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Underwater robot walking mechanism

A technology of underwater robots and walking mechanisms, applied in underwater ships, underwater operating equipment, motor vehicles, etc., can solve problems affecting work efficiency and progress, user loss, and inability to complete tasks, and achieve the effect of improving buoyancy

Active Publication Date: 2021-04-09
NINGBO DAHONGYING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Underwater robots are often used in water quality surveys, biological sample collection, etc. Due to the complex underwater conditions and a large amount of silt on the underwater ground, underwater robots are very easy to sink into the silt during walking, which affects work efficiency and progress, and in severe cases, it may cause the robot to be stuck or damaged, not only unable to complete the task, but also causing additional losses to the user

Method used

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Embodiment 1

[0023] The walking mechanism of the underwater robot in this embodiment includes a chassis on which a quadruped walking mechanism, a buoyancy adjusting mechanism and an electric control system are arranged.

[0024] The multi-legged walking mechanism is used to drive the chassis to move. The multi-legged walking mechanism includes several walking feet. In this implementation, four walking feet are used. The walking feet refer to the prior art design, including multiple foot joints, and the joints are hinged. A steering gear is arranged on the hinge shaft to control the rotation of the foot joints, and walking is realized through the rotation cooperation of the foot joints of a plurality of walking feet.

[0025] A subsidence detection sensor is provided on the walking foot, and the subsidence detection sensor is connected with the control system signal, and the subsidence detection sensor is used to send the detection data to the control system; in this implementation, the subs...

Embodiment 2

[0032] Such as figure 2 As shown, the difference between this embodiment and Embodiment 1 is that this embodiment also includes a self-rescue structure, the self-rescue structure includes a compressed air bag and a gas generating device, the gas generating device includes a housing, and a heater, a phosphor , sodium azide, potassium nitrate and silicon dioxide, the compressed air bag communicates with the housing, in this implementation, the housing is provided with a reaction chamber and a discharge pipe communicating with the reaction chamber, the heater, sodium azide, potassium nitrate and The silicon dioxide is set in the reaction chamber, the phosphor is set in the discharge pipe, the two ends of the discharge pipe are provided with a sealing film to isolate the phosphor, the discharge pipe is connected to the compressed air bag, the heater is connected to the control system signal, and the control system also includes a deep fault The detection module, the deep fault de...

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Abstract

The invention relates to the technical field of robot control systems, and in particular, relates to an underwater robot walking mechanism which comprises a chassis; a four-foot walking mechanism and a buoyancy adjusting mechanism are arranged on the chassis; the multi-foot walking mechanism is used for driving the chassis to move and comprises a plurality of walking feet, and sinking detection sensors are arranged on the walking feet; and the buoyancy adjusting mechanism is used for providing buoyancy for the chassis and adjusting the buoyancy according to a signal of a control system. The underwater robot walking mechanism further comprises a sinking detection module and a buoyancy control module, and the sinking detection module is used for receiving data of the sinking detection sensor and judging whether the walking feet sink or not according to the data of the sinking detection sensor; and the buoyancy control module is used for controlling the buoyancy adjusting mechanism to increase buoyancy after the sinking detection module detects that the walking feet sink. According to the underwater robot walking mechanism, the situation that an underwater robot deeply sinks into the water bottom, and consequently the task completion efficiency is affected can be avoided.

Description

technical field [0001] The invention relates to the technical field of robot control systems, in particular to an underwater robot walking mechanism. Background technique [0002] Underwater robots are often used in water quality surveys, biological sample collection, etc. Due to the complex underwater conditions and a large amount of silt on the underwater ground, underwater robots are very easy to sink into the silt during walking, which affects work efficiency and progress, and in severe cases, the robot may be stuck or damaged, not only unable to complete the task, but also causing additional losses to the user. Contents of the invention [0003] The present invention aims to provide a walking mechanism for an underwater robot, which can prevent the underwater robot from sinking into the bottom of the water and affect the task completion efficiency. [0004] This application provides the following technical solutions: [0005] The underwater robot walking mechanism i...

Claims

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Application Information

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IPC IPC(8): B63C11/52B63G8/22
CPCB63C11/52B63G8/22
Inventor 陈苗青
Owner NINGBO DAHONGYING UNIV
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