The invention relates to an underwater robot capable of capturing various ocean energy sources and a working method of the underwater robot, and the underwater robot comprises a head joint, a middle joint, a buoyancy adjusting joint and a tail joint which are connected in sequence, the head joint comprises a head shell, a forward-looking sonar, a negative pressure adsorption mechanism, a two-degree-of-freedom pectoral fin mechanism, a passive rotating impeller tidal current energy capturing mechanism, a CTD sensor and a side-scan sonar, the forward-looking sonar is arranged in the head shell, and the negative pressure adsorption mechanism is arranged at the bottom of the head shell; a passive rotating impeller tidal current energy capturing mechanism, a CTD sensor and a side-scan sonar are arranged in the head shell, two-degree-of-freedom pectoral fin mechanisms are arranged on the two sides of the head shell, and the other end of the head shell is connected with a middle joint. Integrated cooperation of multi-source energy capture and motion driving control is achieved, ocean energy can be captured to supply power to the underwater robot, the underwater robot can be controlled to move, and the limitation of energy supply on the endurance and working time of the underwater robot is broken through.
本发明涉及一种能够俘获多种海洋能源的水下机器人及其工作方法,水下机器人包括依次连接的头部关节、中间关节、浮力调节关节和尾部关节,其中,头部关节包括头部外壳、前视声纳、负压吸附机构、二自由度胸鳍机构、被动旋转叶轮潮流能俘获机构、CTD传感器和侧扫声纳,头部外壳内设置有前视声纳,头部外壳底部设置有负压吸附机构,头部外壳内设置有被动旋转叶轮潮流能俘获机构、CTD传感器和侧扫声纳,头部外壳两侧设置有二自由度胸鳍机构,头部外壳另一端连接有中间关节。本发明实现了多源能量俘获与运动驱控的一体化协同,既能够捕获海洋能给水下机器人供电,又能够控制水下机器人运动,突破能源供给对水下机器人续航和工作时间的限制。
Underwater robot capable of capturing multiple ocean energy sources and working method thereof
一种能够俘获多种海洋能源的水下机器人及其工作方法
2023-12-01
Patent
Electronic Resource
Chinese
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 / F03B MACHINES OR ENGINES FOR LIQUIDS , Kraft- und Arbeitsmaschinen oder Kraftmaschinen für Flüssigkeiten / F03G Feder-, Gewichts-, Trägheits- oder ähnliche Kraftmaschinen , SPRING, WEIGHT, INERTIA, OR LIKE MOTORS / H02K Dynamoelektrische Maschinen , DYNAMO-ELECTRIC MACHINES |
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