The invention discloses a seven-mode hybrid-driven underwater robot based on shape memory alloy, explosion and propellers, and the three driving modes of the shape memory alloy, the explosion and the propellers respectively have the advantages of stable swimming, high acceleration and rapid swimming. Any combination of three driving modes is used for realizing hybrid driving of seven modes of the underwater robot. In the seven modes, three modes are normal operation modes of the underwater robot, namely, A, a full-speed advancing mode, namely, a shape memory alloy, explosion and propeller joint driving mode; b, a normal cruising mode, namely a shape memory alloy driving mode; and C, a distress getting-off mode, namely an explosion and propeller joint driving mode. According to the seven-mode hybrid drive underwater robot, the underwater hybrid drive potential is developed to the maximum extent, huge possibility and imagination space are provided for robot motion control, and the robot has the advantage of being high in environmental adaptability and can be rapidly started and flexibly move.

    本发明公开了一种基于形状记忆合金、爆炸和螺旋桨的七模态混合驱动水下机器人,形状记忆合金、爆炸和螺旋桨三种驱动方式分别具有平稳游动、高加速度和快速游动的优点,使用三种驱动方式的任意组合来实现水下机器人七种模态的混合驱动。在这七种模态中,其中三种模态为水下机器人的正常运行模态:分别是A.全速前进模式,即形状记忆合金、爆炸、螺旋桨共同驱动模式;B.正常巡航模式,即形状记忆合金驱动模式和C.遇险摆脱模式,即爆炸、螺旋桨共同驱动模式。本发明提出的七模态混合驱动水下机器人最大化地开发了水下混合驱动潜力,给机器人运动控制提供了巨大的可能性与想象空间,机器人具有环境适应性高的优点,能够迅速启动、灵活运动。


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    Title :

    Seven-mode hybrid drive underwater robot based on shape memory alloy, explosion and propellers


    Additional title:

    一种基于形状记忆合金、爆炸和螺旋桨的七模态混合驱动水下机器人


    Contributors:
    JIAO PENGCHENG (author) / MA ZHONGZE (author) / ZHANG CHENJIE (author) / WANG JIAJUN (author)

    Publication date :

    2023-07-14


    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 / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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