To provide a technology in the present invention that a submersible robot can three-dimensionally move using the propulsion by the micro-vibration at the interface between an oscillator and liquid.SOLUTION: A submersible robot of the present invention comprises a main body and an oscillator, the multiple oscillators are installed on the main body surface, and the submersible robot can three-dimensionally move using the propulsion by the micro-vibration at the interface between the oscillator and liquid. The concrete shape of the main body is a polyhedral shape including a sphere, or a capsule shape. The oscillator is installed on the surfaces of one end and the other end of the capsule shape. The multiple oscillators can be installed in a matrix arrangement on at least one surface of the main body. A steering method is provided by which the submersible robot can three-dimensionally move by supplying the same or the different driving electric power to at least two oscillators of the multiple oscillators installed in the main body.SELECTED DRAWING: Figure 5

    【課題】本発明では、振動子と液体の境界面の微小振動を推進力とする液中ロボットが3次元的に移動できる技術を提供することを目的とする。【解決手段】本発明の液中ロボットは、本体と振動子を備え、前記本体の表面に複数の前記振動子が設置され、前記振動子と液体の境界面の微小振動を推進力とすることで、3次元的に移動することができる。具体的に前記本体の形状としては、多面体形状をとるもの、カプセル形状をとるものがある。多面体には球面体も含まれる。カプセル形状の場合は一端部と他端部の表面に前記振動子が設置される。また本体の少なくとも一つの面に複数の振動子が行列状に設置されてもよい。また本体に設置された複数の振動子の少なくとも2つの振動子に同じまたは異なった駆動電力を供給することで3次元移動を可能にする操舵方法を提供する。【選択図】図5


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    Title :

    SUBMERSIBLE ROBOT USING OSCILLATOR


    Additional title:

    振動子による液中ロボット


    Contributors:
    KUROSAWA MINORU (author) / QIAN YUAN (author) / KONG DEQING (author) / AOYANAGI MANABU (author)

    Publication date :

    2023-05-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B06B GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL , Erzeugen oder Übertragen mechanischer Schwingungen allgemein / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / H10N



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