Soft bionic underwater detection robot

Abstract

The invention discloses a soft bionic underwater detection robot. The soft bionic underwater detection robot comprises a head detection mechanism, movable base bodies, a mechanical arm module, a spherical hydraulic muscle joint, a tail swing mechanism, a control circuit board and a battery module. Mechanical arms based on a swing mechanism driven by shape memory alloy and a motor in a mixed manneris adopted, a spherical hydraulic muscle joint structure is adopted at the joint of the movable base bodies, the swing degrees of the mechanical arms are changed according to the deformation degree of the spherical joint, and the obstacle passing capacity of the robot is greatly improved. Composite grabbing structures are designed at the tail ends of the mechanical arms, soft hydraulic claws andrigid mechanical claws are combined, and therefore the grabbing capacity of the robot is improved. The tail swing mechanism is based on the electromagnetic principle, and two independently controlledcoils are adopted to attract or repel a magnet between the two coils, so that the swing function is achieved. An ultrasonic detection sensor, an infrared camera and other sensors are integrated in thehead detection mechanism, so that the robot has very high environmental adaptability and working capacity in an underwater natural environment.

Description

technical field [0001] The invention relates to the field of robots, in particular to a soft bionic underwater detection robot. Background technique [0002] The 21st century is the century of marine development. Underwater robots have broad application prospects and huge potential value in marine environment research, marine resource exploration and development and other civilian fields and marine military aspects, and have attracted more attention. The swimming mode of snakes has the characteristics of high speed, high efficiency, flexibility, and low noise. Its ability to swim and control attitude is unmatched by any submersible equipped with traditional control and propulsion systems. It can be applied to underwater Robots will provide a new starting point and a broader space for the research and development of underwater robots. In recent years, bionic underwater robots have become one of the important research directions of underwater robots. [0003] At present, mos...

AI Technical Summary

Problems solved by technology

However, the ability to pass through the underwater environment is not considered, and there is no way to flexibly pass through the complex marine environment

In the face of impact, the technology's ability to swim and adjust posture is relatively insufficient

In addition, this technology only has the ability to complete movements in a single underwater environment, and there is no way to realize complex functions such as sampling of underwater objects, which is insufficient in the face of today's complex task requirements

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