CN113665769B - Bionic jellyfish robot and ocean exploration application method thereof - Google Patents
Bionic jellyfish robot and ocean exploration application method thereof Download PDFInfo
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- CN113665769B CN113665769B CN202111074331.6A CN202111074331A CN113665769B CN 113665769 B CN113665769 B CN 113665769B CN 202111074331 A CN202111074331 A CN 202111074331A CN 113665769 B CN113665769 B CN 113665769B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a bionic jellyfish robot and a marine exploration application method thereof, wherein the bionic jellyfish robot comprises an electronic cabin, a swing arm and a first connecting rod; the swing arms are arranged at the bottom edge of the electronic cabin in a circumferential hinged manner; the bottom of the electronic cabin is provided with a telescopic part; one end of the first connecting rod is hinged with the movable end of the telescopic component, and the other end of the first connecting rod is hinged with the surface of the swing arm; the reciprocating telescopic part drives the swing arm to swing through the first connecting rod; the bottom of the electronic cabin is provided with a propulsion device, and the propulsion device is sleeved outside the telescopic part; and a mass block is movably arranged in the electronic cabin. The invention realizes the movement with multiple degrees of freedom through the gravity center deviation; the structure is simple, enough space is provided for carrying subsequent expansion equipment, and the floating center and the gravity center can be easily adjusted after the equipment is carried; the method for simulating jellyfish movement is energy-saving, efficient, small in environmental disturbance and suitable for exploring fragile ocean areas such as coral areas.
Description
Technical Field
The invention relates to the field of bionic robots, in particular to a bionic jellyfish robot and a marine exploration application method thereof.
Background
The underwater robot has faster development along with the acceleration of the sea exploration and the sea development steps of human beings, and compared with the traditional underwater robot, the bionic underwater robot has the characteristics of high efficiency, good maneuvering performance, low noise and small disturbance to the environment, and has important application prospects in the fields of sea exploration, environment detection and military. The underwater robot taking jellyfish as a bionic prototype of a propulsion system is receiving more and more attention, and compared with the traditional wave-shaped swimming fish, the jellyfish has higher movement flexibility, environmental adaptability and target concealment, and simultaneously has an efficient flow field energy utilization mechanism. Therefore, the jellyfish robot with scientific structure and reasonable functions is designed and has positive significance for enriching the types of underwater robots and improving the ocean exploration level in China.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention provides the bionic jellyfish robot and the ocean exploration application method thereof, which have scientific structure, reasonable functions, energy conservation and high efficiency.
The technical scheme is as follows: in order to achieve the above purpose, the bionic jellyfish robot and the ocean exploration application method thereof provided by the invention comprise an electronic cabin, a swing arm and a first connecting rod; the swing arms are arranged at the bottom edge of the electronic cabin in a circumferential hinged manner; the bottom of the electronic cabin is provided with a telescopic part; one end of the first connecting rod is hinged with the movable end of the telescopic component, and the other end of the first connecting rod is hinged with the surface of the swing arm; the reciprocating telescopic part drives the swing arm to swing through the first connecting rod; the bottom of the electronic cabin is fixedly provided with a propelling device, the propelling device comprises a mounting shaft sleeve sleeved on the outer wall of the telescopic part, the outer side wall of the mounting shaft sleeve is sleeved with a water sucking and discharging bag, the middle part of the outer side of the water sucking and discharging bag is sleeved with a simulated scaling device, and one end, close to the electronic cabin, of the mounting shaft sleeve is provided with a steering adjusting device;
one end of the mounting shaft sleeve is provided with a flange plate, and the flange plate is fixed at the bottom of the electronic cabin through threaded connection;
a mass block is movably arranged in the electronic cabin;
A guide rail is arranged in the electronic cabin; the mass block is arranged on the guide rail in a reciprocating sliding manner; the two guide rails are arranged perpendicular to each other.
Further, the telescopic component comprises a cam, a housing and a second connecting rod; the housing is connected with the bottom of the electronic cabin; the cam rotates and runs in the housing; one end of the second connecting rod is in free bending fit with the first connecting rod, and the other end of the second connecting rod penetrates through the housing to be in fit connection with the cam; the rotating cam drives the first connecting rod to move in a telescopic way;
the telescopic part further comprises a return spring; the reset spring is sleeved on the second connecting rod; one end of the reset spring is connected with the second connecting rod, and the other end of the reset spring is extruded and attached to the surface of the inner wall of the housing;
One end of the second connecting rod, which is far away from the cam, is connected with a mounting disc; the first connecting rod is hinged with the edge of the mounting plate.
Further, the electronic cabin comprises a drag reducing cover and a bottom plate; the bottom plate and the drag reducing cover are buckled to form a closed space; the telescopic component is assembled and arranged on the bottom plate; the outer surface of the drag reduction cover is a smooth curved surface;
PMMA is specifically adopted as a material of the drag reducing cover, and the wall thickness is preferably 10mm; the drag reduction cover is a hemispherical shell.
Further, the swing arm comprises an arm body and a reinforcing plate; the plurality of arm bodies are circumferentially connected and arranged around the electronic cabin; a connecting plate is arranged between the reinforcing plate and the arm body; one side of the reinforcing plate, which is back to the arm body, is hinged with the movable end of the telescopic part; the plurality of arm bodies are mutually gathered under the drive of the telescopic component.
The reinforcing plate is hinged with the first connecting rod through a second connecting rod, and a plurality of connecting plates are distributed at intervals along the length direction of the arm body; the adjacent connecting plates, the arm body and the reinforcing plate form a drag reduction cavity together.
Further, the width of the reinforcing plate is smaller than that of the arm body; the two side edges of the connecting plate gradually shrink along the direction approaching the reinforcing plate.
One end of the arm body, which is far away from the bionic jellyfish robot, is bent towards the gathering direction;
The tail end of the arm body and the tail end of the reinforcing plate are connected in a coextensive manner and are provided with a poking plate; the poking plate is of a shuttle-shaped structure.
The poking plate, the arm body, the reinforcing plate and the reinforcing plate are integrated into one piece structure
The arm body, the reinforcing plate and the reinforcing plate adopt any one of silica gel, a PVC soft plate and rubber; the arm body, the reinforcing plate and the reinforcing plate are made of PVC soft plates.
Further, the water sucking and discharging bag comprises a plurality of flexible frameworks which are arranged around the mounting shaft sleeve, two ends of the flexible frameworks are respectively hinged to two annular sleeves, one annular sleeve is limited at one end of the mounting shaft sleeve, which is provided with a flange plate, the other annular sleeve is arranged on the mounting shaft sleeve in a sliding manner, and a plurality of water inlets are arranged on the end face of the annular sleeve in a sliding manner in a surrounding manner; the flexible frameworks are connected through elastic films;
The elastic rubber ring is sleeved outside the ring sleeve in a sliding manner, the elastic rubber ring extends out of the end face of the ring sleeve by a certain width, and the diameter of a ring opening of the elastic rubber ring is gradually reduced along the extending direction.
Further, the two ring sleeves are sleeved on the outer side wall of the mounting shaft sleeve through bearings, and the mounting shaft sleeve which is arranged in a limiting mode is driven to rotate through a motor;
the simulated scaling device comprises a balancing weight fixedly arranged in the middle of the flexible framework, mounting holes are formed in the two end faces of the balancing weight inwards, arc-shaped flexible slide ways are arranged in the two end faces of the balancing weight in an outward extending mode from the end faces, and a plurality of flexible slide ways surround in a ring-shaped mode in a plane perpendicular to the axial direction of the mounting shaft sleeve; the spring is fixedly arranged in the mounting hole, two springs close to each other on the adjacent balancing weights are connected through a flexible rod, and two ends of the flexible rod are respectively arranged in the corresponding flexible slide ways in a sliding mode.
Further, the steering adjusting device comprises an annular pipe sleeved on the mounting shaft sleeve, a plurality of steering adjusting air bags are uniformly and circumferentially arranged on the outer side of the annular pipe, the steering adjusting air bags are communicated through an annular cavity in the annular pipe, and gas is filled in the steering adjusting air bags and the annular cavity;
The steering adjusting air bag is characterized in that a mounting plate with a vent hole is arranged at the position of a communication port of the steering adjusting air bag and the annular cavity, a pull cylinder oil cylinder is radially arranged on the mounting plate along the annular cavity, and the telescopic end of the pull cylinder oil cylinder is fixedly connected with the farthest end of the steering adjusting air bag.
Further, the method comprises the following steps:
The first step, carrying out ocean investigation: firstly, selecting a proper detection element according to data required for detecting a marine area, loading the detection element on the bionic jellyfish robot, and then placing the bionic jellyfish robot into the detection area to implement automatic detection according to a planned route;
the second step, carry on the multi-objective development: firstly, comprehensively evaluating ocean resources according to detected data, and then, setting a protection environment and obtaining comprehensive development and utilization planning of maximum economic benefit;
Third step, strengthening ocean integrated management: firstly, making management rules, establishing a special institution, coordinating development and engineering construction of various resources, then carrying out environment monitoring and protection, and supervising implementation of a comprehensive development and utilization scheme; the environment monitoring can be carried out through the environment monitoring instrument carried by the bionic jellyfish robot for underwater automatic monitoring.
Further, the bionic jellyfish robot in the first step and the second step adopts the periodic swing of a plurality of swing arms to realize the expansion and contraction of the simulated jellyfish bell body so as to achieve the backward injection of the fluid in the inner cavity of the compressed bell body and realize the movement of jellyfish;
In the first step and the second step, for ocean detection or environment monitoring of different depths, the buoyancy of the ocean detection or environment monitoring device under the condition that no power is provided is changed by adjusting the amount of gas in the steering adjusting device, so that the maximum depth of natural sinking is realized, the periodic swing of the swing arm is utilized to maintain a slow and stable motion state, information is acquired in the process, and finally, the quick transfer among all acquisition points is realized through the propulsion device.
The beneficial effects are that: according to the bionic jellyfish robot and the ocean exploration application method thereof, movement with multiple degrees of freedom is realized through gravity center deviation; the structure is simple, enough space is provided for carrying subsequent expansion equipment, and the floating center and the gravity center can be easily adjusted after the equipment is carried; the method for simulating jellyfish movement is energy-saving, efficient, small in environmental disturbance and suitable for exploring fragile ocean areas such as coral areas.
Drawings
FIG. 1 is a diagram of a bionic jellyfish robot;
FIG. 2 is an internal structural view of the electronic capsule;
FIG. 3 is a mating block diagram of the telescoping member;
FIG. 4 is an internal structural view of the telescoping member;
FIG. 5 is an external structural view of the electronic capsule;
FIG. 6 is a block diagram of a swing arm;
FIG. 7 is a block diagram of a propulsion device;
FIG. 8 is a block diagram of an analog scaling device;
FIG. 9 is a block diagram of a steering adjustment device;
Fig. 10 is a structural view of the steering regulating air bag.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
The bionic jellyfish robot and the ocean exploration application method thereof as shown in the accompanying drawings 1-10 comprise an electronic cabin 1, a swing arm 3 and a first connecting rod 9; the swing arms 3 are arranged at the bottom edge of the electronic cabin 1 in a circumferential hinged manner; the bottom of the electronic cabin 1 is provided with a telescopic part; one end of the first connecting rod 9 is hinged with the movable end of the telescopic component, and the other end of the first connecting rod is hinged with the surface of the swing arm 3; the reciprocating telescopic part drives the swing arm 3 to swing through the first connecting rod 9; the bottom of the electronic cabin 1 is fixedly provided with a propulsion device 15, the propulsion device 15 comprises a mounting shaft sleeve 15-1 sleeved on the outer wall of the telescopic component, a water sucking and discharging bag is sleeved on the outer side wall of the mounting shaft sleeve 15-1, an analog scaling device 15-6 is sleeved in the middle of the outer side of the water sucking and discharging bag, and one end, close to the electronic cabin 1, of the mounting shaft sleeve 15-1 is provided with a steering adjusting device 15-7;
The electronic cabin 1 is internally provided with equipment such as detection elements, and the specific equipment can be modified according to actual research tasks; when the bionic jellyfish robot needs to move, the telescopic part simultaneously pulls a plurality of swing arms 3 around a circle by using the first connecting rod 9, so that the robot synchronously contracts and strokes, and the generated thrust can drive the robot to move; the propulsion device drives the water sucking bladder to zoom through the simulated zoom device, the underwater power is further provided through the thrust generated by water spraying, the transient acceleration is obtained, and the bionic jellyfish robot moves underwater more flexibly in cooperation with the steering adjusting device 15-7.
One end of the mounting shaft sleeve 15-1 is provided with a flange plate, and the flange plate is fixed at the bottom of the electronic cabin 1 through threaded connection; the mounting shaft sleeve with the flange plate at one end has the effects of positioning and fixing, so that the structure is more compact, and the mounting requirement of the bionic jellyfish robot is met;
A mass block 6 is movably arranged in the electronic cabin 1; the function of the mass block 6 is to solve the problem of robot steering, and the movement of the mass block can deviate the gravity center of the electronic cabin 1, so that the robot in progress deflects towards the deviating direction to realize steering.
A guide rail 6-1 is arranged in the electronic cabin 1; the mass block 6 is arranged on the guide rail 6-1 in a reciprocating sliding manner; the two guide rails 6-1 are arranged perpendicular to each other.
The two vertically staggered guide rails 6-1 can respectively control the movement of different mass blocks 6, so that the gravity center is circularly changed, and the steering control precision is greatly improved.
The telescopic part comprises a cam 8, a housing 10 and a second connecting rod 11; the housing 10 is connected with the electronic cabin 1 in a ground step; the cam 8 runs in a rotary manner inside the housing 10; one end of the second connecting rod 11 is in free bending fit with the first connecting rod 9, and the other end of the second connecting rod passes through the housing 10 to be in fit connection with the cam 8; the cam 8 which rotates drives the first connecting rod 9 to move telescopically.
By means of the rotation of the cam 8, the second connecting rod 11 can be driven to reciprocate, and the rotation driving mode is better than the steering engagement mode of equipment such as a linear telescopic rod, the whole action can be smoother, and therefore damage to the rocker arm 3 is reduced.
The telescopic part further comprises a return spring; the reset spring is sleeved on the second connecting rod 11; one end of the return spring is connected with the second connecting rod 11, and the other end is pressed and attached to the inner wall surface of the housing 10.
The return spring 4 has the effect similar to that of a spring near the pen point in the ball-point pen shell, and can provide stable and reliable thrust for the retraction of the second connecting rod 11, so that the return spring is matched with the cam 8, and the reliability of the reciprocating action of the second connecting rod 11 is further improved.
One end of the second connecting rod 11 far away from the cam 8 is connected with a mounting disc 13; the first connecting rod 9 is hinged with the edge of the mounting plate 13.
The mounting plate 13 can separate the connection points between the different second connecting rods 11, so that mutual interference is avoided, and the full conversion of driving force is facilitated.
The electronic cabin 1 comprises a drag reducing cover 12 and a bottom plate 14; the bottom plate 14 is buckled with the drag reducing cover 12 to form a closed space; the telescopic part is assembled and arranged on the bottom plate 14; the outer surface of the drag reducing cover 12 is a smooth curved surface.
The drag reducing cover 12 is made of PMMA, the wall thickness is preferably 10mm, and the characteristic of high transparency of the material can be utilized, so that the working condition of internal components can be intuitively mastered during use and maintenance.
The drag reduction cover 12 is a hemispherical shell, so that the water flow resistance can be reduced when the vehicle advances, and the cruising ability is improved.
The swing arm 3 comprises an arm body 3-0 and a reinforcing plate 5; the plurality of arm bodies 3-0 are connected and arranged around the bionic jellyfish robot in a circumferential manner; a connecting plate 4 is arranged between the reinforcing plate 5 and the arm body 3-0; one side of the reinforcing plate 5, which is away from the arm body 3-0, is hinged with the movable end of the telescopic part; the arm bodies 3-0 are mutually gathered under the drive of the telescopic component to push the bionic jellyfish robot to move.
The root of the arm body 3-0 is hinged with the bottom edge of the electronic cabin 1; the telescopic part comprises a first connecting rod 9 and a second connecting rod 11, the reinforcing plate 5 is hinged with the first connecting rod 9 through the second connecting rod 11, when the first connecting rod 9 reciprocates in a straight line, the movable arm body 3-0 is driven to retract and expand synchronously, and the driving principle of the telescopic part is similar to that of an umbrella cover which is opened by an umbrella handle bracket. The reinforcing plate 5 has the function of applying force to a plurality of positions of the arm body 3-0 through a plurality of connecting plates 4 when being pulled or pushed by the telescopic part, so that the problem that the arm body 3-0 is damaged due to local excessive deformation caused by single-point stress is avoided; during manufacturing, the thickness of the reinforcing plate 5 can be larger than that of the arm body 3-0, meanwhile, the reinforcing plate 5 can obviously improve the structural strength by means of the connecting plate 4, and stable and reliable work under concentrated stress is ensured.
The connecting plates 4 are distributed at intervals along the length direction of the arm body 3-0; the adjacent connecting plates 4 and the arm body 3-0 as well as the reinforcing plate 5 form a drag reduction cavity 7 together.
The drag reduction cavity 7 has the function of allowing some nearby water flow to pass through the cavity when the swing arm mechanism works, so that a certain water resistance reduction effect can be achieved relative to a solid or integrally wrapped structure.
The width of the reinforcing plate 5 is smaller than that of the arm body 3-0; the two sides of the connecting plate 4 are gradually contracted along the direction approaching the reinforcing plate 5.
The contraction structure can utilize the narrower reinforcing plate 5 to play a role in breaking the front water flow when the swing arm mechanism contracts, further reduce the water flow resistance, and simultaneously can use the larger width of the arm body 3-0 to realize the unchanged water-drawing area, thereby ensuring sufficient forward thrust.
One end of the arm body 3-0 far away from the bionic jellyfish robot is bent towards the gathering direction, the gathering stroke can be shortened by the slightly bent structure, water flows driven by different arm bodies 3-0 can be converged mutually and efficiently, and the overall action efficiency of the robot is improved.
The tail end of the arm body 3-0 and the tail end of the reinforcing plate 5 are connected in a coextensive manner and provided with a poking plate 3-1; the poking plate 3-1 is of a fusiform structure.
The deflector plate 3-1 can provide a sufficient stroke area at the tail tip, thereby obtaining a sufficient reverse moment, and significantly improving the generated thrust.
The poking plate 3-1, the arm body 3-0, the reinforcing plate 4 and the reinforcing plate 5 are of an integrated structure, so that the processing time can be greatly shortened, and the cost of mass production can be controlled.
The arm body 3-0, the reinforcing plate 4 and the reinforcing plate 5 are made of any one of silica gel, PVC soft plates and rubber; the arm body 3-0, the reinforcing plate 4 and the reinforcing plate 5 are made of PVC soft plates.
The flexible material can well simplify the structure and ensure the flexibility in the motion, and can reduce the weight of the bionic jellyfish. Materials usable for the flexible arm portion are silicone, PVC flexible sheets and rubber. The oxidation resistance and corrosion resistance of rubber are inferior to those of silica gel and PVC soft board, and the performance is greatly affected by temperature; the silica gel has the advantages of heat resistance and cold resistance, but has physical and mechanical properties which are inferior to those of rubber and PVC soft board at normal temperature; moreover, the workability of the rubber and the silica gel is inferior to that of a PVC soft board, and the rubber and the silica gel can interfere due to friction of the rubber and the silica gel; the flexible arm portion is made of a PVC flexible board.
The water sucking and discharging bag comprises a plurality of flexible frameworks 15-2 which are arranged around the mounting shaft sleeve 15-1, two ends of the flexible frameworks 15-2 are respectively hinged to two annular sleeves 15-3, one annular sleeve 15-3 is limited at one end of the mounting shaft sleeve 15-1, which is provided with a flange plate, the other annular sleeve 15-3 is arranged on the mounting shaft sleeve 15-1 in a sliding manner, and a plurality of water inlets 15-5 are arranged on the end face of the annular sleeve 15-3 in the sliding manner in a surrounding manner; the flexible frameworks 15-2 are connected through elastic films 15-4;
The simulated scaling device is matched with the water sucking and releasing bag to simulate the expansion and water sucking of the inner cavity of the jellyfish bell-shaped body, and then the muscle is quickly contracted to extrude the propelling mode of the inner cavity water spraying, so that the bionic jellyfish robot can obtain a transient accelerating effect under water, the scaling frequency of the simulated scaling device is consistent with the swinging frequency of the swinging arm, namely, when the swinging arm is opened, the water sucking and releasing bag absorbs water, and when the swinging arm is gathered, the water sucking and releasing bag sprays water, so that the superimposed propelling effect is achieved;
Because circle mouth diameter reduces along extending direction gradually, when the water in the water bag of putting is followed to the water jet of inhaling, preferential contact in elastic rubber circle inner wall for rivers roll along rubber circle inner wall, from circle mouth blowout at last, form the water ring that the annular was rolled, reverse thrust that produces is more balanced, and because elastic rubber circle's elasticity attribute, when the water ring that rolls was spouted from circle mouth, drive circle mouth expansion, lead to elastic rubber circle inner wall to turn up, the transient increase pushes away the water area, and elastic rubber circle also can produce the thrust of a small part when the reconversion, further improve the propulsion effect.
The elastic rubber ring 15-0 is sleeved on the outer side of the ring sleeve 15-3 in a sliding manner, the elastic rubber ring 15 extends out of the end face of the ring sleeve 15-3 to a certain width, and the diameter of a ring opening of the elastic rubber ring 15-0 is gradually reduced along the extending direction.
The two ring sleeves 15-3 are sleeved on the outer side wall of the mounting shaft sleeve 15-1 through bearings, and the mounting shaft sleeve 15-1 which is arranged in a limiting manner is driven to rotate through a motor;
The simulation scaling device 15-6 comprises a balancing weight 15-8 fixedly installed in the middle of the flexible framework 15-2, mounting holes are formed in the two ends of the balancing weight 15-8 in an inward facing mode, arc-shaped flexible slide ways 15-9 are arranged in the two ends of the mounting holes in an outward extending mode from the end face, and a plurality of the flexible slide ways 15-9 encircle in a ring-shaped mode in a plane perpendicular to the axial direction of the mounting shaft sleeve 15-1; springs are fixedly arranged in the mounting holes, two springs close to each other on the adjacent balancing weights 15-8 are connected through flexible rods 15-10, and two ends of each flexible rod 15-10 are respectively arranged in the corresponding flexible slide ways 15-9 in a sliding mode;
The motor drives the ring sleeve to rotate, thereby driving the whole water absorbing and releasing bag to rotate around the mounting shaft sleeve, in the rotating process, the balancing weight generates larger centrifugal force, thereby pulling the flexible framework to deform, the inner cavity of the water absorbing and releasing bag expands, water is slowly absorbed into the inner cavity of the water absorbing and releasing bag from the water inlet, the spring arranged in the inner cavity of the balancing weight is stretched in the expanding process of the water absorbing and releasing bag, when the inner cavity of the water absorbing and releasing bag expands to reach the maximum water capacity, the motor stops driving, the rotating speed is reduced along with the power disappearance, the centrifugal force is reduced, the pulling force generated by the spring reset acts on the flexible slideway through the flexible rod, the two ends of the flexible rod slide towards the inner end of the flexible slideway, thereby driving a plurality of balancing weights and the flexible framework to gather inwards fast, in the fast gathering process, the flexible framework and the flexible rod squeeze the water absorbing and releasing bag from a plurality of directions fast, the water in the inner cavity of the water absorbing and releasing bag is rapidly and backwardly ejected from the water inlet, and the water absorbing and releasing bag still rotates under the inertia effect, therefore the propelling device sprays spiral water flow along the axial direction, and the propelling effect is better.
The steering adjusting device 15-7 comprises an annular pipe 15-11 sleeved on the mounting shaft sleeve 15-1, a plurality of steering adjusting air bags 15-12 are uniformly and circumferentially arranged on the outer side of the annular pipe 15-11, the steering adjusting air bags 15-12 are communicated through an annular cavity 15-13 in the annular pipe 15-11, and the steering adjusting air bags 15-12 and the annular cavity 15-13 are filled with gas;
when the annular cavity and the gas in the steering adjusting air bag are uniformly distributed, the weight of the whole device is matched, so that the whole bionic jellyfish robot can be vertically suspended in water.
The steering adjusting air bag 15-12 is provided with a mounting plate 15-14 with a vent hole at the position of a communication port of the annular cavity 15-13, a cylinder pulling oil cylinder is radially arranged on the mounting plate 15-14 along the annular cavity 15-13, and the telescopic end of the cylinder pulling oil cylinder is fixedly connected with the most far end of the steering adjusting air bag 15-12;
The air capacity of the corresponding steering adjusting air bag is changed through the expansion and contraction of the pull rod oil cylinders, free scheduling of air in the steering adjusting device can be realized through the cooperation of a plurality of pull rod oil cylinders, one side with high specific gravity of air floats upwards, and one side with low specific gravity sinks, so that steering is realized; in order to enable the bionic jellyfish robot to be better and more flexible in steering, eight steering adjusting air bags are evenly arranged in a surrounding mode as a preferable embodiment, and all the pull rod oil cylinders are integrally controlled through a control system.
The ocean exploration application method of the bionic jellyfish robot comprises the following steps:
The first step, carrying out ocean investigation: firstly, selecting a proper detection element according to data required for detecting a marine area, loading the detection element on the bionic jellyfish robot, and then placing the bionic jellyfish robot into the detection area to implement automatic detection according to a planned route;
the second step, carry on the multi-objective development: firstly, comprehensively evaluating ocean resources according to detected data, and then, setting a protection environment and obtaining comprehensive development and utilization planning of maximum economic benefit;
Third step, strengthening ocean integrated management: firstly, making management rules, establishing a special institution, coordinating development and engineering construction of various resources, then carrying out environment monitoring and protection, and supervising implementation of a comprehensive development and utilization scheme; the environment monitoring can be carried out through the environment monitoring instrument carried by the bionic jellyfish robot for underwater automatic monitoring.
The bionic jellyfish robot adopts the periodic swing of a plurality of swing arms 3 to realize the expansion and contraction of a simulated jellyfish bell-shaped body so as to achieve the backward injection of the fluid in the inner cavity of the compressed bell-shaped body and realize the movement of jellyfish;
In the first step and the second step, for ocean detection or environmental monitoring of different depths, the buoyancy of the ocean detection or environmental monitoring device under the condition of not providing power is changed by adjusting the amount of the gas in the steering adjusting device 15-7 so as to realize the maximum depth of natural sinking, the periodic swing of the swing arm is utilized so as to maintain a slow and stable motion state, information is acquired in the process, and finally, the quick transfer among all acquisition points is realized through the propulsion device 15.
The foregoing description is only of the preferred embodiments of the invention, it being noted that: it will be apparent to those skilled in the art that numerous modifications and adaptations can be made without departing from the principles of the invention described above, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (7)
1. A bionic jellyfish robot is characterized in that: comprises an electronic cabin (1), a swing arm (3) and a first connecting rod (9); the swing arms (3) are arranged at the bottom edge of the electronic cabin (1) in a circumferential hinged mode; the bottom of the electronic cabin (1) is provided with a telescopic component; one end of the first connecting rod (9) is hinged with the movable end of the telescopic component, and the other end of the first connecting rod is hinged with the surface of the swing arm (3); the telescopic part which moves reciprocally drives the swing arm (3) to swing through the first connecting rod (9); the bottom of the electronic cabin (1) is fixedly provided with a propelling device (15), the propelling device (15) comprises a mounting shaft sleeve (15-1) sleeved on the outer wall of the telescopic part, a water sucking and discharging bag is sleeved on the outer side wall of the mounting shaft sleeve (15-1), and a simulation zooming device (15-6) is sleeved in the middle of the outer side of the water sucking and discharging bag; one end, close to the electronic cabin (1), of the mounting shaft sleeve (15-1) is provided with a steering adjusting device (15-7);
One end of the mounting shaft sleeve (15-1) is provided with a flange, and the flange is fixed at the bottom of the electronic cabin (1) through threaded connection; a mass block (6) is movably arranged in the electronic cabin (1); a guide rail (6-1) is arranged in the electronic cabin (1); the mass block (6) is arranged on the guide rail (6-1) in a reciprocating sliding manner; the two guide rails (6-1) are arranged vertically to each other;
The water sucking and discharging bag comprises a plurality of flexible frameworks (15-2) which are arranged around the mounting shaft sleeve (15-1), and the flexible frameworks (15-2) are connected through elastic films (15-4);
The simulation scaling device (15-6) comprises a balancing weight (15-8) fixedly installed in the middle of the flexible framework (15-2), mounting holes are formed in the two end faces of the balancing weight (15-8), arc-shaped flexible slide ways (15-9) are arranged at the two end faces of the mounting holes in an outward extending mode from the end faces, and a plurality of the flexible slide ways (15-9) encircle in a ring-shaped mode in a plane perpendicular to the axial direction of the mounting shaft sleeve (15-1); springs are fixedly arranged in the mounting holes, two springs close to each other on the adjacent balancing weights (15-8) are connected through flexible rods (15-10), and two ends of each flexible rod (15-10) are respectively arranged in the corresponding flexible slide ways (15-9) in a sliding mode;
Two ends of the flexible frameworks (15-2) are respectively hinged to two annular sleeves (15-3), wherein one annular sleeve (15-3) is limited at one end of the installation shaft sleeve (15-1) provided with a flange plate, the other annular sleeve (15-3) is slidably arranged on the installation shaft sleeve (15-1), and a plurality of water inlets (15-5) are circumferentially arranged on the end face of the slidably arranged annular sleeve (15-3); the two ring sleeves (15-3) are sleeved on the outer side wall of the mounting shaft sleeve (15-1) through bearings, and the ring sleeves (15-3) which are arranged in a limiting mode are driven to rotate through a motor.
2. A biomimetic jellyfish robot as in claim 1, wherein: the telescopic component comprises a cam (8), a housing (10) and a second connecting rod (11); the housing (10) is connected with the bottom of the electronic cabin (1); the cam (8) rotates and runs inside the housing (10); one end of the second connecting rod (11) is in free bending fit with the first connecting rod (9), and the other end of the second connecting rod passes through the housing (10) to be in fit connection with the cam (8); the rotating cam (8) drives the first connecting rod (9) to move in a telescopic way;
the telescopic part further comprises a return spring; the reset spring is sleeved on the second connecting rod (11); one end of the return spring is connected with the second connecting rod (11), and the other end of the return spring is extruded and attached to the surface of the inner wall of the housing (10);
one end of the second connecting rod (11) far away from the cam (8) is connected with a mounting disc (13); the first connecting rod (9) is hinged with the edge of the mounting plate (13).
3. A biomimetic jellyfish robot according to claim 2, wherein: the electronic cabin (1) comprises a drag reducing cover (12) and a bottom plate (14); the bottom plate (14) and the drag reduction cover (12) are buckled to form a closed space; the telescopic component is assembled and arranged on the bottom plate (14); the outer surface of the drag reduction cover (12) is a smooth curved surface;
PMMA is specifically adopted as a material of the drag reducing cover (12), and the wall thickness is 10mm; the drag reducing cover (12) is a hemispherical shell.
4. A biomimetic jellyfish robot as in claim 1, wherein: the swing arm (3) comprises an arm body (3-0) and a reinforcing plate (5); the plurality of arm bodies (3-0) are connected and arranged around the electronic cabin (1) in a circumferential mode; a connecting plate (4) is arranged between the reinforcing plate (5) and the arm body (3-0); one side of the reinforcing plate (5) facing away from the arm body (3-0) is hinged with the movable end of the telescopic part; the plurality of arm bodies (3-0) are mutually gathered under the drive of the telescopic component;
The second connecting rods (11) are connected with the reinforcing plate through the first connecting rods (9), and a plurality of connecting plates (4) are distributed at intervals along the length direction of the arm body (3-0); the adjacent connecting plates (4), the arm body (3-0) and the reinforcing plate (5) form a drag reduction cavity (7) together.
5. The biomimetic jellyfish robot of claim 4, wherein: the width of the reinforcing plate (5) is smaller than that of the arm body (3-0); the two side edges of the connecting plate (4) gradually shrink along the direction approaching the reinforcing plate (5);
One end of the arm body (3-0) far away from the bionic jellyfish robot is bent towards the gathering direction;
The tail end of the arm body (3-0) and the tail end of the reinforcing plate (5) are connected in a coextensive manner and are provided with a poking plate (3-1); the poking plate (3-1) is of a fusiform structure;
The poking plate (3-1), the arm body (3-0), the connecting plate (4) and the reinforcing plate (5) are of an integrated structure;
the arm body (3-0), the connecting plate (4) and the reinforcing plate (5) adopt any one of silica gel, PVC soft plates and rubber.
6. A biomimetic jellyfish robot as in claim 1, wherein: the elastic rubber ring (15-0) is sleeved on the outer side of the ring sleeve (15-3) in a sliding mode, the elastic rubber ring (15-0) extends out of the end face of the ring sleeve (15-3) to a certain width, and the diameter of a ring opening of the elastic rubber ring (15-0) is gradually reduced along the extending direction.
7. The biomimetic jellyfish robot of claim 6, wherein: the steering adjusting device (15-7) comprises an annular pipe (15-11) sleeved on the mounting shaft sleeve (15-1), a plurality of steering adjusting air bags (15-12) are uniformly and circumferentially arranged on the outer side of the annular pipe (15-11), the steering adjusting air bags (15-12) are communicated through an annular cavity (15-13) in the annular pipe (15-11), and the steering adjusting air bags (15-12) and the annular cavity (15-13) are filled with gas; the steering adjusting air bag is characterized in that a mounting plate (15-14) with a vent hole is arranged at the position of a communication port between the steering adjusting air bag (15-12) and the annular cavity (15-13), a pull rod oil cylinder is radially arranged on the mounting plate (15-14) along the annular cavity (15-13), and the telescopic end of the pull rod oil cylinder is fixedly connected with the farthest end of the steering adjusting air bag (15-12).
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| CN114248888B (en) * | 2021-11-22 | 2022-10-21 | 杭州电子科技大学 | Water-catching type underwater bionic robot and driving method thereof |
| CN114408142A (en) * | 2022-01-28 | 2022-04-29 | 广东海洋大学 | Bionic jellyfish robot |
| CN114560064B (en) * | 2022-03-02 | 2023-03-21 | 广州大学 | Bionic jellyfish robot |
| CN114789783B (en) * | 2022-04-13 | 2023-09-22 | 西南石油大学 | Pulse-jet underwater bionic jellyfish robot |
| CN115027648B (en) * | 2022-05-25 | 2023-11-21 | 西北工业大学 | Underwater universal mobile robot |
| CN115158610A (en) * | 2022-07-07 | 2022-10-11 | 广州大学 | Jellyfish robot cam transmission mechanism based on flexible bionic tentacles |
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