Water surface robot based on ring type thin plate vibration direct drive and excitation method thereof

Abstract

The application discloses a water surface robot based on ring type thin plate vibration direct drive and an excitation method thereof, relates to the technical field of micro water surface robots, and realizes multidirectional linear motion and bidirectional rotary motion in a water surface environment.The application comprises a ring type water surface driving module and a central control module; the ring type water surface driving module comprises a ring type thin plate and four vibration excitation elements; the central control module is located at the ring core position of the ring type thin plate and is connected through four flexible connection structures, and the overall structure is centrally symmetrical.Under different combination excitation modes of the four vibration excitation elements, the ring type thin plate presents different standing waves or vibration deformations with traveling wave characteristics, and different linear or rotary motion modes are generated through fluid-solid coupling with the water surface. The cooperation of multiple excitation sources realizes high degree of freedom and high robustness of water surface motion capability, the overall structure is compact, and the control mode is simple, and the application has good application potential in reconnaissance and detection operation tasks in a water area environment.

Description

Technical Field

[0001] This invention belongs to the field of small robots, specifically relating to a surface robot based on direct vibration drive of a ring-shaped thin plate and its excitation method. Background Technology

[0002] Due to their advantages such as flexible movement, compact structure, and strong environmental adaptability, miniature aquatic robots are playing an increasingly important role in tasks related to the development and protection of aquatic environments; they especially demonstrate unique advantages in complex and narrow aquatic spaces, and have become a hot topic in the field of robotics research.

[0003] Currently, the driving methods for micro-sized aquatic robots can be mainly divided into two categories: one is the traditional driving method using electromagnetic motors, such as propeller driving and jet driving; the other is the novel driving method using functional materials, such as wave driving based on magnetic fields and oscillation driving based on photosensitive materials. However, the actuators or control methods of these driving methods are generally quite complex. Due to limitations such as the size of the micro-sized aquatic robot itself and the manufacturing cost, the driving systems equipped on these aquatic robots are generally relatively simple. To achieve multi-degree-of-freedom aquatic movement, good coordination between multiple components is required. If any component fails, the entire robot will lose its multi-degree-of-freedom movement capability in the aquatic environment, making it difficult to continue performing tasks and unable to recover itself.

[0004] In summary, existing micro-sized surface robots suffer from low mobility and weak robustness of their drive structures. To address this, this invention provides a surface robot based on direct vibration drive of a ring-shaped thin plate and its excitation method. Summary of the Invention

[0005] To achieve multi-degree-of-freedom and highly robust motion of robots in aquatic environments, this invention proposes an aquatic robot based on direct drive of a ring-shaped thin plate vibration and its excitation method.

[0006] One of the above-mentioned objectives of the present invention is achieved by the following technical solution: A water surface robot based on direct vibration drive of a ring-shaped thin plate is disclosed. The water surface robot has a centrally symmetrical structure and includes a ring-shaped water surface drive module and a central control module. The central control module is located at the center of the ring-shaped water surface drive module, and the central control module and the ring-shaped water surface drive module are connected by a flexible connection structure. The annular water surface drive module includes vibration excitation element A, vibration excitation element B, vibration excitation element C, vibration excitation element D, and an annular thin plate; the four vibration excitation elements are evenly distributed circumferentially on the lower surface of the annular thin plate and are fixedly connected to the annular thin plate. The central control module has a streamlined overall appearance and includes a control module shell, an integrated control unit, and a power supply unit. The integrated control unit and the power supply unit are fixedly installed in the inner cavity of the control module shell. Four control signal output interfaces are evenly distributed along the circumference of the control module shell to transmit the control signals output by the integrated control unit to the corresponding vibration excitation elements.

[0007] Furthermore, the vibration excitation elements A, B, C, and D have completely identical structural and dimensional characteristics. Each of the four vibration excitation elements includes an upper housing, an eccentric rotating mass motor, and a lower housing. The upper housing and the lower housing are fastened together, and the eccentric rotating mass motor is installed in the internal space formed by the upper housing and the lower housing. The eccentric rotating mass motor has an excitation end at the eccentric mass end and a signal input end at the reverse end. The rotation axis of the eccentric rotating mass motor is along the radial direction of the annular thin plate, with the signal input end closer to the inner ring and the excitation end closer to the outer ring. An opening is provided on the lower housing of the vibration excitation element to provide signal input.

[0008] Furthermore, the control module housing adopts a three-layer structure, including an upper control module housing, a middle control module housing, and a lower control module housing; the upper control module housing, the middle control module housing, and the lower control module housing are sequentially and sealed together vertically from top to bottom; four circumferentially distributed connecting slots are provided on the top of the middle control module housing.

[0009] Furthermore, the inner ring of the annular thin plate extends inward at the corresponding positions of each vibration excitation element and is provided with a flexible connection structure; the inner ends of the four flexible connection structures are respectively embedded into the four connection slots on the top of the intermediate shell of the control module and fixedly connected.

[0010] The second objective of this invention is achieved through the following technical solution: An excitation method for a surface robot based on direct vibration drive of a ring-shaped thin plate, as described above, involves selectively exciting vibration excitation elements A, B, C, and D arranged on the ring-shaped thin plate. By adjusting the number, relative position, and direction of the excitation elements, the vibration deformation mode of the ring-shaped thin plate and the water surface flow field distribution are changed, causing the surface robot to produce linear or rotational motion. The number of vibration excitation elements can be adjusted from 1 to 4. The relative positional relationship of vibration excitation elements includes adjacent or relative positions; The excitation direction of the vibration excitation element includes clockwise rotation and counterclockwise rotation of the eccentric rotating mass motor.

[0011] Furthermore, by exciting any single vibration excitation element and controlling the eccentric rotating mass motor of that vibration excitation element to rotate continuously clockwise or counterclockwise, the water surface robot is driven to perform bidirectional rotational motion on the water surface.

[0012] Furthermore, when any single vibration excitation element is excited and the rotation direction of the eccentric rotating mass motor is periodically adjusted, the surface robot is driven to perform bidirectional linear motion along the rotation axis of the eccentric rotating mass motor within the vibration excitation element.

[0013] Furthermore, by exciting any two adjacent vibration excitation elements and controlling the two vibration excitation elements to rotate in opposite directions, the water surface robot is driven to perform bidirectional linear motion on the water surface along the straight line containing the angle bisector of the two adjacent double vibration excitation elements.

[0014] Furthermore, by exciting any two opposing vibration excitation elements and controlling them to rotate in the same direction, the surface robot is driven to perform bidirectional rotational motion.

[0015] The advantages and positive effects of this invention are as follows: 1. This invention proposes a water surface robot based on direct vibration drive of a ring-shaped thin plate. It uses a single ring-shaped thin plate in conjunction with four vibration excitation elements to achieve multi-degree-of-freedom motion on the water surface. The structure is simple and compact, the motion mode is flexible, and through the integrated design of the control system, it achieves wireless beam-controlled motion.

[0016] 2. This invention provides an excitation method for a water surface robot based on direct vibration drive of a ring-shaped thin plate. It utilizes four independent vibration excitation elements and employs different excitation methods to realize linear and rotational motion in the water surface environment. Furthermore, it has multiple alternative excitation methods for the same motion mode and can maintain multi-degree-of-freedom motion capability even when some vibration excitation elements fail, thereby improving the robot's motion robustness. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a three-dimensional structural diagram of the water surface robot based on direct vibration drive of a ring-shaped thin plate proposed in this invention; Figure 2 These are bottom views of the annular water surface drive module and structural diagram of the vibration excitation element of the water surface robot based on the direct drive of annular thin plate vibration proposed in this invention; (a) is a three-dimensional exploded view of the vibration excitation element, and (b) is a bottom view of the annular water surface drive module. Figure 3 This is a cross-sectional view of the central control module of the water surface robot based on direct drive of ring-shaped thin plate vibration proposed in this invention; Figure 4 This is a schematic diagram illustrating the control of the water surface flow field by different rotation directions of the vibration excitation element of the water surface robot based on the direct drive of a ring-shaped thin plate vibration, as proposed in this invention. Figure 5 This is a schematic diagram of a single-excitation-source linear excitation method for a water surface robot based on direct vibration drive of a ring-shaped thin plate, as described in this invention; wherein, (a) is the excitation of vibration excitation element A alone; (b) is the excitation of vibration excitation element B alone; (c) is the excitation of vibration excitation element C alone; and (d) is the excitation of vibration excitation element D alone. Figure 6 This is a schematic diagram of the deformation characteristics of the annular thin plate during positive linear motion of the water surface robot based on direct drive of annular thin plate vibration, as described in this invention. Figure 7 This is a schematic diagram of the deformation characteristics of the annular thin plate during reverse linear motion of the water surface robot based on the vibration direct drive of the annular thin plate described in this invention. Figure 8 This is a schematic diagram of the adjacent dual-excitation source linear motion excitation method for a water surface robot based on direct drive of ring-shaped thin plate vibration, as described in this invention. In this diagram, (a) vibration excitation element A and vibration excitation element B are simultaneously excited; (b) vibration excitation element B and vibration excitation element C are simultaneously excited; (c) vibration excitation element A and vibration excitation element D are simultaneously excited; and (d) vibration excitation element C and vibration excitation element D are simultaneously excited. Figure 9 This is a schematic diagram of the deformation characteristics of the annular thin plate during positive linear motion excited by adjacent dual excitation sources of the water surface robot based on the vibration direct drive of the annular thin plate described in this invention. Figure 10 This is a schematic diagram of the deformation characteristics of the annular thin plate during the reverse linear motion of the water surface robot based on the vibration direct drive of the annular thin plate according to the present invention. Figure 11This is a schematic diagram of the relative dual-excitation source water surface rotation motion excitation method for a water surface robot based on direct drive of ring-shaped thin plate vibration, as described in this invention; wherein, (a) vibration excitation element A and vibration excitation element C are simultaneously excited; (b) vibration excitation element B and vibration excitation element D are simultaneously excited; (c) vibration excitation element A and vibration excitation element C are simultaneously excited in opposite directions; and (d) vibration excitation element B and vibration excitation element D are simultaneously excited in opposite directions. Figure 12 This refers to the deformation characteristics of the annular thin plate during the relative dual-excitation source excitation rotational motion of the water surface robot based on the direct drive of annular thin plate vibration, as described in this invention. Among them: 1. Ring-shaped water surface drive module, 1-1. Vibration excitation element A, 1-1-1. Upper shell of vibration excitation element, 1-1-2. Eccentric rotary mass motor, 1-1-3. Lower shell of vibration excitation element, 1-2. Vibration excitation element B, 1-3. Vibration excitation element C, 1-4. Vibration excitation element D, 1-5. Ring-shaped thin plate, 2. Central control module, 2-1. Upper shell of control module, 2-2. Middle shell of control module, 2-3. Lower shell of control module, 2-4. Integrated control unit, 2-5. Power supply unit. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the specific implementation methods of the present invention will be further described in detail below with reference to the accompanying drawings. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Specific implementation method one: This embodiment provides a surface robot based on direct vibration drive of a ring-shaped thin plate, combined with... Figures 1 to 3 This embodiment is described. The water surface robot based on direct drive of ring-shaped thin plate vibration is as follows: Figure 1 As shown, it includes a ring-shaped water surface drive module 1 and a central control module 2. The central control module 2 is located at the center of the inner ring of the ring-shaped water surface drive module 1, and the two are connected by a flexible structure. The water surface robot has a flat appearance and an overall centrally symmetrical structure, which results in a uniform mass distribution, which is beneficial to improving the robot's motion stability in the water surface environment.

[0021] like Figure 2As shown, the annular water surface drive module 1 includes vibration excitation element A1-1, vibration excitation element B1-2, vibration excitation element C1-3, vibration excitation element D1-4, and annular thin plate 1-5; the four vibration excitation elements are evenly distributed along the circumference of the annular thin plate 1-5, forming a centrally symmetrical arrangement, and are respectively fixedly installed on the lower surface of the annular thin plate 1-5 by adhesive bonding.

[0022] The inner ring of the annular thin plate 1-5 extends inward at the corresponding positions of each vibration excitation element and is provided with a flexible connection structure. The flexible connection structure can be a rectangular flexible connection structure as shown in the attached figure. The inner and outer contours of the annular thin plate 1-5 are circular, but can also be designed as elliptical, polygonal, or other centrally symmetrical shapes as required.

[0023] like Figure 3 As shown, the central control module 2 has a streamlined overall shape to reduce fluid resistance encountered by the robot during water movement. The central control module 2 includes a control module housing, an integrated control unit 2-4, and a power supply unit 2-5. The control module housing adopts a three-layer structure design, including an upper housing 2-1, a middle housing 2-2, and a lower housing 2-3. The upper housing 2-1, middle housing 2-2, and lower housing 2-3 are connected vertically from top to bottom and interlock to form a sealed cavity. Positioning structures are provided at the connecting edges. The connections between the structures are sealed with waterproof silicone or similar materials to improve the waterproof performance of the central control module 2. The top of the control module intermediate shell 2-2 is provided with four circumferentially distributed connecting slots. These four connecting slots connect to the inner ends of four flexible connecting structures on the inner ring of the connecting annular thin plate 1-5. This flexible connection method avoids excessive restriction on the vibration of the annular thin plate 1-5 and achieves vibration isolation between it and the central control module 2. The annular thin plate is made of isotropic, uniform material with a thickness between 0.1 and 1 mm. The control module intermediate shell 2-2 has four control signal output interfaces around its perimeter, used to transmit control signals output from the integrated control unit 2-4 to the corresponding vibration excitation elements. The upper shell 2-1 of the control module further secures and encloses the structure.

[0024] The integrated control unit 2-4 and the power supply unit 2-5 are arranged in the internal cavity of the control module housing; wherein, the power supply unit 2-5 provides power to each vibration excitation element and the integrated control unit 2-4, and can use rechargeable lithium batteries of different capacities according to the endurance requirements, and the integrated control unit 2-4 can realize independent control of different vibration excitation elements.

[0025] like Figure 2As shown, the vibration excitation elements A1-1, B1-2, C1-3 and D1-4 have the same structure and size characteristics and are rectangular in appearance.

[0026] Taking vibration excitation element A as an example, vibration excitation element A includes an upper housing 1-1-1, an eccentric rotating mass motor 1-1-2, and a lower housing 1-1-3. The upper housing 1-1-1 and the lower housing 1-1-3 are interlocked to form an internal space for accommodating the eccentric rotating mass motor 1-1-2, and are sealed and bonded at the external connection points.

[0027] The eccentric rotating mass motor 1-1-2 has its eccentric mass located at one end as the excitation end and the other end as the signal input end. The rotation axis of the eccentric rotating mass motor 1-1-2 is along the radial direction of the annular thin plate 1-5, with the signal input end closer to the inner ring and the excitation end closer to the outer ring. An opening is provided on the lower housing 1-1-3 of the vibration excitation element at the position corresponding to the signal input end, serving as the input channel for the motor drive control circuit. This opening is connected to the integrated control unit 2-4 through interfaces located around the intermediate housing 2-2 of the control module.

[0028] The four vibration excitation elements are distributed along the circumference of the annular thin plate 1-5, and the included angle between two adjacent vibration excitation elements is 90°. The four vibration excitation elements can respectively apply periodic vibration excitation to the annular thin plate 1-5, thereby exciting different vibration deformations of the annular thin plate 1-5. Specific Implementation Method Two: This embodiment provides an excitation method for a surface robot based on direct drive of ring-shaped thin plate vibration, combined with... Figures 4 to 11 This embodiment describes how vibration excitation elements A1-1, B1-2, C1-3, and D1-4, arranged on a ring-shaped thin plate, are selectively excited. By adjusting the number of excitation elements, their relative positions, and their excitation directions, the vibration deformation mode of the ring-shaped thin plate 1-5 and the water surface flow field distribution are changed, thereby causing the water surface robot to produce linear or rotational motion. Wherein: The number of vibration excitation elements is 1 to 4; The positional relationship of the vibration excitation elements includes adjacent or relative positions; The excitation direction of the vibration excitation element includes clockwise rotation and counterclockwise rotation of the eccentric rotary mass motor 1-1-2; like Figure 4As shown, the excitation direction of the vibration excitation element has different regulating effects on the water surface flow field, thereby generating propulsion forces in different directions. The clockwise rotation of the eccentric rotating mass motor 1-1-2 is marked as a clockwise arrow in the top view, which generates jet enhancement on one side of the water surface flow field. The counterclockwise rotation of the eccentric rotating mass motor 1-1-2 is marked as a counterclockwise arrow in the top view, which generates jet enhancement on the other side of the water surface flow field.

[0030] like Figure 5 As shown, when driven by a single vibration excitation element, both bidirectional rotational motion and bidirectional linear motion on the water surface can be achieved; specifically: The single vibration excitation element refers to any one of vibration excitation element A1-1, vibration excitation element B1-2, vibration excitation element C1-3, and vibration excitation element D1-4. During the movement, the other vibration excitation elements are in a stopped state.

[0031] Taking the vibration excitation element A1-1 as an example, the excitation method for bidirectional rotational motion on the water surface is explained. The bidirectional rotational motion on the water surface is achieved by adjusting the excitation direction of the vibration excitation element A1-1. When the eccentric rotating mass motor 1-1-2 receives a control signal and continues to rotate in a certain direction, the annular thin plate 1-5 produces asymmetrical deformation, thereby exciting a stable biased jet on the water surface and realizing the robot's rotational motion on the water surface. When the eccentric rotating mass motor 1-1-2 changes its rotation direction, the bias direction of the jet generated by the annular thin plate 1-5 changes accordingly, so that the robot obtains a rotational driving force in the opposite direction.

[0032] Taking the vibration excitation element A1-1 as an example, the excitation method for bidirectional linear motion on the water surface is explained. The linear motion on the water surface is achieved by the periodic switching of the excitation direction of the vibration excitation element A1-1. When the eccentric rotating mass motor 1-1-2 receives the control signal and generates a periodically alternating vibration excitation, the biased jets generated by the annular thin plate 1-5 cancel each other out and generate a drive along the straight line direction of the vibration excitation element A1-1, thereby realizing the linear motion of the robot on the water surface. When the vibration excitation element A1-1 generates vibration excitation, the annular thin plate 1-5 can produce two deformation modes: like Figure 6 As shown, in the first deformation mode, the deformation of the annular thin plate 1-5 in the proximal region near the vibration excitation element 1-1 is dominant, while the deformation in the region far from the vibration excitation element 1-1 is relatively small; at this time, the robot can generate positive linear motion.

[0033] like Figure 7As shown, in the second deformation mode, the deformation of the annular thin plate 1-5 in the far end region away from the vibration excitation element 1-1 is dominant, while the deformation in the near end region close to the vibration excitation element 1-1 is relatively small; at this time, the robot can generate reverse linear motion.

[0034] Vibration excitation elements B1-2, C1-3, and D1-4 can all be controlled in the same way as vibration excitation element A1-1; excitation of any single vibration excitation element can achieve bidirectional rotational motion and bidirectional linear motion along the direction of the long side of the vibration excitation element.

[0035] like Figure 8 As shown, when driven by adjacent dual vibration excitation elements, bidirectional linear motion on the water surface can be achieved.

[0036] Taking vibration excitation element A1-1 and vibration excitation element D1-4 as examples, when the adjacent dual vibration excitation elements are driven simultaneously, adjusting the control signal to make the excitation directions of the adjacent vibration excitation elements opposite can excite two deformation modes of the annular thin plate respectively.

[0037] like Figure 9 As shown, in the first deformation mode, the deformation of the annular thin plate 1-5 in the middle region between the vibration excitation element A1-1 and the vibration excitation element D1-4 is dominant, while the deformation in the opposite region is relatively small; at this time, the robot can achieve positive linear motion along the direction of the angle bisector of the adjacent double vibration excitation elements. like Figure 10 As shown, in the second deformation mode, the deformation of the annular thin plate 1-5 in the middle region between the vibration excitation element A1-1 and the vibration excitation element D1-4 is small, while the deformation generated in the reverse region is dominant; at this time, the robot can achieve reverse linear motion along the direction of the angle bisector of the adjacent double vibration excitation elements.

[0038] Other adjacent dual vibration excitation element combinations, including vibration excitation element A1-1 and vibration excitation element B1-2, vibration excitation element B1-2 and vibration excitation element C1-3, and vibration excitation element C1-3 and vibration excitation element D1-4, can all be controlled in the same way. Excitation of any group can achieve bidirectional movement along the straight line where the angle bisector of the adjacent dual vibration excitation elements is located.

[0039] By combining the above-mentioned single vibration excitation element with adjacent dual vibration excitation elements, the water surface robot can obtain linear motion in at least eight different directions.

[0040] like Figure 11 As shown, when driven by a dual-vibration excitation element, bidirectional rotational motion of the water surface can be achieved.

[0041] like Figure 12 As shown, taking vibration excitation element A1-1 and vibration excitation element C1-3 as examples, when the two relative vibration excitation elements are driven simultaneously, the control signal is adjusted so that the excitation directions of the relative vibration excitation elements are the same, which can excite the annular thin plate to form circumferential vibration deformation with traveling wave characteristics, thereby enabling the robot to achieve rotational motion on the water surface; when the excitation directions of vibration excitation element A1-1 and vibration excitation element C1-3 are changed at the same time, the rotational motion direction of the robot on the water surface also changes accordingly.

[0042] The relative dual vibration excitation elements include vibration excitation element A1-1 and vibration excitation element C1-3, vibration excitation element B1-2 and vibration excitation element D1-4.

[0043] In summary, the water surface robot and its excitation method based on direct vibration drive of a ring-shaped thin plate proposed in this invention adopt a basic structure of a single ring-shaped thin plate and multiple vibration excitation elements. By combining and controlling the number, positional relationship, and excitation direction of the vibration excitation elements, the linear and rotational motion of the water surface robot can be realized without changing the overall mechanical structure of the robot. The robot achieves linear motion in eight directions on the water surface and bidirectional rotational motion, and there are multiple excitation methods for different motion modes. The water surface robot with direct vibration drive of the ring-shaped thin plate proposed in this invention has advantages such as high motion flexibility, compact structure, simple control method, and strong robustness, and shows good application potential in environmental reconnaissance, information detection and other related tasks.

[0044] The above provides a detailed description of the surface robot based on direct vibration drive of a ring-shaped thin plate and its excitation method proposed in this invention. The principles and implementation methods of this invention have been explained. The above description of the implementation methods is only for the purpose of helping to understand the method and core ideas of this invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A surface robot based on direct vibration drive of a ring-shaped thin plate, characterized in that: The water surface robot has a centrally symmetrical structure, including a ring-shaped water surface drive module (1) and a central control module (2); the central control module (2) is located at the center of the ring-shaped water surface drive module (1), and the central control module (2) and the ring-shaped water surface drive module (1) are connected by a flexible connection structure. The annular water surface drive module (1) includes vibration excitation element A (1-1), vibration excitation element B (1-2), vibration excitation element C (1-3), vibration excitation element D (1-4) and an annular thin plate (1-5); the four vibration excitation elements are evenly distributed circumferentially on the lower surface of the annular thin plate (1-5) and are fixedly connected to the annular thin plate. The central control module (2) has a streamlined overall appearance and includes a control module shell, an integrated control unit (2-4), and a power supply unit (2-5). The integrated control unit (2-4) and the power supply unit (2-5) are fixedly installed in the inner cavity of the control module shell. Four control signal output interfaces are evenly distributed along the circumference on the control module shell to transmit the control signals output by the integrated control unit (2-4) to the corresponding vibration excitation element.

2. The surface robot based on direct drive of ring-shaped thin plate vibration according to claim 1, characterized in that: The vibration excitation elements A (1-1), B (1-2), C (1-3), and D (1-4) have the same structure and size characteristics. Each of the four vibration excitation elements includes an upper housing (1-1-1), an eccentric rotary mass motor (1-1-2), and a lower housing (1-1-3). The upper housing (1-1-1) and the lower housing (1-1-3) are fastened together. The eccentric rotary mass motor (1-1-2) is installed in the internal space formed by the upper housing (1-1-1) and the lower housing (1-1-3). The eccentric rotating mass motor (1-1-2) has an excitation end at the eccentric mass end and a signal input end at the other end. The rotation axis of the eccentric rotating mass motor (1-1-2) is along the radial direction of the annular thin plate (1-5), with the signal input end closer to the inner ring and the excitation end closer to the outer ring. An opening is provided on the lower housing (1-1-3) of the vibration excitation element to provide signal input.

3. The surface robot based on direct drive of ring-shaped thin plate vibration according to claim 1, characterized in that: The control module housing adopts a three-layer structure, including an upper control module housing (2-1), a middle control module housing (2-2), and a lower control module housing (2-3); the upper control module housing (2-1), the middle control module housing (2-2), and the lower control module housing (2-3) are sealed and connected vertically from top to bottom; four circumferentially distributed connecting slots are provided on the top of the middle control module housing (2-2).

4. The surface robot based on direct drive of ring-shaped thin plate vibration according to claim 3, characterized in that: The inner ring of the annular thin plate (1-5) extends inward at the corresponding positions of each vibration excitation element and is provided with a flexible connection structure; the inner ends of the four flexible connection structures are respectively embedded into the four connection slots on the top of the control module intermediate shell (2-2) and fixedly connected.

5. An excitation method for a surface robot based on direct drive of ring-shaped thin plate vibration as described in claim 2, characterized in that: Selective excitation is applied to vibration excitation elements A (1-1), B (1-2), C (1-3), and D (1-4) arranged on a ring-shaped thin plate. By adjusting the number of excitation elements, their relative positions, and the excitation direction, the vibration deformation mode of the ring-shaped thin plate (1-5) and the water surface flow field distribution are changed, causing the water surface robot to produce linear or rotational motion; wherein: The number of vibration excitation elements can be adjusted from 1 to 4. The relative positional relationship of vibration excitation elements includes adjacent or relative positions; The excitation direction of the vibration excitation element includes clockwise and counterclockwise rotation of the eccentric rotating mass motor (1-1-2).

6. The excitation method for a surface robot based on direct drive of ring-shaped thin plate vibration according to claim 5, characterized in that: When any single vibration excitation element is excited, and the eccentric rotating mass motor (1-1-2) of the vibration excitation element is controlled to rotate continuously clockwise or counterclockwise, the water surface robot is driven to perform bidirectional rotational motion on the water surface.

7. The excitation method for a surface robot based on direct drive of ring-shaped thin plate vibration according to claim 5, characterized in that: When any single vibration excitation element is excited and the rotation direction of the eccentric rotating mass motor (1-1-2) is periodically adjusted, the water surface robot is driven to make bidirectional linear motion along the rotation axis of the eccentric rotating mass motor (1-1-2) inside the vibration excitation element.

8. The excitation method for a surface robot based on direct drive of ring-shaped thin plate vibration according to claim 5, characterized in that: When any two adjacent vibration excitation elements are excited and controlled to rotate in opposite directions, the water surface robot is driven to make bidirectional linear motion on the water surface along the straight line where the angle bisector of the two adjacent double vibration excitation elements is located.

9. The excitation method for a surface robot based on direct drive of ring-shaped thin plate vibration according to claim 5, characterized in that: By exciting any two relative vibration excitation elements and controlling them to rotate in the same direction, the surface robot is driven to perform bidirectional rotational motion.

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