Soft body robot convenient to regulate self size under water

Abstract

The invention discloses a soft body robot convenient to regulate self size under water, and relates to the technical field of soft body robots. The soft body robot particularly comprises a framework,a sleeve frame and soft bodies, a bottom plate is arranged at the middle bottom of the framework, and a bracket is fixed and welded to the middle top of the framework; winding cylinders are arranged at the left and right ends of the bracket in a sleeving mode, a balance frame is connected to the outer wall of each winding cylinder in an integrated mode, a roller is arranged at the middle of the sleeve frame in a penetrating mode, and the sleeved frame is arranged on the outer side of the edge of the framework in a sleeving mode; and fan blades are arranged on the outer wall of the roller in anembedded mode, the soft bodies are mounted on the left and right sides of the surface of the bottom plate respectively, and fins are fixedly arranged on the outer wall of each soft body. The soft body robot convenient to regulate self size under water constructs a main frame structure of the whole soft body robot through the arrangement of the framework, the bottom plate and the bracket, the winding cylinders are used for supporting the balance frame, and on the balance frame, the position sliding of a curved panel can be achieved in a sliding groove by using the size fit between an insert rod and the sliding groove.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a soft robot that can easily adjust its size underwater. Background technique [0002] Soft robots are one type of robots. Different from ordinary purely mechanical robots, soft robots have more bionic performance. Soft robots mostly use air pressure as the recoil force, and are equipped with complex air source and air path structures. Most of the materials are made of Made of lightweight materials such as plastic, soft robots occupy a very obvious and important position in the field of robotics. Modern development and application of soft robots are also making continuous improvements, such as underwater soft robots. [0003] However, existing underwater soft robots are often affected by their own structure and materials, resulting in a large reaction force under water pressure. When driving underwater, the trajectory is not stable enough, and it is greatly affected by underw...

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Problems solved by technology

[0003] However, existing underwater soft robots are often affected by their own structure and materials, resulting in a large reaction force under water pressure. When driving underwater, the trajectory is not stable enough, and it is greatly affected by underwater eddies. The underwater environment is complex and changeable, and the braking methods of underwater soft robots should also be diversified. On the one hand, it is to weaken the pressure and resistance underwater, and on the other hand, it is also to ensure that the underwater soft robots have a long service life.

[0004] An underwater bionic propulsion device with controllable stiffness is disclosed in Chinese Invention Patent Application Publication No. CN106364648A. Although the underwater bionic propulsion device with controllable stiffness can make the robot perform different tasks in the same environment, it can adjust itself Stiffness can also change its own stiffness in a complex environment. At the same time, within a travel cycle, the joint stiffness of the bionic propulsion device can be changed separately to improve the propulsion performance and achieve the best propulsion state. However, the stiffness can be controlled underwater. The bionic propulsion device works as an auxiliary equipment for the robot. In fact, the structure of the robot assisted by the propulsion device has not been improved, and the underwater pressure bearing, decompression and size change of the robot itself have not been made. A clear solution, and a new type of flexible multi-joint structure that is disclosed in the Chinese invention patent application publication specification CN107097921A, although the flexible multi-joint structure of the propulsion system of the fish-like underwater robot is adopted, the elastic deformation of the flexible connection between the joints is used to replace the mechanical rotation of the traditional rigid connection. , so that the fish tail has the reaction force to adapt to the underwater complex working conditions to adjust its own fish tail swing amplitude, but the flexible multi-joint structure of the new fish-like underwater robot propulsion system only considers the impact of the underwater water flow on the robot. travel, and does not directly address the question of how AUVs resist the pressure of deep water

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