Bionic flexible arm drive type submersible

Abstract

The invention relates to a bionic flexible arm drive type submersible and belongs to the technical field of diving robots. The bionic flexible arm drive type submersible comprises a watertight body shell, a control unit and a power source unit which are installed in an inner cavity of the watertight body shell, and a buoyancy adjusting unit and a power unit which are controlled by the control unit; the power unit comprises more than three flexible drive arms installed at the tail end of the watertight body shell; and each flexible drive arm comprises a flexible arm body and an actuator installed in the flexible arm body and used for driving the flexible arm body to bend and deform, and each actuator comprises an electrical deformation element. The flexible arm bodies driven by the electrical deformation elements are adopted as the flexible drive arms, so that the motion mode of an octopus is simulated, noise generated in the operation process is effectively reduced, the invisibility ofthe whole submersible is improved, and the submersible can be widely applied to the fields such as ocean exploration.

Description

technical field [0001] The invention relates to a diving robot, in particular to a bionic flexible arm-driven submersible. Background technique [0002] With the deepening of the exploration and understanding of the ocean, the development and utilization of marine resources has become the main theme. In the complex and changeable marine environment, underwater robots will become an indispensable equipment in the process of developing marine resources. [0003] The patent document with the publication number CN102631786A discloses a robotic octopus; the robotic octopus includes a sealed body shell, a control unit and a power supply unit installed in the sealed body shell, and a buoyancy adjustment unit and a power unit controlled by the control unit; Among them, the power supply unit provides electric energy for the normal work of other functional units. The buoyancy adjustment unit includes four syringes fixed at the bottom of the sealed body shell and the drive motor for dr...

AI Technical Summary

Problems solved by technology

[0004] During the operation of the machine, the attitude, steering and speed of the whole equipment are adjusted by controlling the water output speed of the four water pumps. However, the four water pumps are all in the open state during the entire operation process, and the noise is loud, which is not conducive to The concealment of the submersible; in addition, when it needs to move quickly, it usually requires four water pumps to spray water at full speed, but at this time it is difficult to adjust the attitude to achieve steering

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