A kind of underwater excavation soft robot

Abstract

The invention discloses an underwater tunneling soft robot which comprises a base, a wedge block, a shell, a linkage spring and a soft foot part, wherein the shell is formed through connecting two mirror symmetrical single shells through the linkage spring; the shell is mounted on the base; the robot soft root part comprises a telescopic soft body and an expanding soft body; the wedge block is connected onto the telescopic soft body; and the wedge block is matched with a wedge on the shell. According to the underwater tunneling soft robot, safety and reliability are achieved, the operation energy consumption is reduced, the operation automation is achieved, automatic tunneling and self resetting functions are achieved, the energy consumption is low, the structure is compact, the robot can be utilized for anchoring and mooring of devices in the industries of submarine resource exploration, petroleum industry, submarine communication, and the like, and a novel means and a novel device are provided for guaranteeing the device safety and working efficiency.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a soft robot for underwater excavation. Background technique [0002] The ocean area accounts for 71% of the total area of ​​the earth, with vast space and rich resources. It is the main geographical form in nature and an important part of the human survival support system. The continuous exploration of the ocean has promoted the development of marine equipment technology. Underwater excavation technology can be widely used in the anchoring and mooring of equipment in seabed resource exploration, petroleum industry, submarine communication and other industries, which has an important impact on the safety and operation efficiency of equipment. [0003] Underwater autonomous robot (AUV) is widely used in scientific research, national defense and geological exploration and other fields. Sometimes AUV needs to be positioned in the ocean current environment. Due to its limited energy, ...

AI Technical Summary

Problems solved by technology

However, the robot simplifies the soft body of the razor clam into a rigid body, ignoring the effect of the deformation of the soft body of the razor clam in the excavation process, resulting in a short descent distance; the robot is driven by a piston, and the robot needs to be connected to the equipment through a piston rod. A very long piston rod is required for actual marine operations, which will also bring difficulties in the manufacture and transportation of the equipment; and the shape of the probe is fixed, and the resistance when shrinking is large, and the tunneling efficiency needs to be further improved

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