The invention belongs to the field of soft robot snorkeling mechanism design, and relates to an auxiliary snorkeling mechanism of a soft underwater robot, the auxiliary snorkeling mechanism of the soft underwater robot comprises a base body, a flexible water chamber and a water pump, the base body is matched with motion control equipment of the robot to form a head of the robot, and three cavities are arranged in the base body and are respectively a motion control cavity, a power cavity and a snorkeling cavity; the motion control cavity is connected with the body part of the robot; the flexible water chamber comprises a flexible inner water chamber and a flexible outer water chamber, the water pump is arranged in the power chamber and connected with the flexible inner water chamber and the flexible outer water chamber, and at least one of the flexible inner water chamber and the flexible outer water chamber is filled with water. Floating and diving are achieved by only pumping water in the closed water chamber, interaction with the external environment is avoided, and therefore the marine environment is hardly affected. Floating and diving can be achieved through the water pump, the energy consumption requirement is low, the system is closed and does not interact with the external environment, and the external water environment cannot be disturbed.
本申请属于软体机器人浮潜机构设计领域,为一种软体水下机器人的辅助浮潜机构,包括基体、柔性水室和水泵,基体与机器人的运动控制设备配合组成机器人的头部,基体内设置三个腔室,分别为运动控制腔、动力腔和浮潜腔;运动控制腔与机器人的身体部位相接;柔性水室包括柔性内水室和柔性外水室,水泵设于动力室内并且水泵与柔性内水室和柔性外水室相连,柔性内水室和柔性外水室中至少一个腔室内填充有水。通过只抽取密闭水室的水来实现上浮下潜,和外界环境没有交互,故对海洋环境的几乎没有影响;通过水泵即可实现上浮下潜,能耗要求较小且系统封闭不与外界环境发生交互作用,不会对外部水环境进行干扰。
Auxiliary snorkeling mechanism of soft underwater robot
一种软体水下机器人的辅助浮潜机构
2024-04-02
Patent
Electronic Resource
Chinese