Flexible Underwater Robot Joint With Gradual Rigidity Steering
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Solution Overview
Problem
Conventional flexible underwater robots face challenges in adjusting steering in all directions within pipeline environments due to their inflexibility and poor stability, which is exacerbated by the risk of damage from twisting moments and aquatic organisms.
Innovation Solution
A flexible underwater robot design featuring a movable joint with a pushing module, a rotating cloud platform, and a flexible joint module, including a gradual rigidity structure composed of springs and pulling ropes, along with a control module that adjusts movement based on ultrasonic signals to enhance flexibility and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a conventional gear mechanical structure or soft pneumatic structure is used for the rotating joint, then the robot can achieve steering capability, but the robot is poor in flexibility and cannot adjust gesture flexibly when moving in pipeline environments
Solution Approach 1:
The rotating joint is segmented into multiple functional modules: pushing module with motor, flexible joint module with springs and pulling ropes, and rotating cloud platform. This segmentation allows each module to perform specific functions independently, achieving flexible multi-directional steering while maintaining manageable structural complexity
Solution Approach 2:
The patent changes the physical parameters of the joint structure by using springs with different rigidities (first, second, third springs) and adjustable pulling ropes. This allows the joint to achieve variable flexibility and adapt to different steering requirements, improving adaptability without proportionally increasing complexity
2Reliability
If a conventional rigid structure is used for the robot, then the robot has structural stability, but the robot is easily destroyed when subjected to impact and is poor in stability
Solution Approach 1:
The patent replaces rigid structural elements with flexible components including springs (first, second, third springs) and pulling ropes in the joint module. These flexible elements can deform under impact forces, absorbing energy and protecting the robot from damage, while maintaining sufficient structural integrity through the coordinated arrangement of multiple springs with different rigidities
Solution Approach 2:
The spring structure acts as a pre-configured cushioning mechanism that activates before critical damage can occur. When impact is detected or anticipated, the springs compress and the pulling ropes adjust to absorb and distribute the impact forces, preventing structural failure before it happens
3Adaptability or versatility
If the robot uses a fixed gesture structure, then the robot has structural simplicity, but the robot cannot adapt to complex pipeline environments requiring multi-directional steering
Solution Approach 1:
The patent implements a dynamic joint structure where the pulling ropes can be adjusted in real-time to change the gesture and steering angle. The control module dynamically adjusts the pulling forces on different ropes based on ultrasonic sensor feedback, enabling the robot to adapt to complex pipeline environments while keeping the control system manageable through sensor-based feedback
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The design allows for improved flexibility and stability, enabling the robot to navigate complex environments and absorb impact, thereby ensuring integrity and prolonged service life.
Implementation Method 1
the rotating cloud platform is provided with an ultrasonic probe to acquire ultrasonic signals
Implementation Method 2
the first spring, the second springs and the third springs are arranged from inside to outside in sequence with gradually decreased rigidities correspondingly to form a gradual rigidity structure
Data Source
AI summary
A flexible underwater robot, a control method and a device is provided with at least one movable joint and a control module. A flexible joint module of the movable joint comprises a first connecting plate, a second connecting plate, a first spring, several second springs, several third springs, several first pulling ropes, several second pulling ropes and a pulling module. The first spring, the second springs and the third springs are arranged from inside to outside in sequence with gradually decreased rigidities correspondingly to form a gradual rigidity structure, so that it is more flexible to adjust a posture. When the robot is impacted, it may absorb and release energy to ensure the integrity of the flexible joint module, so that the stability is improved.