Underwater robot of bionic and gliding hybrid propulsion mode

Abstract

The invention discloses an underwater robot of a bionic and gliding hybrid propulsion mode. The underwater robot comprises a head part, a sinking and floating adjustment mechanism, a center of gravityadjustment mechanism, a circuit compartment, a gliding wing and a tail part. The head part is composed of an image collection compartment. The sinking and floating adjustment mechanism includes an inner oil sac, a reversing valve, a hydraulic pump, a relief valve and an outer oil sac. The center of gravity adjustment mechanism includes a stepping motor driver, a stepping motor, a steering gear drive, a left and right center of gravity steering gear, a screw rod, a guide rail and a heavy block. The circuit compartment consists of a control system, including a moving layer, a sensing layer, a control layer, a communication layer and a monitoring layer. The gliding wing is made of epoxy carbon fiber material, with the advantages of high strength, light weight and so on. The tail part includes a four-joint bionic fishtail steering gear and a fishtail skeleton. The underwater robot of the bionic and gliding hybrid propulsion mode in the invention has the characteristics of large range, lownoise, low energy consumption, high concealment, small turning radius and so forth, and can improve the accuracy of measurement data and improve the working efficiency of measurement.

Description

technical field [0001] The invention relates to the technical field of underwater detection robots, in particular to an underwater robot in a hybrid propulsion mode of bionic and gliding. Background technique [0002] In the prior art, there are three propulsion methods for underwater robots: propeller propulsion has the characteristics of large propulsion power, fast robot speed but high noise; bionic propulsion method has the characteristics of high robot flexibility, easy adjustment of underwater balance posture, low noise, and easy turning. The radius is small but the operating radius is small and the efficiency is not high; the gliding propulsion method has the characteristics of low energy consumption and long range, but the turning radius is large and not flexible enough. [0003] Based on the above reasons, it is necessary to study and design an underwater robot that can not only have the advantages of the above propulsion methods but also effectively solve their sho...

AI Technical Summary

Problems solved by technology

[0002] In the prior art, there are three propulsion methods for underwater robots: propeller propulsion has the characteristics of large propulsion power, fast robot speed but high noise; bionic propulsion method has the characteristics of high robot flexibility, easy adjustment of underwater balance posture, low noise, and easy turning. The radius is small but the operating radius is small and the efficiency is not high; the gliding propulsion method has the characteristics of low energy consumption and long range, but the turning radius is large and not flexible enough

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