Pulse jet type underwater robot based on tubular origami structure

Abstract

The invention discloses a pulse jet type underwater robot based on a tubular origami structure, which is composed of a pulse jet mechanism and two steering propulsion mechanisms, wherein the pulse jetmechanism realizes the repetitive process of water storage-water spray-water storage-water spray by impulse jet propulsion. The structure of the two steering propulsion mechanisms is the same, the first steering propulsion mechanism realizes turning to the right and the second steering propulsion mechanism realizes turning to the left; the pulse jet mechanism realizes the functions of water storage and water spraying through the axial expansion and contraction of the tubular origami structure; the tubular origami structure is driven by the rack and pinion mechanism to realize the axial expansion and contraction of the tubular origami structure, the steering propulsion mechanism is driven by the streamlined semi-circular fish fin structure to perform the reciprocating swing to achieve thesteering propulsion function, and the fish fin structure is driven by the swing guide rod mechanism to achieve the reciprocating swing. The invention is a novel underwater robot and has the advantagesof simple structure, fast propulsion speed, flexible steering and the like.

Description

technical field [0001] The invention relates to a pulse-jet underwater robot based on a tubular origami structure, which can realize fast swimming in deep water, belongs to the field of underwater detection, and is mainly used in high-end marine biological investigations, seabed exploration, underwater robots, micro bionic robots, etc. field of science and technology. Background technique [0002] The research and development of underwater robots has been developing rapidly with the pace of human exploration of the underwater world and the development of underwater resources. Among them, the research on pulse jet thrusters with large thrust and good instantaneous acceleration performance is receiving more and more attention. more attention. Most underwater pulse-jet robots are driven by shape-memory alloy wires, which have the advantages of simple structure and small size, but small propulsion and slow response, so they can only be used for low-speed propulsion. [0003] O...

AI Technical Summary

Problems solved by technology

At present, most underwater pulse-jet robots are driven by shape-memory alloy wires, which have the advantages of simple structure and small size, but small propulsion force and slow response speed, so they can only be used for low-speed propulsion

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