CN117799803A - Auxiliary floating and submerging mechanism of soft underwater robot - Google Patents
Auxiliary floating and submerging mechanism of soft underwater robot Download PDFInfo
- Publication number
- CN117799803A CN117799803A CN202410158663.XA CN202410158663A CN117799803A CN 117799803 A CN117799803 A CN 117799803A CN 202410158663 A CN202410158663 A CN 202410158663A CN 117799803 A CN117799803 A CN 117799803A
- Authority
- CN
- China
- Prior art keywords
- water chamber
- chamber
- flexible
- floating
- cavity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007667 floating Methods 0.000 title claims abstract description 56
- 230000007246 mechanism Effects 0.000 title claims abstract description 25
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 156
- 230000033001 locomotion Effects 0.000 claims abstract description 31
- 230000009189 diving Effects 0.000 claims abstract description 10
- 239000000463 material Substances 0.000 claims description 7
- 239000000758 substrate Substances 0.000 claims description 5
- 238000007789 sealing Methods 0.000 claims description 3
- 229920002379 silicone rubber Polymers 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 238000005086 pumping Methods 0.000 claims description 2
- 239000004945 silicone rubber Substances 0.000 claims description 2
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 230000003993 interaction Effects 0.000 abstract description 3
- 241000251468 Actinopterygii Species 0.000 description 7
- 230000009182 swimming Effects 0.000 description 6
- 239000011664 nicotinic acid Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000010354 integration Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000000725 suspension Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 241000270295 Serpentes Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The application belongs to the field of soft robot floating and diving mechanism design, and relates to an auxiliary floating and diving mechanism of a soft underwater robot, which comprises a base body, a flexible water chamber and a water pump, wherein the base body and motion control equipment of the robot are matched to form a head of the robot, and three chambers, namely a motion control chamber, a power chamber and a floating and diving chamber, are arranged in the base body; 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 chamber in the flexible inner water chamber and the flexible outer water chamber is filled with water. The water in the closed water chamber is only extracted to realize floating and submerging, and no interaction with the external environment exists, so that the influence on the marine environment is almost avoided; the water pump can realize floating and submerging, the energy consumption requirement is small, the system is closed and does not interact with the external environment, and the external water environment is not interfered.
Description
Technical Field
The application belongs to the field of soft robot floating and submerging mechanism design, and particularly relates to an auxiliary floating and submerging mechanism of a soft underwater robot.
Background
In recent years, with the continuous emphasis of ocean interests and the continuous deep ocean exploration, there is also a higher new demand for the technology of underwater robots, which is required to have higher pressure resistance. People put eyes into the field of soft underwater robots, however, the motion joints of the soft underwater robots are mostly one freedom degree joints, and the upward floating and downward submerged motion of the robots in the motion process is difficult to realize. It is necessary for the design of the submersible mechanism of the soft robot.
The current application number is 202310380817.5, a flexible coupling bionic robot fish with a bionic swimming bladder is provided with a floating mechanism of the bionic swimming bladder, an air pump, an air cylinder, a push rod, a push plate, an electromagnetic valve and a device with a variable volume, wherein the device is formed by the electromagnetic valve and an air storage chamber, and the floating and submerging movement of the robot fish is realized by increasing and reducing the volume of the air cylinder, however, the weight of the electromagnetic valve, the air pump and the like is too large, the energy loss is too large, and the swimming speed of the robot fish in water can be influenced.
The bionic robot fish mentioned in the electronic swimming bladder device of the robot fish with the prior application number 202222653683.3 adopts an airtight cavity with variable volume, which is formed by a gear set, a worm gear, a motor, a transmission shaft, a rigid plate and the like, as a swimming bladder-like floating mechanism, compared with a gravity center adjusting mechanism, the bionic robot fish with the electronic swimming bladder device reduces the whole weight of the robot fish, but has insufficient flexibility due to the adoption of more rigid mechanical mechanisms.
The existing special floating and submerging mechanism for the underwater robot has the application number 202210312242.9, mainly comprises a base body, two water collecting tanks A and B and a turbine, and realizes floating and submerging motions by controlling rotation of the turbine in different directions and controlling water storage amounts in the tanks A and B. The device uses turbines to generate great fluctuation in water, thereby greatly influencing the marine environment.
In summary, the prior art includes: the device has the advantages of large volume, large weight, large energy consumption, too many rigid structures, unfavorable soft integration, large influence on marine environment and the like.
Disclosure of Invention
The purpose of the application is to provide an auxiliary floating mechanism of a soft underwater robot, so as to solve the problem that the design of the auxiliary floating mechanism of the soft underwater robot is difficult to carry out in the prior art.
The technical scheme of the application is as follows: the auxiliary floating and submerging mechanism of the soft underwater robot comprises a base body, a flexible inner water chamber, a flexible outer water chamber and a water pump, wherein the base body and the flexible outer water chamber are matched to form the head of the robot, and three chambers, namely a motion control chamber, a power chamber and a floating and submerging chamber, are arranged in the base body; the motion control cavity is connected with the body part of the robot, the motion control equipment is arranged in the motion control cavity, the floating and diving cavity is arranged at the top of the base body, and the power cavity is arranged between the motion control cavity and the floating and diving cavity;
the flexible inner water chamber and the flexible outer water chamber are of sealing structures, the flexible inner water chamber is arranged in the floating submerged cavity, the flexible outer water chamber is arranged on the outer side of the substrate, the water pump is arranged in the power chamber and is connected with the flexible inner water chamber and the flexible outer water chamber, at least one chamber in the flexible inner water chamber and the flexible outer water chamber is filled with water, and the water pump can pump the water in the flexible inner water chamber into the flexible outer water chamber to assist the robot to float upwards; or pumping the water in the flexible outer water chamber into the flexible inner water chamber to assist the robot to submerge.
Preferably, the flexible outer water chamber is a semi-ellipsoidal chamber, and the flexible outer water chamber is located at the side of the substrate.
Preferably, the flexible outer water chamber, the flexible inner water chamber and the water pump are all two groups and are symmetrically arranged along the middle part of the matrix; one end of the flexible outer water chamber is arranged at the junction of the motion control cavity and the robot body, and the other end is arranged at the external junction of the power cavity and the floating cavity
Preferably, the flexible outer water chamber and the flexible inner water chamber are made of silicone rubber materials, and the substrate is made of rigid materials.
Preferably, one end of the flexible inner water chamber is arranged at the top of the inner side of the floating and submerged cavity, the other end of the flexible inner water chamber is arranged at the junction between the floating and submerged cavity and the power cavity, and the outer surface of the cross section of the floating and submerged cavity is in the shape of an outwards convex arc.
The auxiliary floating mechanism of the soft underwater robot realizes floating and submerging by only extracting water in the closed water chamber, has no interaction with the external environment, and has almost no influence on the marine environment; the water pump can realize floating and submerging, the energy consumption requirement is small, the system is closed and does not interact with the external environment, and the external water environment is not interfered; the volume and the structure of the integrated soft underwater robot can be designed according to the requirements of the integrated soft underwater robot, and the integration of the underwater soft robot is easy.
Drawings
In order to more clearly illustrate the technical solutions provided by the present application, the following description will briefly refer to the accompanying drawings. It will be apparent that the figures described below are only some embodiments of the present application.
FIG. 1 is a schematic diagram of the overall structure of the present application;
FIG. 2 is a schematic diagram of the suspension state of the auxiliary floating mechanism of the present application;
FIG. 3 is a schematic diagram of the floating state of the auxiliary floating mechanism of the present application;
fig. 4 is a schematic diagram of the submerged state of the auxiliary submerged mechanism of the present application.
1. A base; 2. a flexible inner water chamber; 3. a flexible outer water chamber; 4. a water pump; 5. a motion control chamber; 6. a power cavity; 7. a floating and submerged cavity; 8. a head; 9. a body; 10. and a tail part.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in figure 1, the soft underwater robot in the application is in a snake shape and comprises a head 8, a body 9 and a tail 10, wherein motion control equipment of the head 8 comprises a depth camera, a small sonar and the like and is used for sensing the external environment in the underwater working process, the body 9 is a joint section, each joint is provided with two chambers, each chamber is filled with water, the water quantity of the two chambers in the joint is changed through a water pump, so that the joint is bent, and bending between joints is matched to form motion waves, so that the snake-shaped robot moves; the tail 10 provides power replenishment and transmits sense and control signals.
The device comprises a base body 1, a flexible inner water chamber 2, a flexible outer water chamber 3 and a water pump 4, wherein the base body 1 and motion control equipment of a robot are matched to form a head 8 of the robot, and three chambers, namely a motion control chamber 5, a power chamber 6 and a floating and submerged chamber 7, are arranged in the base body 1; the motion control cavity 5 is connected with the body 9 of the robot, the motion control equipment is arranged in the motion control cavity 5, the floating and diving cavity 7 is arranged at the top of the base body 1, and the power cavity 6 is arranged between the motion control cavity 5 and the floating and diving cavity 7.
The flexible inner water chamber 2 and the flexible outer water chamber 3 are of sealing structures, the flexible inner water chamber 2 is arranged in the floating submerged cavity 7, the flexible outer water chamber 3 is arranged on the outer side of the base body 1, the water pump 4 is arranged in the power chamber and is connected with the flexible inner water chamber 2 and the flexible outer water chamber 3, the water pump 4 preferably adopts a gear pump, and other types of pump bodies can be selected according to actual needs. At least one chamber of the flexible inner water chamber 2 and the flexible outer water chamber 3 is filled with water, and the water pump 4 can pump the water in the flexible inner water chamber 2 into the flexible outer water chamber 3 to assist the robot to float upwards; or the water in the flexible outer water chamber 3 is pumped into the flexible inner water chamber 2 to assist the robot in submerging.
In combination with fig. 2, when the auxiliary submerged mechanism is in an initial state, the flexible outer water chamber 3 and the flexible inner water chamber 2 both store a certain amount of water, so that the soft underwater robot can be suspended in the water.
With reference to fig. 3, when the robot needs to float upwards, the water pump 4 is controlled to pump water in the flexible inner water chamber 2 into the flexible outer water chamber 3, and after water is injected into the flexible outer water chamber 3, the total mass of the robot head 8 is unchanged, the total volume is increased, and the robot floats upwards.
Referring to fig. 4, when the robot is required to submerge, the water pump 4 is controlled to pump water in the flexible outer water chamber 3 into the flexible inner water chamber 2, and after the water is pumped out from the flexible outer water chamber 3, the total mass of the robot head 8 is unchanged, the total volume is reduced, and the robot is submerged.
Because the robot is a flexible robot, the floating or submerging is slowly transferred to the body 9 and the tail 10 by the head 8, so that the head 8 and the body 9 of the robot can present a certain included angle when floating or submerging, and the robot is guided by the head 8 and matched with a power water pump at the body 9 part to drive the whole robot to quickly float and submerge.
The water in the closed water chamber is only extracted to realize floating and submerging, and no interaction with the external environment exists, so that the influence on the marine environment is almost avoided; the water pump 4 can realize floating and submerging, the energy consumption requirement is small, the system is closed and does not interact with the external environment, and the external water environment is not interfered.
Preferably, the flexible outer water chamber 3 and the flexible inner water chamber 2 are semi-ellipsoidal chambers, and the flexible outer water chamber 3 is located at the side of the substrate 1. The semi-ellipsoidal cavity can provide more uniform buoyancy, and the flexible outer water chamber 3 is positioned at the side of the base body 1 and can provide more sufficient space for motion control equipment to perform environment detection. In the actual working process, the information to be detected is mainly underwater, and when the underwater and suspension are carried out, no water or less water exists in the flexible outer water chamber 3, so that the normal working of the motion control equipment is basically not influenced.
Preferably, the flexible outer water chamber 3, the flexible inner water chamber 2 and the water pump 4 are all provided with two groups and are symmetrically arranged along the middle part of the base body 1; one end of the flexible outer water chamber 3 is arranged at the junction of the motion control cavity 5 and the robot body 9, and the other end is arranged at the external junction of the power cavity 6 and the floating and submerging cavity 7, so that the flexible outer water chamber 3 occupies as large area as possible while not affecting each other, and the water storage capacity and the floating and submerging speed are ensured. The head-shaped outer water chambers on two sides can serve as fins to prevent robots from rolling.
Preferably, the flexible outer water chamber 3 and the flexible inner water chamber 2 are made of silicon rubber materials, so that the flexible outer water chamber has high elasticity and stability, and the base body 1 is made of rigid materials such as steel materials, aluminum alloys and the like. Meanwhile, the design of the volume and the structure can be carried out according to the requirements of the integrated soft underwater robot, and the integration of the underwater soft robot is easy.
Preferably, one end of the flexible inner water chamber 2 is arranged at the top of the inner side of the floating and submerged cavity 7, the other end of the flexible inner water chamber is arranged at the inner junction of the floating and submerged cavity 7 and the power cavity 6, and the outer surface of the cross section of the floating and submerged cavity 7 is in an outwards convex arc shape, so that the two flexible inner water chambers 2 occupy as large area as possible while not affecting each other, and the water storage capacity and the speed of floating and submerged are ensured.
Finally, it should be noted that: in the drawings of the disclosed embodiments, only the structures related to the embodiments of the present disclosure are referred to, and other structures can refer to the common design, so that the same embodiment and different embodiments of the present disclosure can be combined with each other under the condition of no conflict;
finally: the foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (5)
1. An auxiliary floating and submerging mechanism of a soft underwater robot is characterized in that: the novel water pump comprises a base body (1), a flexible inner water chamber (2), a flexible outer water chamber (3) and a water pump (4), wherein the base body (1) and the flexible outer water chamber (3) are matched to form a head (8) of the robot, and three chambers, namely a motion control chamber (5), a power chamber (6) and a floating chamber (7), are arranged in the base body (1); the motion control cavity (5) is connected with the body (9) of the robot, the environment detection equipment is arranged in the motion control cavity (5), the floating and submerging cavity (7) is arranged at the top of the base body (1), and the power cavity (6) is arranged between the motion control cavity (5) and the floating and submerging cavity (7);
the flexible inner water chamber (2) and the flexible outer water chamber (3) are of sealing structures, the flexible inner water chamber (2) is arranged in the floating cavity (7), the flexible outer water chamber (3) is arranged on the outer side of the base body (1), the water pump (4) is arranged in the power chamber and is connected with the flexible inner water chamber (2) and the flexible outer water chamber (3), water is filled in at least one chamber of the flexible inner water chamber (2) and the flexible outer water chamber (3), and the water pump (4) can pump water in the flexible inner water chamber (2) into the flexible outer water chamber (3) to assist the robot to float upwards; or pumping the water in the flexible outer water chamber (3) into the flexible inner water chamber (2) to assist the robot in submerging.
2. The auxiliary submergence mechanism of the soft underwater robot according to claim 1, wherein: the flexible outer water chamber (3) is a semi-ellipsoidal cavity, and the flexible outer water chamber (3) is positioned at the side of the substrate (1).
3. The auxiliary submergence mechanism of the soft underwater robot according to claim 1, wherein: the flexible outer water chamber (3), the flexible inner water chamber (2) and the water pump (4) are respectively provided with two groups and are symmetrically arranged along the middle part of the base body (1); one end of the flexible outer water chamber (3) is arranged at the junction of the motion control cavity (5) and the robot body (9), and the other end of the flexible outer water chamber is arranged at the external junction of the power cavity (6) and the floating and submerged cavity (7).
4. The auxiliary submergence mechanism of the soft underwater robot according to claim 1, wherein: the flexible outer water chamber (3) and the flexible inner water chamber (2) are made of silicone rubber materials, and the base body (1) is made of rigid materials.
5. The auxiliary submergence mechanism of the soft underwater robot according to claim 1, wherein: one end of the flexible inner water chamber (2) is arranged at the top of the inner side of the floating and diving cavity (7), the other end of the flexible inner water chamber is arranged at the junction between the floating and diving cavity (7) and the power cavity (6), and the outer surface of the cross section of the floating and diving cavity (7) is in the shape of an outwards convex arc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410158663.XA CN117799803A (en) | 2024-02-04 | 2024-02-04 | Auxiliary floating and submerging mechanism of soft underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410158663.XA CN117799803A (en) | 2024-02-04 | 2024-02-04 | Auxiliary floating and submerging mechanism of soft underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117799803A true CN117799803A (en) | 2024-04-02 |
Family
ID=90422112
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410158663.XA Pending CN117799803A (en) | 2024-02-04 | 2024-02-04 | Auxiliary floating and submerging mechanism of soft underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117799803A (en) |
-
2024
- 2024-02-04 CN CN202410158663.XA patent/CN117799803A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101565095B (en) | Underwater spherical robot with six degrees of freedom | |
| CN110371277B (en) | Deep sea equipment buoyancy adjusting system and working method thereof | |
| CN100383021C (en) | Microminiature underwater robot submerging and surfacing device | |
| CN111874193A (en) | Small multifunctional underwater robot and working method thereof | |
| CN111907670A (en) | Small-size continuous section deep-Yuan exploration type underwater glider | |
| CN111559481A (en) | Round butterfly-shaped underwater glider | |
| CN210310838U (en) | Bionic robot fish | |
| CN113059968A (en) | Small-size amphibious exploration robot of sea and land | |
| CN105059505A (en) | Disc-shaped underwater glider | |
| CN108909996B (en) | Submersible sinking and floating device based on intelligent active deformation structure | |
| CN1227137C (en) | Glide submarine | |
| CN117799803A (en) | Auxiliary floating and submerging mechanism of soft underwater robot | |
| CN110816793B (en) | Underwater robot and working method thereof | |
| CN110065604B (en) | Control method of sailing equipment under constant water level with current | |
| CN114932978B (en) | Circular disc shaped floating buoy | |
| CN111396233A (en) | Blade-driven semi-submersible type ocean current energy power generation system | |
| CN114084322B (en) | Planetary super-power spherical underwater robot | |
| CN109110081A (en) | A kind of structure improved floating dock | |
| CN208774968U (en) | A kind of communication buoy and underwater winch detection device | |
| CN110065600B (en) | Under-water navigation equipment with water flow determination | |
| CN113243326A (en) | Floating and submerging type fishing and electricity integrated equipment | |
| CN114542531A (en) | Novel heat exchanger and buoyancy control system thereof | |
| CN219134470U (en) | Small underwater glider with buoyancy compensation | |
| CN218939123U (en) | Bionic sperm whale | |
| CN212401510U (en) | Underwater sinking and floating system and underwater robot with same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |