The invention discloses an underwater soft snakelike robot combining two propelling modes of jetting and winding. The robot is composed of a head part, a jetting section, a winding control section, a winding section and a tail part. The head part senses the external environment of the robot, the jetting section provides jetting propulsion power for the robot, the winding control section controls winding movement of the winding section, the winding section provides winding propulsion power for the robot, and the tail part provides electric power supplement and transmits sensing and control signals. The underwater soft snakelike robot has very high flexibility and terrain adaptive capacity due to the shape and the flexibility characteristic of the robot, the robot has high moving speed due to the novel propelling mode of mutual coupling action of jet propelling and winding propelling, the underwater operation capacity of the underwater robot is expanded, and the robot can be applied to the fields of marine mineral exploration, submarine pipeline maintenance, marine organism exploration and the like.

    本发明公开了一种结合喷射和蜿蜒两种推进方式的水下软体蛇形机器人。其由头部、喷射段、蜿蜒控制段、蜿蜒段及尾部组成。头部对机器人外部环境进行感知,喷射段为机器人提供喷射推进动力,蜿蜒控制段对蜿蜒段的蜿蜒运动进行控制,蜿蜒段为机器人提供蜿蜒推进动力,尾部提供电力补充并传输感知与控制信号。本发明的水下软体蛇形机器人的形状和柔性特性使本发明具有很强的灵活性和地形适应能力,喷射推进与蜿蜒推进相互耦合作用的新型推进方式使本发明具有较高的移动速度,拓展了水下机器人的水下作业能力,可运用海洋矿产勘探、海底管线维护、海洋生物勘探等领域。


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    Title :

    Underwater soft snakelike robot


    Additional title:

    一种水下软体蛇形机器人


    Contributors:
    SHI HANG (author) / ZHOU YUHONG (author) / CUI WENLONG (author) / HU BO (author) / XIAO YAO (author) / YU JIAXUAN (author)

    Publication date :

    2021-09-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B25J Manipulatoren , MANIPULATORS / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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