Flexible underwater robot, control method and device

US11352110B1 · kind B1 · utility

Assignees

• YANGZHOU UNIVERSITY · CN
• GUANGDONG RONGJUN CONSTRUCTION ENGINEERING TESTING CORP., LTD. · CN

Inventors

• Airong Liu · 流花街道, CN
• Jiaqiao Liang · 流花街道, CN
• Junda Chen · 流花街道, CN
• Jiyang Fu · 流花街道, CN
• Bingcong Chen · 流花街道, CN
• Wengao XIE · 流花街道, CN
• Yixiao Zhang · Heyuan, CN
• Weicai Li · 流花街道, CN
• Pengcheng Su · Weifang, CN

Key dates

• Filing date: Oct 26, 2021
• Grant date: Jun 7, 2022
• Expiry date: Oct 26, 2041

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B63G2008/002
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A flexible underwater robot, a control method and a device is provided with at least one movable joint and a control module. A flexible joint module of the movable joint comprises a first connecting plate, a second connecting plate, a first spring, several second springs, several third springs, several first pulling ropes, several second pulling ropes and a pulling module. The first spring, the second springs and the third springs are arranged from inside to outside in sequence with gradually decreased rigidities correspondingly to form a gradual rigidity structure, so that it is more flexible to adjust a posture. When the robot is impacted, it may absorb and release energy to ensure the integrity of the flexible joint module, so that the stability is improved.