Electrically-driven rigid-flexible coupling water snake robot

Abstract

The electrically-driven rigid-flexible coupling water snake robot comprises a snake body framework, an electrically-driven mechanism, bionic snakeskin and a control mechanism, the snake body framework comprises a snake head, a snake body trunk and a snake tail which are connected in sequence, and the snake body trunk comprises a plurality of trunk sections which are connected in sequence; any trunk section comprises a flexible supporting outer sleeve, a rigidity-variable spine and a plurality of sets of elastic telescopic pieces. A rigid-flexible coupling structure is adopted, the rigid part is mainly embodied in an electric driving mechanism, the flexible part is mainly embodied in a variable-rigidity spine, the soft part is mainly embodied in a flexible supporting outer sleeve and a bionic snakeskin adopted by a snake body trunk, and the water snake robot is simple in overall structure, small in size and high in flexibility. The underwater snake robot has the advantages of being light in weight, high in movement speed, high in flexibility and maneuverability, capable of meeting the requirement for underwater extreme environment operation and the like, and therefore the problem that an existing water snake robot cannot meet the underwater complex operation environment due to the fact that the existing water snake robot is poor in flexibility, maneuverability and environment adaptability is solved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an electrically driven rigid-soft coupled water snake robot. Background technique [0002] In recent years, the research field of robotics has been very hot, especially in rigid-soft coupling and variable stiffness technology. Its application in bionic robots, especially snake-like robots, makes the mobility, flexibility and intelligence of underwater robots better. The big breakthrough has also made underwater robots have broad application prospects in many fields such as continuous operation, multi-task requirements, and complex environment operations. Therefore, water snake robots have attracted more and more attention from scholars. [0003] At present, most of the research on snake-like robots are based on traditional mechanical structures, which have problems such as large size, heavy weight, slow movement speed, and poor load capacity, which limit their underwater sampling,...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide an electric-driven rigid-flexible coupling water snake robot to solve the problems of poor flexibility, poor maneuverability and poor environmental adaptability of existing water snake robots, which lead to the problem that it cannot meet the complex underwater working environment

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