Miniature underwater bionic soft adsorption robot driven by contraction/expansion jet

Abstract

The invention provides a miniature underwater bionic soft adsorption robot driven by contraction / expansion jet. The robot comprises an adsorption module, a middle contraction / expansion driving module and a vector jet module, and the middle contraction / expansion driving module drives the vector jet module at the lower part to regularly suck and spray water, so that continuous propulsive force is generated to enable the robot to move. The vector jet module can control the water spraying direction to achieve steering, and the maneuverability of the robot is improved. An elastic mold outside the middle contraction / expansion driving module is driven to regularly and slowly absorb water and rapidly spray water, advancing pushing force is continuously provided, three steering engines 26 change the postures of nozzles by controlling respective rotating angles, the water flow spraying direction is changed, steering of the robot is conducted, and finally, the robot can freely and quickly swim in water. When the robot is close to a target object, the adsorption module can be firmly adsorbed on the target object, and the overall swimming speed and efficiency of the underwater soft robot are improved.

Description

technical field [0001] The invention relates to an underwater bionic soft robot, in particular to a miniature underwater bionic soft adsorption robot driven by retracting / expanding jets. Background technique [0002] As we all know, the oceans cover almost the entire earth, hiding almost unlimited resources. Therefore, all countries in the world are focusing on marine resources and regard the ocean as their resource treasure house. In addition, the demand related to marine engineering is increasing year by year, such as cables, pipelines, natural gas drilling and some marine military projects. Many researchers are developing new tools for underwater tasks, and this need has led to the development of underwater robots. [0003] Underwater robots can assist humans to explore, detect and operate at unreachable depths and breadths. Even in places where humans can reach such as lakes, reservoirs, or rivers, underwater robots can perfectly solve the problems of low visibility, ...

AI Technical Summary

Problems solved by technology

However, the leakage of compressed gas and the limited amount of gas in the CO2 cylinder make the robot run only for a few cycles, limiting its application

[0007] Caleb Christianson and others have developed a robot that uses a special-shaped rack and pinion mechanism to carry out circular water jet propulsion through the contraction / expansion of the outer membrane. Nozzle carries out, so the efficiency is not high

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