Cuttlefish-imitating robot

Abstract

The invention discloses a cuttlefish-imitating robot. The cuttlefish-imitating robot comprises a robot head, a robot shell and a robot tail which are connected in sequence, the robot head and the robot tail are each provided with an electromagnetic valve used for spraying water outwards and sucking water inwards. The robot shell is made of a flexible waterproof material; an inner sealing body and a driving mechanism used for controlling the size of the robot shell to be increased and decreased are arranged in the robot shell. The cuttlefish-imitating jet propulsion robot can flexibly select a mode of head water absorption and tail water spraying or tail water absorption and head water spraying for propulsion according to actual conditions, and has higher maneuverability and propulsion efficiency compared with a traditional cuttlefish-imitating jet propulsion robot.

Description

Technical Field

[0001] The invention relates to the technical field of bionic equipment, and more specifically to a squid-like robot. Background Art

[0002] Underwater robots, also known as unmanned submersibles, are robots that work underwater for extreme operations. The underwater environment is harsh and dangerous, and human diving performance is limited, so underwater robots have become an important tool for developing the ocean. Among them, squids have the advantages of high propulsion efficiency and fast propulsion speed, so a squid-like robot was created to meet the needs. However, existing squid-like robots have the problems of complex structure, heavy weight, poor maneuverability, and low propulsion efficiency.

[0003] Therefore, how to provide a squid-like robot with high maneuverability and high propulsion efficiency is one of the technical problems that urgently need to be solved in this field. Summary of the invention

[0004] In view of this, the present invention provides a squid-like robot, the purpose of which is to solve the problems existing in the prior art.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A squid-like robot comprises: a robot head, a robot shell and a robot tail which are connected in sequence; the robot head and the robot tail are both provided with electromagnetic valves for spraying water outwards and absorbing water inwards; the robot shell is made of a flexible waterproof material; an internal sealing body and a driving mechanism for controlling the volume increase and decrease of the robot shell are provided inside the robot shell.

[0007] Preferably, a plurality of carbon fiber elastic strips are evenly distributed along the circumferential direction on the inner side wall of the robot shell; one end of the carbon fiber elastic strip is connected to the head of the robot, and the other end of the carbon fiber elastic strip is connected to the tail of the robot.

[0008] Preferably, the driving mechanism includes a connecting rod assembly and a shape memory alloy wire; the connecting rod assembly is the same in number as the carbon fiber elastic strips and are arranged in one-to-one correspondence; the connecting rod assembly includes a first connecting rod and a second connecting rod; one end of the first connecting rod is hinged to the outer side wall of the internal sealing body, and the other end of the first connecting rod is hinged to one end of the second connecting rod; the other end of the second connecting rod is hinged to the corresponding carbon fiber elastic strip; the shape memory alloy wire is the same in number as the carbon fiber elastic strips and are arranged in one-to-one correspondence; one end of the shape memory alloy wire is connected to the hinge between the first connecting rod and the second connecting rod, and the other end of the shape memory alloy wire is connected to the tail of the robot.

[0009] Preferably, posture adjustment mechanisms are symmetrically provided on both sides of the robot head.

[0010] Preferably, the front end of the robot head is provided with an external thread.

[0011] Preferably, the robot head and the robot tail are both connected to the internal sealing body via support rods.

[0012] Preferably, the support rod is an internal hollow structure.

[0013] Preferably, a sensing module, a power module and a control module are provided inside the internal sealed body.

[0014] Preferably, the perception module includes a gyroscope, a camera, a sonar and a pressure gauge.

[0015] Compared with the prior art, the present invention has achieved the following technical effects:

[0016] 1) The present invention adopts an innovative structure of shape memory alloy wire, connecting rod mechanism and carbon fiber elastic strip, making full use of the amplification effect of the connecting rod mechanism on force and displacement, and has the advantages of light weight, quietness, strong concealment, convenient control, good flexibility and high efficiency;

[0017] 2) The present invention can flexibly adopt the method of absorbing water at the head and spraying water at the tail or absorbing water at the tail and spraying water at the head for propulsion according to actual conditions. Compared with the traditional squid-like jet propulsion robot, it has higher maneuverability and propulsion efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic structural diagram of a squid-like robot according to the present invention;

[0019] In the figure: 1. Robot head; 2. Posture adjustment mechanism; 3. Robot shell; 4. Carbon fiber elastic strip; 5. Support rod; 6. Sensing module; 7. First connecting rod; 8. Power module; 9. Shape memory alloy wire; 10. Internal sealing body; 11. Control module; 12. Robot tail; 13. Second connecting rod. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Example

[0022] Reference Figure 1As shown, the present invention discloses a squid-like robot, comprising: a robot head 1, a robot shell 3 and a robot tail 12 connected in sequence; the robot head 1 and the robot tail 12 are both provided with electromagnetic valves for spraying water outward and absorbing water inward; the robot shell 3 is made of a flexible waterproof material; the robot shell 3 is a hollow structure with a fluid channel in the middle; the robot shell 3 is used to connect the robot head 1 and the robot tail 12 and simulate the mantle of a squid; the robot shell 3 is provided with an internal sealing body 10 and a driving mechanism for controlling the volume increase and decrease of the robot shell 3.

[0023] In this embodiment, a plurality of carbon fiber elastic strips 4 are evenly distributed along the circumferential direction on the inner wall of the robot shell 3 for supporting the robot shell 3; one end of the carbon fiber elastic strip 4 is connected to the robot head 1, and the other end of the carbon fiber elastic strip 4 is connected to the robot tail 12.

[0024] In this embodiment, the driving mechanism includes a connecting rod assembly and a shape memory alloy wire 9; the connecting rod assembly is the same in number as the carbon fiber elastic strip 4, and is arranged in a one-to-one correspondence; the connecting rod assembly includes a first connecting rod 7 and a second connecting rod 13; one end of the first connecting rod 7 is hinged to the outer wall of the internal sealing body 10, and the other end of the first connecting rod 7 is hinged to one end of the second connecting rod 13; the other end of the second connecting rod 13 is hinged to the corresponding carbon fiber elastic strip 4; the shape memory alloy wire 9 is the same in number as the carbon fiber elastic strip 4, and is arranged in a one-to-one correspondence; one end of the shape memory alloy wire 9 is connected to the first connecting rod 7 and the second connecting rod 13 The shape memory alloy wire 9 is hinged at the same time, and the other end of the shape memory alloy wire 9 is fixedly connected to the tail 12 of the robot; when in use, the shape memory alloy wire 9 is energized and contracted to pull the first connecting rod 7 and the second connecting rod 13 to move, and the carbon fiber elastic strip 4 is pushed outward, and the volume of the inner cavity between the robot shell 3 and the internal sealing body 10 increases, and the robot absorbs water at this time; when the shape memory alloy wire 9 is powered off, it no longer maintains the contracted state, and under the action of the rebound force of the carbon fiber elastic strip 4, the volume of the inner cavity between the robot shell 3 and the internal sealing body 10 shrinks, and the robot sprays water outward, using the recoil force to move the robot.

[0025] In this embodiment, posture adjustment mechanisms 2 are symmetrically provided on both sides of the robot head 1; the posture adjustment mechanisms 2 are controlled by a steering gear or a motor.

[0026] In this embodiment, an external thread is provided at the front end of the robot head 1 for fixing and installing equipment such as a camera and a robotic arm.

[0027] In this embodiment, the robot head 1 and the robot tail 12 are both fixedly connected to the internal sealing body 10 via two support rods 5 .

[0028] In this embodiment, the support rod 5 is an internal hollow structure.

[0029] In this embodiment, a sensing module 6 , a power module 8 and a control module 11 are disposed inside the internal sealed body 10 .

[0030] In this embodiment, the sensing module 6 includes a gyroscope, a camera, a sonar and a pressure gauge, which are used to obtain a variety of underwater information.

[0031] In this embodiment, the control module 11 can control the opening and closing of the solenoid valve, the action of the posture control mechanism and the contraction of the shape memory alloy wire; the power lines and control signal lines connecting the control module 11 to various parts of the robot pass through the inside of the support rod 5, which not only maintains the beauty of the interior of the robot, but also reduces fluid resistance.

[0032] In this embodiment, the power module 8 uses its own battery or a drag cable, which can not only power the sensing module 6, the control module 11, the solenoid valve, the posture adjustment mechanism 2 and the shape memory alloy wire 9, but also power external devices such as cameras or robotic arms.

[0033] Working principle: When in use, the control module can control the opening and closing of the head and tail solenoid valves according to actual needs, complete actions such as water absorption at the head and water spraying at the tail or water absorption at the tail and water spraying at the head, and cooperate with the synchronous contraction of the shape memory alloy wire in the driving mechanism to realize the forward and backward movement of the robot. At the same time, through independent control of the shape memory alloy wires in the driving mechanism evenly distributed between the robot shell and the internal sealing body, inconsistent motion control of different connecting rod assemblies can be realized, and the steering and posture adjustment functions of the robot can be completed in combination with the posture adjustment mechanism.

[0034] The present invention adopts a shape memory alloy wire, a connecting rod mechanism and a carbon fiber elastic strip to drive the change of the robot's inner cavity volume, thereby simplifying the system structure, greatly reducing the system weight, and having a higher load-to-weight ratio. At the same time, through an innovative driving method of fluid suction and rear spraying or rear suction and front spraying, a jet propulsion effect that exceeds the traditional squid-like robot's tail water suction / spraying is achieved, greatly improving the propulsion maneuverability and efficiency.

[0035] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A squid-like robot, characterized in that: include: A robot head (1), a robot shell (3) and a robot tail (12) are connected in sequence; the robot head (1) and the robot tail (12) are both provided with electromagnetic valves for spraying water outwards and absorbing water inwards; the robot shell (3) is made of a flexible waterproof material; an internal sealing body (10) and a driving mechanism for controlling the volume increase and decrease of the robot shell (3) are provided inside the robot shell (3).

2. The squid-like robot according to claim 1, characterized in that: A plurality of carbon fiber elastic strips (4) are evenly distributed along the circumferential direction on the inner side wall of the robot housing (3); one end of the carbon fiber elastic strip (4) is connected to the robot head (1), and the other end of the carbon fiber elastic strip (4) is connected to the robot tail (12).

3. The squid-like robot according to claim 2, characterized in that: The driving mechanism comprises a connecting rod assembly and a shape memory alloy wire (9); the connecting rod assembly is the same in number as the carbon fiber elastic strips (4) and is arranged in a one-to-one correspondence; the connecting rod assembly comprises a first connecting rod (7) and a second connecting rod (13); one end of the first connecting rod (7) is hinged to the outer wall of the internal sealing body (10), and the other end of the first connecting rod (7) is hinged to one end of the second connecting rod (13); the other end of the second connecting rod (13) is hinged to the corresponding carbon fiber elastic strip (4); the shape memory alloy wire (9) is the same in number as the carbon fiber elastic strips (4) and is arranged in a one-to-one correspondence; one end of the shape memory alloy wire (9) is connected to the hinge between the first connecting rod (7) and the second connecting rod (13), and the other end of the shape memory alloy wire (9) is connected to the tail (12) of the robot.

4. The squid-like robot according to claim 1, characterized in that: Attitude adjustment mechanisms (2) are symmetrically provided on both sides of the robot head (1).

5. The squid-like robot according to claim 4, characterized in that: The front end of the robot head (1) is provided with an external thread.

6. The squid-like robot according to claim 1, characterized in that: The robot head (1) and the robot tail (12) are both connected to the internal sealing body (10) via a support rod (5).

7. The squid-like robot according to claim 6, characterized in that: The support rod (5) is an internal hollow structure.

8. The squid-like robot according to claim 1, characterized in that: The internal sealed body (10) is provided with a sensing module (6), a power module (8) and a control module (11).

9. The squid-like robot according to claim 8, characterized in that: The sensing module (6) comprises a gyroscope, a camera, a sonar and a pressure gauge.

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