The earthworm bionic underwater detection robot comprises a plurality of umbrella-shaped folding and unfolding mechanisms which are spaced front and back and a plurality of passive steering mechanisms which are spaced front and back, a driving mechanism is arranged behind the umbrella-shaped folding and unfolding mechanism on the rearmost side, a drill bit assembly is arranged in front of the passive steering mechanism on the foremost side, and a steel wire flexible shaft is arranged on the driving mechanism in a transmission mode. The steel wire flexible shaft penetrates through the umbrella-shaped folding and unfolding mechanism and the passive steering mechanism to be in transmission connection with the drill bit assembly. The umbrella-shaped folding and unfolding mechanisms and the passive steering mechanisms are alternately arranged at intervals, the passive steering mechanisms are connected with the umbrella-shaped folding and unfolding mechanisms on the front side and the rear side, and when one umbrella-shaped folding and unfolding mechanism is in a folded state, the corrugated pipe serves as a sealing isolation element at the moment; and the steel wire flexible shaft and the spring are separated from underwater substances such as silt and water, so that the internal space of the robot is sealed. Meanwhile, the spring serves as a main elastic mechanism of the passive steering mechanism, and the main elastic force of the spring and part of elasticity provided by the corrugated pipe form axial supporting force of the drill bit assembly.
本发明提供蚯蚓仿生水下探测机器人,包括多个前后间隔的伞型折展机构和多个前后间隔的被动转向机构,最后侧伞型折展机构的后方设有驱动机构,最前侧被动转向机构的前方设有钻头组件,驱动机构上传动设有钢丝软轴,钢丝软轴穿过伞型折展机构和被动转向机构与钻头组件传动连接;伞型折展机构和被动转向机构交替间隔设置,且被动转向机构与前后两侧的伞型折展机构相互连接,其中一个伞型折展机构处于折叠状态时,波纹管此时作为密封隔离元件,将钢丝软轴和弹簧与泥沙和水等水下物质分隔开使机器人内部空间密封。同时弹簧作为被动转向机构的主要弹性机构,弹簧的主要弹力加上波纹管提供的部分弹性构成钻头组件的轴向支撑力。
Earthworm bionic underwater detection robot
蚯蚓仿生水下探测机器人
2024-07-09
Patent
Electronic Resource
Chinese