CN112810785A

CN112810785A - Bionic jellyfish robot

Info

Publication number: CN112810785A
Application number: CN202110002094.6A
Authority: CN
Inventors: 于清泽; 苏玉民; 王博; 李宁宇; 王璐瑶
Original assignee: Harbin Engineering University
Current assignee: Harbin Engineering University
Priority date: 2021-01-04
Filing date: 2021-01-04
Publication date: 2021-05-18
Anticipated expiration: 2041-01-04
Also published as: CN112810785B

Abstract

The invention provides a bionic jellyfish robot which is suitable for military applications such as underwater latency, underwater investigation, target tracking, anti-latency and the like and civil requirements such as marine organism research, seabed exploration and the like. The bionic jellyfish robot comprises a head part, an umbrella body part and an energy part. The head part comprises a hard shell, a fixed plate, an environment sensing module, a singlechip and a power supply. The umbrella body part comprises a multi-section framework mechanism, a steering engine and an umbrella body elastic film. When the bionic jellyfish robot adopts a jellyfish type swimming mode, the bionic jellyfish robot swims through periodic contraction and relaxation of the umbrella body part, and has the advantages of low noise, good concealment, low energy consumption and the like. In addition, the bionic jellyfish robot adopts a design of separating a control part, a power part and an energy part. The design is convenient for replacing the umbrella body part which is easy to damage, replacing and installing the energy part, and maintaining and modifying the program of the control system.

Description

Bionic jellyfish robot

Technical Field

The invention relates to a bionic underwater robot, in particular to a bionic jellyfish robot which moves through contraction, relaxation and deformation of an umbrella body.

Background

The flight path of the Chinese navy is more and more distant, and the formation of the Chinese navy is stronger and stronger. Aiming at the current new pattern at sea, China navy also needs to inject fresher blood. The traditional underwater robot usually uses a propeller as a main power device, but the propeller generates huge noise during operation, so that the propeller is easily found by underwater monitoring equipment. In addition, the underwater robot using the propeller as power equipment has high energy consumption, and is difficult to realize underwater operation in long endurance.

With the development of underwater robot technology, the underwater robot brings great convenience to researchers of marine organisms, and the researchers can carry out more in-depth research on the marine organisms by using the underwater robot. However, when the traditional underwater robot is used for scientific research, the traditional underwater robot can cause disturbance to underwater organisms, so that the most real living state of the underwater organisms cannot be observed. Therefore, the propeller running at high speed is easy to cause damage to underwater organisms.

The underwater robot also has important significance for archaeological study. Due to the migration of crustaceans, many ancient countries sink into vast sea, and ancient cultures are also buried in deep sea. In addition, various types of sunken ships of various ages exist on the seabed, and a lot of historical secrets exist in the sunken ships. When the traditional underwater robot is used for exploration, the cultural relics are easily damaged.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the bionic jellyfish robot which has the characteristics of low noise, good concealment, low energy consumption and the like.

The purpose of the invention is realized as follows: the umbrella comprises a head part, an umbrella body part and an energy part, wherein the head part comprises an upper shell part, a lower shell part, a fixing plate, a single chip microcomputer, an environment sensing module and a first power supply which are mutually connected, the environment sensing module is fixed on the fixing plate, the fixing plate is arranged on the upper shell part, the first power supply is arranged in a groove of the lower shell part, and the single chip microcomputer is arranged on the lower hard shell part; the umbrella body part comprises a fixed frame connected with the lower end of the lower part of the shell, six umbrella body framework mechanisms arranged on the fixed frame in the circumferential direction at equal intervals, and an elastic film arranged on the outer side of the umbrella body framework, each umbrella body framework mechanism comprises a steering engine and three sections of frameworks which are arranged on the fixed frame, and adjacent frameworks are connected through a gear mechanism and a main shaft; the energy part comprises a hard outer shell connected with the lower part of the outer shell, a fixed inner shell inserted into the hard outer shell from the lower part, and a second power supply arranged in the fixed inner shell.

The invention also includes such structural features:

1. the three-section framework is respectively a framework A, a framework B and a framework C, the framework A is arranged on the fixed frame through a middle shaft A, a bevel gear A and a gear B are arranged on the middle shaft A, the gear B is meshed with the gear A at the output end of the steering engine, the framework A is arranged on the middle shaft A and fixedly connected with the gear B, a main shaft A is arranged in the framework A, one end of the main shaft A is provided with the bevel gear B meshed with the bevel gear A, the other end of the main shaft A is provided with the bevel gear C, the lower end of the framework A is provided with the middle shaft B, the middle shaft B is provided with the bevel gear D meshed with the bevel gear C and the bevel gear E, the framework B is arranged on the middle shaft B and fixedly connected with the bevel gear D, the main shaft B is further arranged in the framework B, one end of the main shaft B is provided with the bevel, the middle shaft C is provided with a bevel gear H meshed with the bevel gear G, and the framework C is arranged on the middle shaft C and fixedly connected with the bevel gear H.

2. When the jellyfish type swimming mode is adopted, the elastic film is driven to move and deform by the three-section skeleton movement, the elastic film deforms to increase the volume of an inner cavity of the bionic jellyfish umbrella body, external fluid is enabled to smoothly enter the cavity from the lower end of the umbrella body, the process of water absorption of the bionic jellyfish is achieved, the rotation direction of a steering engine is changed, the volume of the inner cavity of the bionic jellyfish umbrella body is reduced, the fluid is enabled to be sprayed out from the lower end of the umbrella body, the water spraying process of the bionic jellyfish is achieved, power moving forwards is provided for the bionic jellyfish robot, and the jellyfish type swimming.

Compared with the prior art, the invention has the beneficial effects that: 1. the bionic design is carried out on the underwater vehicle, and the underwater vehicle has the characteristics of low noise, good concealment and the like. 2. The jellyfish type swimming mode has the characteristics of low energy consumption, long endurance time and the like, and can be used as a beacon node to carry out underwater monitoring in a networking mode. 3. The jellyfish type swimming mode avoids damage of the propeller to the vestige during underwater vestige exploration. 4. The bionic jellyfish type robot can avoid the disturbance of marine organisms and research the marine organisms in the real living environment of the marine organisms. 5. The bionic jellyfish robot umbrella body part adopts the power drive design of the hierarchical conduction type, the jellyfish motion simulation mode can be more real, the integrity of the inner cavity part of the umbrella body is guaranteed by the design mode, and the propelling efficiency of the bionic jellyfish robot is improved.

Drawings

Fig. 1 is a schematic diagram of the overall structure of a bionic jellyfish robot according to the present invention.

Fig. 2 is a schematic diagram of a head structure of the bionic jellyfish robot.

Fig. 3 is a schematic diagram of the internal structure of the head of the bionic jellyfish robot.

Fig. 4 is a schematic structural diagram of an umbrella body of the bionic jellyfish robot.

Fig. 5 is a schematic view of an umbrella framework mechanism of the bionic jellyfish robot.

Fig. 6 is a schematic structural diagram of an energy source part of the bionic jellyfish robot.

Fig. 7 is a schematic diagram of the internal structure of an energy source part of the bionic jellyfish robot.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

With reference to fig. 1 to 7, the bionic octopus robot comprises a head part, an umbrella body part and an energy part.

The head part comprises a hard shell, an environment sensing module 2, a fixing plate 3, a singlechip 4 and a power supply 5; the hard shell comprises a hard shell upper part 1 and a hard shell lower part 6, the environment sensing module 2 is fixed on the fixing plate 3, the fixing plate 3 is installed on the hard shell upper part 1, the power supply 5 is installed in a groove of the hard shell lower part 6, and the single chip microcomputer 4 is installed on the hard shell lower part 6 and is located above the power supply 5.

The umbrella body part comprises a fixed frame 7, a steering engine 8, a gear mechanism, an umbrella body framework mechanism and an elastic film; the umbrella frame mechanism comprises three sections of frameworks, each section of framework is connected through a bevel gear and a main shaft, the steering engine is installed on the fixed frame and connected with the bevel gear at the uppermost end of the umbrella frame mechanism, and the elastic film is installed on the outer side of the umbrella frame.

The energy source part comprises a hard outer shell 27, a fixed inner shell 28 and a power supply 29; the power supply 29 is fixed in the fixed inner housing 28, and the fixed inner housing 28 is inserted into the rigid outer housing 27 from below and fixedly connected therewith.

When a jellyfish type swimming mode is adopted, the steering engine 8 rotates to drive the gear A9 to rotate, the gear A9 drives the gear B10 to rotate, the gear B10 drives the framework A15 to rotate, the middle shaft A11 is fixed on the fixed frame 7, the bevel gear A12 is fixed on the middle shaft A11, the bevel gear A12 is in contact with the bevel gear B13, the framework A15 drives the bevel gear B13 to rotate, the bevel gear B13 drives the main shaft A14 to rotate, the main shaft A14 drives the bevel gear C16 to rotate, the bevel gear C16 drives the bevel gear D17 to rotate, the bevel gear D17 drives the framework B18 to rotate, the middle shaft B19 is fixed on the framework A15, the bevel gear E20 is fixed on the middle shaft B19, the bevel gear E20 is in contact with the bevel gear F21, and the framework, bevel gear F21 drives main shaft B22 and rotates, main shaft B22 drives bevel gear G23 and rotates, bevel gear G23 drives bevel gear H24 and rotates, bevel gear H24 drives skeleton C26 and rotates, three-section umbrella body skeleton motion drives elastic film motion and deformation, elastic film deformation makes the inner chamber volume increase of bionical jellyfish umbrella body part, make external fluid get into inside the cavity from the umbrella body lower extreme smoothly, and then realize the process that bionical jellyfish absorbs water, change steering wheel direction of rotation, make the partial inner chamber volume of bionical jellyfish umbrella body reduce, make fluid spout from the umbrella body lower extreme, thereby realize the water spray process of bionical jellyfish, provide the power of moving forward for bionical jellyfish robot, and then realize that the jellyfish formula moves about.

In conclusion, the underwater robot designed based on the jellyfish swimming mode is suitable for military applications such as underwater latency, underwater investigation, target tracking, anti-latency and the like, and civil requirements such as marine organism research, seabed exploration and the like. The bionic jellyfish robot comprises a head part, an umbrella body part and an energy part. The head part comprises a hard shell, a fixed plate, an environment sensing module, a singlechip and a power supply. The umbrella body part comprises a multi-section framework mechanism, a steering engine and an umbrella body elastic film. When the bionic jellyfish robot adopts a jellyfish type swimming mode, the bionic jellyfish robot swims through periodic contraction and relaxation of the umbrella body part, and has the advantages of low noise, good concealment, low energy consumption and the like. In addition, the bionic jellyfish robot adopts a design of separating a control part, a power part and an energy part. The design is convenient for replacing the umbrella body part which is easy to damage, replacing and installing the energy part, and maintaining and modifying the program of the control system.

Claims

1. The utility model provides a bionic jellyfish robot which characterized in that: the umbrella comprises a head part, an umbrella body part and an energy part, wherein the head part comprises an upper shell part, a lower shell part, a fixing plate, a single chip microcomputer, an environment sensing module and a first power supply which are mutually connected, the environment sensing module is fixed on the fixing plate, the fixing plate is arranged on the upper shell part, the first power supply is arranged in a groove of the lower shell part, and the single chip microcomputer is arranged on the lower hard shell part; the umbrella body part comprises a fixed frame connected with the lower end of the lower part of the shell, six umbrella body framework mechanisms arranged on the fixed frame in the circumferential direction at equal intervals, and an elastic film arranged on the outer side of the umbrella body framework, each umbrella body framework mechanism comprises a steering engine and three sections of frameworks which are arranged on the fixed frame, and adjacent frameworks are connected through a gear mechanism and a main shaft; the energy part comprises a hard outer shell connected with the lower part of the outer shell, a fixed inner shell inserted into the hard outer shell from the lower part, and a second power supply arranged in the fixed inner shell.

2. The biomimetic jellyfish robot of claim 1, wherein: the three-section framework is respectively a framework A, a framework B and a framework C, the framework A is arranged on the fixed frame through a middle shaft A, a bevel gear A and a gear B are arranged on the middle shaft A, the gear B is meshed with the gear A at the output end of the steering engine, the framework A is arranged on the middle shaft A and fixedly connected with the gear B, a main shaft A is arranged in the framework A, one end of the main shaft A is provided with the bevel gear B meshed with the bevel gear A, the other end of the main shaft A is provided with the bevel gear C, the lower end of the framework A is provided with the middle shaft B, the middle shaft B is provided with the bevel gear D meshed with the bevel gear C and the bevel gear E, the framework B is arranged on the middle shaft B and fixedly connected with the bevel gear D, the main shaft B is further arranged in the framework B, one end of the main shaft B is provided with the bevel, the middle shaft C is provided with a bevel gear H meshed with the bevel gear G, and the framework C is arranged on the middle shaft C and fixedly connected with the bevel gear H.

3. The biomimetic jellyfish robot of claim 2, wherein: when the jellyfish type swimming mode is adopted, the elastic film is driven to move and deform by the three-section skeleton movement, the elastic film deforms to increase the volume of an inner cavity of the bionic jellyfish umbrella body, external fluid is enabled to smoothly enter the cavity from the lower end of the umbrella body, the process of water absorption of the bionic jellyfish is achieved, the rotation direction of a steering engine is changed, the volume of the inner cavity of the bionic jellyfish umbrella body is reduced, the fluid is enabled to be sprayed out from the lower end of the umbrella body, the water spraying process of the bionic jellyfish is achieved, power moving forwards is provided for the bionic jellyfish robot, and the jellyfish type swimming.