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Underwater robot of bionic and gliding hybrid propulsion mode

An underwater robot and robot technology, applied in the directions of instruments, geophysical measurement, three-dimensional position/channel control, etc., can solve the problems of low efficiency, small operating radius, large turning radius, etc., and achieve simple and convenient maintenance and development. Improved operability and reduced turning radius

Inactive Publication Date: 2018-07-03
NANJING INST OF TECH
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Problems solved by technology

[0002] In the prior art, there are three propulsion methods for underwater robots: propeller propulsion has the characteristics of large propulsion power, fast robot speed but high noise; bionic propulsion method has the characteristics of high robot flexibility, easy adjustment of underwater balance posture, low noise, and easy turning. The radius is small but the operating radius is small and the efficiency is not high; the gliding propulsion method has the characteristics of low energy consumption and long range, but the turning radius is large and not flexible enough

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Embodiment Construction

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0033] The purpose of the present invention is to provide a bionic and gliding hybrid propulsion underwater robot, to solve the problems in the prior art, using bionic and gliding hybrid propulsion, the robot has a long range, low noise, low energy consumption, Due to the small turning radius, various specific sensing layers and application layers can be added based on this platform, so that it has good practical value in underwater search and rescue for milita...

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Abstract

The invention discloses an underwater robot of a bionic and gliding hybrid propulsion mode. The underwater robot comprises a head part, a sinking and floating adjustment mechanism, a center of gravityadjustment mechanism, a circuit compartment, a gliding wing and a tail part. The head part is composed of an image collection compartment. The sinking and floating adjustment mechanism includes an inner oil sac, a reversing valve, a hydraulic pump, a relief valve and an outer oil sac. The center of gravity adjustment mechanism includes a stepping motor driver, a stepping motor, a steering gear drive, a left and right center of gravity steering gear, a screw rod, a guide rail and a heavy block. The circuit compartment consists of a control system, including a moving layer, a sensing layer, a control layer, a communication layer and a monitoring layer. The gliding wing is made of epoxy carbon fiber material, with the advantages of high strength, light weight and so on. The tail part includes a four-joint bionic fishtail steering gear and a fishtail skeleton. The underwater robot of the bionic and gliding hybrid propulsion mode in the invention has the characteristics of large range, lownoise, low energy consumption, high concealment, small turning radius and so forth, and can improve the accuracy of measurement data and improve the working efficiency of measurement.

Description

technical field [0001] The invention relates to the technical field of underwater detection robots, in particular to an underwater robot in a hybrid propulsion mode of bionic and gliding. Background technique [0002] In the prior art, there are three propulsion methods for underwater robots: propeller propulsion has the characteristics of large propulsion power, fast robot speed but high noise; bionic propulsion method has the characteristics of high robot flexibility, easy adjustment of underwater balance posture, low noise, and easy turning. The radius is small but the operating radius is small and the efficiency is not high; the gliding propulsion method has the characteristics of low energy consumption and long range, but the turning radius is large and not flexible enough. [0003] Based on the above reasons, it is necessary to study and design an underwater robot that can not only have the advantages of the above propulsion methods but also effectively solve their sho...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01V11/00G05D1/10
CPCG01V11/00G05D1/10
Inventor 陈巍陈丝雨汪浩
Owner NANJING INST OF TECH
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