Simple-pendulum differential underwater amphibious robot with deformability

Abstract

The invention provides a simple-pendulum differential underwater amphibious robot with deformability. The amphibious robot is mainly composed of a left-hemisphere rigid structure part, a middle-cylinder flexible structure part and a right-hemisphere rigid structure part. The driving mechanism is mainly composed of a deformation driving mechanism for adjusting buoyancy and a simple-pendulum differential motion driving mechanism; the simple-pendulum differential motion driving mechanism can implement free motion of the robot in water or an underwater amphibious environment; the deformation driving mechanism for adjusting buoyancy can enable the robot to shift between approximate spheroidicity and regular sphere; the robot in the approximate spheroidicity state is subjected to higher buoyancy, thereby being beneficial to underwater motion of the robot; and the robot in the approximately regular sphere state is subjected to lower buoyancy, thereby being beneficial to the underwater ground rolling of the robot. The robot has the advantages of flexible motion, simple control and high safety, and can be used as a mobile platform to carry various detectors and acquisition sensors to execute the in-water or underwater environment information acquisition task underwater.

Description

technical field [0001] The invention relates to the field of special robots, in particular to the structural design of a single-pendulum differential underwater amphibious robot with deformation capability. Background technique [0002] At present, the collection of underwater unknown environmental information has been paid more and more attention by countries all over the world, and more and more people have paid attention to it. The detection of underwater oil pipelines, the archaeology of underwater urban ruins and the detection of underwater mineral resources are all related to the collection of underwater unknown environmental information. Airplanes, ships and other water vehicles crash and sink into the bottom of the water from time to time, tsunamis and earthquakes caused by natural disasters will also damage artificial buildings, causing oil, nuclear fuel and chemical substances to leak underwater. These catastrophic events will not only Damage to the ecological env...

AI Technical Summary

Problems solved by technology

The most common underwater robots in terms of driving methods are mainly divided into bionic swing type, propeller propulsion type and buoyancy adjustment type. Among them, the propeller propulsion type underwater robot is easy to control, but multi-directional movement requires a large number of propellers and The efficiency is low, and underwater robots that generally use a combination of propulsion and other driving methods are more common

In terms of structural shape, underwater robots can be mainly divided into bionic, cylindrical, torpedo, frame and ball types. Among them, torpedo-type underwater robots have the advantage of small movement resistance, and spherical underwater robots have the ability to resist pressure. It has the advantages of strong self-protection and high safety, but it is rare for these underwater moving robots to have the ability to move underwater at the same time. Even if some can move underwater, they have poor flexibility and control convenience

Images