims 6-9, characterized in that, Includes the following steps: The turbine-type ultrasonic underwater actuator is powered by a drive and control circuit installed inside the catamaran hull. In an aquatic environment, the turbine-type ultrasonic underwater actuator generates high-frequency ultrasonic waves that propagate backward in a spiral pattern through water. The sound waves interact with the water to generate stable thrust, propelling the hull forward smoothly.

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