The invention belongs to the technical field of underwater robots, and discloses a propulsion-driven multi-cabin hinged underwater snakelike robot which comprises a plurality of functional cabins, first driving parts are arranged on the functional cabins, and each first driving part comprises a pair of first lateral propellers and a pair of first horizontal propellers; the second driving part is arranged on the functional cabin section and comprises a pair of second lateral propellers and a pair of second horizontal propellers; in the first working state, the first lateral propellers and the second lateral propellers incline relative to the central axis of the functional cabin section, the inclining directions of the pair of first lateral propellers are opposite, the inclining directions of the pair of second lateral propellers are opposite, and the inclining directions of the first lateral propeller and the second lateral propeller on the same side are opposite. The underwater pipeline robot can flexibly move in a complex underwater environment conveniently, can adapt to pipelines of different shapes and curvatures, and can keep a good stable state.
本发明属于水下机器人技术领域,公开了一种推进驱动多舱段铰接式水下蛇形机器人,包括:多个功能舱段,第一驱动部设置在功能舱段上,第一驱动部包括一对第一侧向推进器和一对第一水平推进器;第二驱动部设置在功能舱段上,第二驱动部包括一对第二侧向推进器和一对第二水平推进器;在第一工作状态时第一侧向推进器和第二侧向推进器相对于功能舱段中心轴线倾斜,一对第一侧向推进器倾斜方向相反,一对第二侧向推进器倾斜方向相反,同一侧的第一侧向推进器和第二侧向推进器倾斜方向相反,本发明能便于在复杂的水下环境中灵活移动,能够适应不同形状和曲率的管道,能够保持良好的稳定状态。
Propulsion-driven multi-cabin hinged underwater snakelike robot
推进驱动多舱段铰接式水下蛇形机器人
2024-01-30
Patent
Electronic Resource
Chinese
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