Underwater gliding snakelike robot

A technology of snake-like robots and steering gears, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc. It can solve problems such as unsuitable for long-distance underwater diving, and achieve the effects of simple structure, low power consumption, and convenient installation

Active Publication Date: 2016-02-10
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the existing snake-shaped robot is not suitable for long-distance underwater diving, the object of the present invention is to provide an underwater gliding snake-shaped robot

Method used

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Embodiment Construction

[0026] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0027] like figure 1 , figure 2 As shown, the underwater gliding snake-shaped robot of the present invention includes a plurality of modules 1 that are identical in shape and structure and are sequentially connected. A retractable waterproof sheath 2 is provided between adjacent modules 1, and the two ends of the underwater gliding snake-shaped robot Outer covers 5 are respectively installed on the modules 1, and the outer covers 5 are transparent hemispherical plastic covers. Each module 1 includes a self-expanding part and a rotating drive part which are sealed and connected to each other.

[0028] like Figure 3-6 As shown, the self-expanding part includes an expansion shell 3, an elastic rubber sleeve 4, an expansion steering gear 6, an expansion support 7, an output shaft 8 of the steering gear, a connecting rod telescopic mechanism and a housing end...

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Abstract

The invention relates to a robot mechanism, in particular to an underwater gliding snakelike robot. The underwater gliding snakelike robot comprises multiple modules. Each module comprises a self-expanding part and a rotation drive part, wherein the self-expansion part comprises an expansion shell, an elastic rubber sleeve, an expansion steering engine, a steering engine output shaft and connecting rod telescopic mechanisms, the expansion steering engine is arranged in the expansion shell, the steering engine output shaft is connected with the expansion steering engine, the connecting rod telescopic mechanisms are evenly distributed on the steering engine output shaft in the circumferential direction, the expansion shell is sleeved with the elastic rubber sleeve, the elastic rubber sleeve is connected with the expansion shell in a sealed mode, the expansion steering engine drives the elastic rubber sleeve to expand or contract through the connecting rod telescopic mechanisms, and therefore the size of the self-expanding part can be increased or decreased. By means of the robot, the long voyage and maneuverability of the underwater gliding snakelike robot are perfectly combined, underwater low-power gliding of the underwater gliding snakelike robot is achieved through the self-expanding part, and underwater flexibility and maneuverability of the robot are achieved through the snakelike structure.

Description

technical field [0001] The invention relates to a robot mechanism, in particular to an underwater gliding snake-shaped robot. Background technique [0002] The snake-shaped robot has the characteristics of good stability, small cross-section, and flexibility. It can swim in various waters, and can change the buoyancy of the water on the underwater gliding snake-shaped robot according to its own volume changes, so that the robot can swim in the water. Complete the movement of floating, diving, forward and backward. The underwater movement of the robot, such as forward and backward, can also be actively realized by imitating the movement mode of the biological snake. Among the existing snake-shaped robots, most of them are used in terrestrial environments, and cannot perform long-distance diving in underwater environments. Contents of the invention [0003] In order to solve the problem that the existing snake-like robot is not suitable for long-distance underwater diving,...

Claims

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Application Information

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IPC IPC(8): B25J9/06
Inventor 李斌李志强王聪郑怀兵张国伟刘启宇
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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