The underwater snake-like robot comprises a front cabin, a middle cabin and a tail cabin, the front cabin, the middle cabin and the tail cabin are of the same structure and are sequentially connected through steering connecting mechanisms, a propelling mechanism is arranged at the tail of the tail cabin, the front cabin comprises a cabin body and cabin covers, the two ends of the cabin body are communicated, the cabin covers are connected to the two ends of the cabin body in a covering mode, and the cabin covers are connected with the cabin body. A gravity center adjusting structure is arranged in the cabin body, the steering connecting mechanism comprises a steering engine, a steering engine fixing frame and a bogie, the steering engine fixing frame is fixed to the head of the rear side cabin body, the steering engine is fixedly installed on the steering engine fixing frame, the bogie is fixedly arranged at the tail of the front side cabin body, and the bogie is hinged to the output end of the steering engine through a hinge piece. The robot has the advantages of being small in size, good in maneuvering performance, high in flexibility, good in concealment performance and the like, great convenience is provided for underwater detection work, and unnecessary energy loss is reduced. Therefore, the research on the movement mechanism of underwater snakes and the development of the snake-like robot have very important scientific significance and application prospects.

    本发明公开了一种基于重心可调节的水下仿蛇型机器人,包括前舱、中间舱和尾舱,前舱、中间舱和尾舱结构相同且通过转向连接机构依次连接的,尾舱的尾部设置有推进机构,前舱包括舱体和舱盖,舱体两端相通,舱盖盖接在舱体的两端,舱体内设有重心调节结构,转向连接机构包括舵机、舵机固定架和转向架,舵机固定架固定后侧舱体的头部,舵机固定安装在舵机固定架上,转向架固定设置在前侧舱体的尾部,转向架通过铰接件与舵机的输出端铰接。该机器人具有体积小、机动性能好、灵活性强、隐蔽性能好等优点,为水下探测工作提供了极大的便利,减少了不必要的能源损失。因此,探究水下蛇类运动机理,研制仿蛇机器人,具有十分重要的科学意义和应用前景。


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    Title :

    Underwater snake-like robot based on adjustable gravity center


    Additional title:

    一种基于重心可调节的水下仿蛇型机器人


    Contributors:
    REN MUYU (author) / LU YUBIN (author) / ZHONG YI (author) / MA YIFAN (author) / ZHANG XUETING (author) / SHI JIANGUANG (author) / LI WANTING (author) / WANG DONGRUI (author) / YAN JIAJUN (author)

    Publication date :

    2023-03-03


    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 / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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