The invention relates to a hybrid power type underwater humanoid robot which comprises a trunk module, leg modules, flippers, a buoyancy adjusting module, an inflation bottle, a sensing module and a control module. The leg modules can swing in the left-right direction and the front-back direction of the trunk module relative to the trunk module. The buoyancy adjusting module comprises a buoyancy air bag set and an inflation and deflation control mechanism. The robot further comprises an underwater propelling module, the underwater propelling module comprises an upper propeller and a lower propeller, the upper propeller is installed on the trunk module, and the lower propeller is installed on the leg modules. The control module is in control connection with the upper thruster and the lower thruster. A leg motion detection assembly in the sensing module is arranged on a leg module, can obtain the motion condition of the leg module and can obtain the angle relation of the propelling force of a lower propeller relative to the trunk module; and the total buoyancy center of the buoyancy air bag group is always in a buoyancy center fluctuation space range when the buoyancy air bag group is inflated and deflated.
本发明涉及一种复合动力式水下人形机器人,包括躯干模块、腿部模块、脚蹼、浮力调节模块、充气瓶、感知模块和控制模块;所述腿部模块能够相对躯干模块在躯干模块的左右方向和前后方向上摆动;所述浮力调节模块包括浮力气囊组和充放气控制机构;还包括水下推进模块,所述水下推进模块包括上推进器和下推进器,所述上推进器安装在躯干模块上,所述下推进器安装在腿部模块上;所述控制模块分别与上推进器和下推进器都控制相连;所述感知模块中的腿部运动检测组件设置于腿部模块,能够获取腿部模块的运动情况,并能够获取下推进器的推进力相对躯干模块的角度关系;所述浮力气囊组在充放气时总浮心始终处于一个浮心波动空间范围内。
Hybrid power type underwater humanoid robot
一种复合动力式水下人形机器人
2025-01-07
Patent
Electronic Resource
Chinese
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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