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Eel-like underwater multi-freedom-degree robot

A technology of robot and degree of freedom, applied in underwater operation equipment, manipulator, program control manipulator, etc., can solve the problems of high cost and complex structure, and achieve the effect of low fluid disturbance, high concealment and small flow field disturbance

Inactive Publication Date: 2015-12-23
冯亿坤
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  • Abstract
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  • Application Information

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Problems solved by technology

The application number is 201410102191.2 and the name is "a kind of underwater snake-like robot". The body includes a plurality of hollow rings, each of which is provided with four movable connection points, wherein the opposite two movable connection points are arranged on the upper surface of the hollow ring, and the other two movable connection points are arranged on the hollow ring. The lower surface of the ring, the adjacent hollow rings are movably connected through the movable connection point, a single joint has only one degree of freedom, and the structure is complicated and the cost is high

Method used

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  • Eel-like underwater multi-freedom-degree robot

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Embodiment Construction

[0014] The present invention will be described in more detail below in conjunction with the accompanying drawings.

[0015] figure 1 It is a schematic diagram of the overall structure of the present invention, the robot head 1 is connected with the cross structure 2, several cross structures 2 are connected together, and the cross structure 2 is connected with the tail 3 to form the body of the robot. figure 2 It is a schematic diagram of the cross structure 2, the steering gear 9 is mounted on the frame 4, the crown gear 5 is mounted on the steering gear 9, the crown gear 5 meshes with the pinion 8, and the pinion 8 is mounted on the cross shaft 7 and meshes with the large gear 6, The steering gear 9 realizes the arbitrary rotation of the three-dimensional space of the cross structure 2 through gear transmission.

[0016] The specific working process of the present invention is as follows: by controlling the rotation of the steering gear 9, the rotation of the driving cross...

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Abstract

The invention relates to an eel-like underwater multi-freedom-degree robot. The robot is mainly composed of a head, cross structures, steering engines, a control panel and a tail, wherein the cross structures can rotate freely in the three-dimensional space, the body of the robot is composed of the multiple cross structures, one cross structure is driven by two steering engines, and the rotation of all the steering engines is controlled by the control panel so as to achieve forward movement, backward movement, pivot steering, upward swimming and downward swimming of the robot. The robot is ingenious in structural design, can well move in the way an eel does, has high mobility underwater, can work continuously for a long time, is suitable for underwater detection, pipeline overhauling and the like, and has great potential in both military use and civil use.

Description

technical field [0001] The invention relates to an eel-like underwater multi-degree-of-freedom robot, which relies on a steering gear as a power source, and the ingenious cross structure enables the robot to have strong maneuverability and wide operating fields. Background technique [0002] At present, there are few researches on eel-like robots in China. The application number is 201020507144.3, which is a utility model patent titled "A Multi-degree-of-Freedom Propelling Autonomous and Stable Underwater Robot". The robot is powered by two multi-degree-of-freedom water jet propellers. . The application number is 201410102191.2, which is an invention patent named "An Underwater Snake Robot". It is composed of multiple modules, and each module is fixedly connected. The module includes a body that can deflect in multiple directions and connecting parts arranged at both ends of the body. The body includes a plurality of hollow rings, each of which is provided with four movable...

Claims

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Application Information

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IPC IPC(8): B25J9/00B63C11/52
Inventor 冯亿坤苏玉民王海娇
Owner 冯亿坤
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