CN113772053B - Multi-degree-of-freedom underwater piezoelectric robot with cross structure - Google Patents

Abstract

The invention provides a multi-degree-of-freedom underwater piezoelectric robot with a cross structure, and belongs to the field of underwater robots. The problems of large size, noise, complex structure, high manufacturing cost and the like of the underwater robot in a deep sea structure are solved. The floating and submerging type floating and submerging device comprises a vertical floating and submerging driving module, a horizontal movement driving module, an intermediate connector and a buoyancy adjusting device, wherein the number of the vertical floating and submerging driving module and the number of the horizontal movement driving module are N, N is a positive integer greater than or equal to 2, piezoelectric vibrators and jet flow water spraying ports are arranged on the vertical floating and submerging driving module and the horizontal movement driving module, N connectors are arranged on the periphery of the intermediate connector, the vertical floating and submerging driving module and the horizontal movement driving module correspond to the connectors on the intermediate connector in a one-to-one mode, the vertical floating and submerging driving module and the horizontal movement driving module are fixedly installed on the periphery of the intermediate connector to form a cross structure type, and the buoyancy adjusting device is fixedly connected with the intermediate connector. The device is mainly used for the detection, sampling and other works of underwater resources.

Description

A cross-structure multi-degree-of-freedom underwater piezoelectric robot

technical field

The invention belongs to the field of underwater robots, in particular to a multi-freedom underwater piezoelectric robot with a cross structure.

Background technique

With the increasingly severe situation of land resources development and utilization, especially the low per capita value of land resources in China, the exploration of marine resources has become more and more important. The deep-sea field has extremely rich and diverse natural resources and vast operating space, as well as its political value, economic value, military value and ecological value. It has become a highland for human scientific research and exploration in the 21st century. Underwater robots can carry mechanical arms and electronic products to complete underwater resource detection and sampling, underwater remote control and military reconnaissance, offensive and defensive tasks.

Common underwater robots include rigid body robots and soft body robots. Rigid-body robots are often driven by propellers, the technology is relatively mature, and they have the advantages of strong power and fast speed. However, when propulsion, the rotation of the propellers produces large noise and disturbing bubbles, which is not conducive to the ecological environment of the deep sea and has poor concealment; , the traditional propeller type requires a pressure-resistant shell, which is easily damaged and difficult to miniaturize. Soft robots have better environmental structural adaptability, and their driving methods mainly depend on the smart materials used; generally, there are dielectric elastomers (DE), shape memory alloys (SMA), and shape memory polymers (SMP). The movement of soft robots is often two-dimensional, and the cost is relatively expensive.

Contents of the invention

In order to solve the problems in the prior art, the present invention proposes a cross-structure multi-degree-of-freedom underwater piezoelectric robot.

In order to achieve the above object, the present invention adopts the following technical solutions: a multi-degree-of-freedom underwater piezoelectric robot with a cross structure, which includes a vertical snorkeling drive module, a horizontal motion drive module, an intermediate connector and a buoyancy adjustment device. The number of vertical snorkeling drive modules and horizontal motion drive modules is N, and N is a positive integer greater than or equal to 2. Both the vertical snorkel drive module and the horizontal motion drive module are equipped with piezoelectric vibrator and jet water spray There are N connecting ports on the periphery of the intermediate connecting body, and the vertical snorkeling drive module and the horizontal motion driving module correspond to the connecting ports on the intermediate connecting body one by one, and are fixedly installed on the outer periphery of the intermediate connecting body, forming Cross-structure type, the buoyancy adjustment device is firmly connected with the intermediate connecting body, and the initial floating and sinking state of the underwater piezoelectric robot is controlled by changing the volume of the buoyancy block installed.

Further, the number of the vertical snorkeling driving modules is N, and N is a positive integer greater than or equal to 2, and each vertical snorkeling driving module includes an upper chamber, a first intermediate assembly, a first piezoelectric vibrator and The snorkeling driving case cover, the first piezoelectric vibrator includes a fixed first piezoelectric ceramic and a first vibrating diaphragm, the upper chamber and the snorkeling driving case cover are fixedly connected on both sides of the first intermediate assembly, The first piezoelectric vibrator is fixedly installed between the first intermediate assembly and the snorkeling drive case cover through a non-connector connection.

Furthermore, the number of horizontal motion drive modules is N, and N is a positive integer greater than or equal to 2, and each horizontal motion drive module includes a motion drive front cover, a second piezoelectric vibrator, a second intermediate component, a second Three piezoelectric vibrators and a motion-driven rear case cover, the second piezoelectric vibrator includes a fixed second piezoelectric ceramic and a second vibrating diaphragm, and the third piezoelectric vibrator includes a fixed third piezoelectric ceramic and a third vibrating diaphragm, the motion-driven front cover and the motion-driven rear cover are fixedly connected to both sides of the second intermediate assembly, and the second piezoelectric vibrator is fixedly installed between the motion-driven front cover and the second intermediate Between the components, the third piezoelectric vibrator is fixedly installed between the second intermediate component and the motion-driven rear case cover.

Further, the shell covers of the vertical snorkeling drive module and the horizontal motion drive module are both streamlined in shape, through holes can be opened at any position on the surface, and the inner cavity is a tapered convergent structure.

Furthermore, the buoyancy adjustment device is fixedly installed above the axis of the intermediate connecting body, and buoyancy blocks of different volumes are added to the buoyancy adjustment device and fixedly connected to adjust the overall buoyancy of the underwater piezoelectric robot.

Furthermore, the buoyancy adjustment device includes a connecting rod, a support member, an intermediate circular connecting body and a nut, the bottom end of the connecting rod is tightly connected to the intermediate connecting body through the supporting member, and the upper end and the intermediate circular connecting body are Detachable connection, the top of the middle circular connector is provided with a nut, and the nut is connected to the connecting rod. By adjusting the installation position of the middle circular connector on the connecting rod, the volume of the buoyancy block is changed, and then the underwater piezoelectric robot is controlled. Floating state.

Furthermore, the vertical snorkeling drive module is provided with a first water spray port at the upper and lower positions, which is used for driving the ups and downs of the underwater piezoelectric robot, and the horizontal motion drive module is provided with a second water spray port at the front and rear positions. It is used to drive the underwater piezoelectric robot in the horizontal forward and backward direction.

Furthermore, both the vertical snorkeling drive module and the horizontal motion drive module are equipped with piezoelectric vibrators to apply a voltage signal to the piezoelectric vibrator to cause deformation, so that the volume of the drive module cavity changes, so that in the same jet jet The nozzle completes the suction and discharge action to generate the driving force, and the driving force of the corresponding jet nozzle is controlled by adjusting the voltage, frequency, duty cycle and waveform of the excitation signal of the piezoelectric vibrator, thereby controlling the movement speed of the underwater piezoelectric robot and athletic posture.

Furthermore, by selectively regulating the excitation signal of the piezoelectric vibrator in the vertical snorkeling drive module, the size of the driving force F1 and F2 _of the jet nozzle _on the vertical snorkeling drive module is controlled to coordinate and control the underwater The relationship between the gravity, buoyancy and driving force _of the piezoelectric robot can control the ups and downs of the underwater piezoelectric robot _; When the sum of the buoyancy and the gravity of the piezoelectric robot is greater than the gravity of the piezoelectric robot, the underwater piezoelectric robot can sink; when controlling the driving force F ₁ and F ₂ of the jet nozzle on the vertical snorkeling drive module, the sum of the buoyancy is equal to Under the gravity, the hovering of the underwater piezoelectric robot can be realized; when the driving force F ₁ and F ₂ of the jet nozzle on the vertical snorkeling drive module are controlled to be equal and the sum of the buoyancy is less than the gravity, the underwater pressure can be realized. The sinking of the electric robot; when the driving force F ₁ and F ₂ of the jet nozzle on the vertical snorkeling drive module are controlled to be different but the sum of the buoyancy force is equal to the gravity, the pitch and pitch angle of the underwater piezoelectric robot can be realized It is determined by the difference between driving forces F ₁ and F ₂ .

Furthermore, by selectively regulating the excitation signal of the piezoelectric vibrator in the horizontal motion drive module, and controlling the driving forces F ₃ , F ₄ , F ₅ and F ₆ of the water nozzles on the horizontal motion drive module, the piezoelectric robot can be controlled The state of the horizontal motion; when the driving force F ₃ +F ₅ and F ₄ +F ₆ of the same-side jet nozzle on the control horizontal motion drive module are not equal, the forward and backward of the underwater piezoelectric robot can be realized; when the control The relationship between the driving force F3 and F6, _F4 and _{F5 of} the opposite side jet water nozzle _on the horizontal motion drive module can control the turning radius of the piezoelectric robot; when the driving force of the opposite side jet water nozzle is equal, it can Realize the self-rotating movement of the piezoelectric robot; when the driving forces of the opposite side jet water nozzles are not equal, the turning movement of the piezoelectric robot at a certain angle can be realized.

Compared with the prior art, the beneficial effect of the present invention is: the present invention solves the problems of deep-sea structure size, noise and complex structure, and high manufacturing cost of the underwater robot. The present invention arranges corresponding driving modules with a cross-shaped basic structure, and selectively controls the vibration state of the piezoelectric vibrator in the driving module, so that the motion performance and posture of the robot are more flexible and diverse, and it has a multi-degree-of-freedom motion form. The present invention uses piezoelectric ceramics as the drive unit, which not only has the advantage of being easy to miniaturize, but also can be applied to deep-sea high-voltage environments through simple insulation packaging, without adding a pressure balance unit; and by changing the waveform of the excitation signal of the piezoelectric ceramics and parameters, the motion speed and turning radius of the underwater piezoelectric robot can be controlled. The invention adopts modular design, simple structure, low cost and convenient maintenance.

Description of drawings

Fig. 1 is a structural schematic diagram of a multi-degree-of-freedom underwater piezoelectric robot with a cross structure according to the present invention;

Fig. 2 is a schematic structural diagram of a vertical snorkeling drive module according to the present invention;

Fig. 3 is a schematic structural diagram of a horizontal motion drive module according to the present invention;

Fig. 4 is a schematic diagram of the intermediate connector structure of the present invention;

Fig. 5 is a schematic structural view of the buoyancy adjusting device of the present invention;

Fig. 6 is a schematic diagram of the drainage action of a multi-degree-of-freedom underwater piezoelectric robot with a cross structure according to the present invention;

Fig. 7 is a schematic diagram of water absorption action of a multi-degree-of-freedom underwater piezoelectric robot with a cross structure according to the present invention.

1: Vertical snorkeling drive module, 2: Horizontal motion drive module, 3: Intermediate connector, 4: Buoyancy adjustment device, 1-1-1: Upper compartment, 1-1-2: First intermediate component, 1- 1-3-1: The first piezoelectric ceramic, 1-1-3-2: The first vibrating diaphragm, 1-1-4: Snorkel drive shell cover, 1-1-5: The first water jet, 2-1-1: Motion drive front case cover, 2-1-2-1: Second piezoelectric ceramic, 2-1-2-2: Second vibrating diaphragm, 2-1-3: Second intermediate assembly , 2-1-4-1: The third piezoelectric ceramic, 2-1-4-2: The third vibrating diaphragm, 2-1-5: Motion drive rear shell cover, 2-1-7: The second jet Nozzle, 3-1: connecting port, 4-1: connecting rod, 4-2: supporting member, 4-3: intermediate circular connecting body, 4-4: nut.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention.

Referring to Figures 1-7 to illustrate this embodiment, a multi-degree-of-freedom underwater piezoelectric robot with a cross structure includes a vertical snorkeling drive module 1, a horizontal motion drive module 2, an intermediate connecting body 3 and a buoyancy adjustment device 4, The number of the vertical snorkeling drive module 1 and the horizontal motion drive module 2 is N, and N drive modules can be set as required, and N is a positive integer greater than or equal to 2. The vertical snorkeling drive module 1 and the horizontal motion drive module The motion drive module 2 is provided with a piezoelectric vibrator and a jet water nozzle, and N connecting ports 3-1 are arranged on the periphery of the intermediate connecting body 3, and the interval angles of the positions of each connecting port 3-1 can be adjusted according to requirements. The vertical snorkeling drive module 1 and the horizontal motion drive module 2 correspond one-to-one to the connection port 3-1 on the intermediate connector 3, and are fixedly installed on the periphery of the intermediate connector 3 to form a cross structure. The buoyancy adjustment The device 4 is tightly connected with the intermediate connecting body 3, and controls the initial ups and downs state of the underwater piezoelectric robot by changing the volume of the buoyancy block added.

In the implementation example, the number of the vertical snorkeling driving modules 1 is two, and each vertical snorkeling driving module 1 includes an upper cabin 1-1-1, a first intermediate assembly 1-1-2, a first The piezoelectric vibrator and the snorkeling drive case cover 1-1-4, the first piezoelectric vibrator includes a fixed first piezoelectric ceramic 1-1-3-1 and a first vibrating diaphragm 1-1-3- 2. The upper chamber 1-1-1 and the snorkeling driving case cover 1-1-4 are fixedly connected on both sides of the first intermediate assembly 1-1-2, and the first piezoelectric vibrator is connected through a non-connecting piece The method is fixedly installed between the first intermediate assembly 1-1-2 and the snorkeling driving shell cover 1-1-4.

In the implementation example, there are two horizontal motion drive modules 2, and each horizontal motion drive module 2 includes a motion drive front cover 2-1-1, a second piezoelectric vibrator, and a second intermediate assembly 2-1 -3. The third piezoelectric vibrator and the motion-driven rear case cover 2-1-5, the second piezoelectric vibrator includes a solidly connected second piezoelectric ceramic 2-1-2-1 and a second vibrating diaphragm 2 -1-2-2, the third piezoelectric vibrator includes a fixed third piezoelectric ceramic 2-1-4-1 and a third vibrating diaphragm 2-1-4-2, and the movement drives the front shell The cover 2-1-1 and the motion-driven rear case cover 2-1-5 are fixedly connected to both sides of the second intermediate component 2-1-3, and the second piezoelectric vibrator is fixedly installed on the motion-driven front case cover 2- 1-1 and the second intermediate assembly 2-1-3, the third piezoelectric vibrator is fixedly installed between the second intermediate assembly 2-1-3 and the motion-driven rear case cover 2-1-5.

In the implementation example, the shell covers of the vertical snorkeling drive module 1 and the horizontal motion drive module 2 are both streamlined in shape, through holes can be opened at any position on the surface, and the inner cavity is a tapered convergent structure.

In the implementation example, the buoyancy adjustment device 4 is fixedly installed above the axis of the intermediate connecting body 3, and buoyancy blocks of different volumes are added to the buoyancy adjustment device 4 and fixedly connected to adjust the overall buoyancy of the underwater piezoelectric robot.

In the implementation example, the buoyancy adjustment device 4 includes a connecting rod 4-1, a support member 4-2, a central circular connecting body 4-3 and a nut 4-4, the bottom end of the connecting rod 4-1 is connected to the middle The connecting body 3 is fastened and connected by the support piece 4-2, and the upper end is detachably connected with the middle circular connecting body 4-3, and the top end of the middle circular connecting body 4-3 is provided with a nut 4-4, and the nut 4-4 is connected with the connecting body 4-3. The rods 4-1 are connected, and the volume of the buoyancy block is changed by adjusting the installation position of the intermediate circular connecting body 4-3 on the connecting rod 4-1, thereby controlling the floating and sinking state of the underwater piezoelectric robot.

In the implementation example, the vertical snorkeling driving module 1 is provided with a first water nozzle 1-1-5 at the lower position, which is used for driving the ups and downs of the underwater piezoelectric robot. The position is provided with a second water spray port 2-1-7, which is used for driving the underwater piezoelectric robot in the horizontal forward and backward direction.

In the implementation example, the polarization direction of the circular piezoelectric ceramic is axial, and its thickness and diameter can be adjusted to meet the requirements of different vibration states. The piezoelectric vibrator composed of piezoelectric ceramics and vibrating diaphragm produces radial contraction and expansion vibration. The piezoelectric vibrator is fixed around, and the diaphragm is bent, which makes the volume of the closed space between the diaphragm and the shell change. Spray from the spout.

In the implementation example, both the vertical snorkeling drive module 1 and the horizontal motion drive module 2 are equipped with piezoelectric vibrators to apply a voltage signal to the piezoelectric vibrator to cause deformation, so that the volume of the drive module cavity changes, so that The same jet water nozzle completes the suction and discharge action to generate driving force, and the driving force of the corresponding jet water nozzle is controlled by adjusting the voltage, frequency, duty cycle and waveform of the excitation signal of the piezoelectric vibrator, thereby controlling the underwater piezoelectricity. The movement speed and movement posture of the robot.

In the implementation example, by selectively regulating the excitation signal of the piezoelectric vibrator in the vertical snorkel drive module ₁ , the size of the driving force F1 and F2 of the jet nozzle on the vertical snorkel drive module ₁ is controlled to coordinate Controlling the relationship among gravity, buoyancy and driving force of the underwater piezoelectric robot can control the ups and downs of the underwater piezoelectric robot; when controlling the driving force F ₁ of the jet nozzle on the vertical snorkeling driving module 1, When _{F 2} is equal and the sum of buoyancy is greater than the gravity of piezoelectric robot, the underwater piezoelectric robot can sink _; When the sum of the buoyancy and the gravity is equal to the gravity, the hovering of the underwater piezoelectric robot can be realized; when controlling the driving force F ₁ and F ₂ of the jet nozzle on the vertical snorkeling drive module 1 is equal and the sum of the buoyancy is less than the gravity , can realize the sinking of the underwater piezoelectric robot; when the driving force F ₁ and F ₂ of the jet nozzle on the vertical snorkeling driving module 1 are controlled to be different but the sum of the buoyancy force is equal to the gravity, the underwater pressure can be realized. The pitch of the electric robot and the pitch angle are determined by the difference between the driving forces F ₁ and F ₂ .

In the implementation example, by selectively adjusting the excitation signal of the piezoelectric vibrator in the horizontal movement driving module 2, and controlling the driving forces F ₃ , F ₄ , F ₅ and F ₆ of the water nozzles on the horizontal movement driving module, the pressure can be controlled. The state of the horizontal movement of the electric robot; when the driving forces F ₃ +F ₅ and F ₄ +F ₆ of the same-side jet nozzle on the control horizontal movement driving module 2 are not equal, the forward and backward movement of the underwater piezoelectric robot can be realized ; When controlling the relationship between the driving force F ₃ and F ₆ , F ₄ and F ₅ of the opposite side jet water nozzle on the horizontal motion drive module 2, the turning radius of the piezoelectric robot can be controlled; when the drive of the opposite side jet water nozzle When the force is equal, the piezoelectric robot can realize the self-rotation movement; when the driving force of the opposite side jet water nozzle is not equal, the piezoelectric robot can realize the turning movement of a certain angle.

The multi-degree-of-freedom underwater piezoelectric robot with a cross structure provided by the present invention has been introduced in detail above. In this paper, specific examples are used to illustrate the principle and implementation of the present invention. The descriptions of the above embodiments are only used To help understand the method of the present invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and scope of application. In summary, this specification The content should not be construed as a limitation of the invention.

Claims (6)

1. A multi-degree-of-freedom underwater piezoelectric robot with a cross structure, characterized in that it includes a vertical snorkeling drive module (1), a horizontal motion drive module (2), an intermediate connector (3) and a buoyancy adjustment device (4), the number of the vertical snorkeling drive module (1) and the horizontal movement drive module (2) is N, and N is a positive integer greater than or equal to 2, and the vertical snorkeling drive module (1) and The horizontal motion drive module (2) is equipped with piezoelectric vibrators and jet nozzles, the intermediate connector (3) is provided with N connection ports (3-1) on the periphery, and the vertical snorkeling drive module ( 1) and the horizontal motion drive module (2) correspond one-to-one to the connection port (3-1) on the intermediate connecting body (3), and are fixedly installed on the periphery of the intermediate connecting body (3), forming a cross structure type, the buoyancy The adjustment device (4) is tightly connected with the intermediate connecting body (3), and the initial floating state of the underwater piezoelectric robot is controlled by changing the volume of the buoyancy block; The number of the vertical snorkeling drive modules (1) is N, and N is a positive integer greater than or equal to 2, and each vertical snorkeling drive module (1) includes an upper cabin (1-1-1), a first An intermediate component (1-1-2), a first piezoelectric vibrator and a snorkeling drive case cover (1-1-4), the first piezoelectric vibrator includes a fixed first piezoelectric ceramic (1-1- 3-1) and the first vibrating diaphragm (1-1-3-2), the upper chamber (1-1-1) is fixedly connected with the snorkel drive case cover (1-1-4) in the first middle On both sides of the component (1-1-2), the first piezoelectric vibrator is fixedly installed on the first intermediate component (1-1-2) and the snorkeling drive case cover (1-1- 4) Between; The number of horizontal motion drive modules (2) is N, and N is a positive integer greater than or equal to 2, and each horizontal motion drive module (2) includes a motion drive front cover (2-1-1), a second press An electric vibrator, a second intermediate component (2-1-3), a third piezoelectric vibrator, and a motion-driven rear case cover (2-1-5), the second piezoelectric vibrator includes a solidly connected second piezoelectric ceramic (2-1-2-1) and the second vibrating diaphragm (2-1-2-2), the third piezoelectric vibrator includes a solidly connected third piezoelectric ceramic (2-1-4-1) and the third vibrating diaphragm (2-1-4-2), the motion-driven front case cover (2-1-1) and the motion-driven rear case cover (2-1-5) are fixedly connected to the second intermediate assembly (2-1-3), the second piezoelectric vibrator is fixedly installed between the motion-driven front cover (2-1-1) and the second intermediate assembly (2-1-3), the The third piezoelectric vibrator is fixedly installed between the second intermediate assembly (2-1-3) and the motion-driven rear case cover (2-1-5); The buoyancy adjustment device (4) includes a connecting rod (4-1), a support (4-2), an intermediate circular connecting body (4-3) and a nut (4-4), and the connecting rod (4- 1) The bottom end and the middle connecting body (3) are tightly connected through the support (4-2), the upper end and the middle circular connecting body (4-3) are detachably connected, and the middle circular connecting body (4-3) ) is provided with a nut (4-4) on the top, and the nut (4-4) is connected with the connecting rod (4-1). The position changes the volume of the buoyancy block, and then controls the floating and sinking state of the underwater piezoelectric robot; Both the vertical snorkeling drive module (1) and the horizontal motion drive module (2) are equipped with piezoelectric vibrators to apply a voltage signal to the piezoelectric vibrator to cause deformation, so that the volume of the drive module cavity changes, so that in the same The jet water nozzle completes the suction and drainage action to generate driving force, and the driving force of the corresponding jet water nozzle is controlled by adjusting the voltage, frequency, duty cycle and waveform of the excitation signal of the piezoelectric vibrator, thereby controlling the underwater piezoelectric robot. Movement speed and movement posture. 2. A cross-structure multi-degree-of-freedom underwater piezoelectric robot according to claim 1, characterized in that: the shell covers of the vertical snorkeling drive module (1) and the horizontal motion drive module (2) are both It has a streamlined shape, through holes can be opened at any position on the surface, and the inner cavity is a tapered and convergent structure. 3. A cross-structure multi-degree-of-freedom underwater piezoelectric robot according to claim 1, characterized in that: the buoyancy adjustment device (4) is fixedly installed above the axis of the intermediate connecting body (3), and the buoyancy adjustment The device (4) adds buoyancy blocks of different volumes and makes fixed connections, thereby adjusting the overall buoyancy of the underwater piezoelectric robot. 4. A cross-structure multi-degree-of-freedom underwater piezoelectric robot according to claim 1, characterized in that: the vertical snorkeling drive module (1) is provided with a first water nozzle (1) at the upper and lower positions -1-5), used for driving the ups and downs of the underwater piezoelectric robot, the horizontal motion drive module (2) is provided with a second water nozzle (2-1-7) at the front and rear positions for underwater pressure Drives in the horizontal forward and reverse directions of the electric robot. 5. A multi-degree-of-freedom underwater piezoelectric robot with a cross structure according to claim 1, characterized in that: by selectively regulating the excitation signal of the piezoelectric vibrator in the vertical snorkeling drive module (1), the control The size of the driving force F ₁ and F ₂ of the jet nozzle on the vertical snorkeling driving module (1) coordinates and controls the relationship between the gravity, buoyancy and driving force of the underwater piezoelectric robot, and can control the underwater pressure. The sinking and floating state of the electric robot; when the driving force F ₁ and F ₂ of the jet nozzle on the vertical snorkeling drive module (1) are controlled to be equal and the sum of the buoyancy force is greater than the gravity of the piezoelectric robot, the underwater piezoelectric robot can be realized sinking; when the driving force F ₁ and F ₂ of the jet nozzle on the vertical snorkeling drive module (1) are controlled to be equal and the sum of the buoyancy force is equal to the gravity, the hovering of the underwater piezoelectric robot can be realized; when When the driving force F ₁ and F ₂ of the jet nozzle on the vertical snorkeling drive module (1) are controlled to be equal and the sum of the buoyancy and the force is less than gravity, the underwater piezoelectric robot can sink; when the vertical snorkeling is controlled When the driving force F ₁ and F ₂ of the jet nozzle on the driving module (1) are different but the sum of the buoyancy and the gravity is equal to the gravity, the pitching of the underwater piezoelectric robot can be realized, and the pitch angle is determined by the difference between the driving force F ₁ and F ₂ Poor decision. 6. A cross-structure multi-degree-of-freedom underwater piezoelectric robot according to claim 1, characterized in that: the horizontal movement is controlled by selectively regulating the excitation signal of the piezoelectric vibrator in the horizontal movement drive module (2) The driving forces F ₃ , F ₄ , F ₅ and F ₆ of the water nozzles on the drive module can control the horizontal motion state of the piezoelectric robot; When F ₃ +F ₅ and F ₄ +F ₆ are not equal, the underwater piezoelectric robot can move forward and backward; when controlling the driving force F ₃ and F of the opposite side jet nozzle on the horizontal motion drive module (2) _6. The size relationship between F ₄ and F ₅ can control the turning radius of the piezoelectric robot; when the driving force of the opposite side jet water nozzle is equal, the piezoelectric robot can realize the rotation movement; when the driving force of the opposite side jet water nozzle The steering movement of the piezoelectric robot at a certain angle can be realized when the time is not equal.

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