CN115107962A

CN115107962A - Jellyfish robot based on bionic design

Info

Publication number: CN115107962A
Application number: CN202210953371.6A
Authority: CN
Inventors: 朱志怡; 姜峰
Original assignee: Huaqiao University
Current assignee: Huaqiao University
Priority date: 2022-08-10
Filing date: 2022-08-10
Publication date: 2022-09-27
Anticipated expiration: 2042-08-10
Also published as: CN115107962B

Abstract

The invention provides a jellyfish robot based on bionic design, which relates to the technical field of bionic machinery and comprises an outer main body, a plurality of tentacles, a frame unit, a linkage unit, a tensioning unit and a power control unit, wherein the tentacles are arranged on the outer main body; the outer main body is provided with a top head cover capable of rotating relatively, the first mounting frame is provided with a cover plate for being mounted on the top head cover, and the cover plate and the first mounting frame are in axial rotation fit, so that the frame unit can be controlled by external force to perform axial rotation movement; the speed reducing motor transmits the power thereof to the active plate through the transmission assembly to form a propulsion system for the jellyfish robot; and the first steering engine is arranged on one side of the top head cover, the second steering engine is arranged at the hinged end between the two hinged frames of the steering support group, and the third steering engine is arranged at the hinged end between the other two hinged frames of the steering support group so as to cooperate and cooperate together to form a steering system for the jellyfish robot.

Description

Jellyfish robot based on bionic design

Technical Field

The invention relates to the technical field of bionic machinery, in particular to a jellyfish robot based on bionic design.

Background

In the last decade, the trend of deep blue becomes a national consensus, and the vigorous development of oceans has important significance for developing economy and guaranteeing safety. The ocean has been developed without the departure of various marine equipment, particularly deep ocean equipment. The bionic underwater robot industry is also gradually getting hot, and the figure of the bionic underwater robot with various purposes is active at the forefront of ocean development.

Since the first untethered underwater robot "spur v" mainly used for hydrological investigation was built by washington university in usa at the end of the 20 th century 50 years, people have a strong interest in the untethered underwater robot, but the development of the intelligent underwater robot technology has been wandering for many years due to the technical limitations of various supporting systems. With the rapid development of new technologies such as materials, electronics, computers and the like and the urgent needs of the fields of marine research, development and military, the intelligent underwater robot draws the attention of the field of marine development and the military of various countries again.

After the 90 s in the 20 th century, various technologies of intelligent bionic underwater robots start to gradually mature, and the intelligent underwater robots have great application prospects in ocean research and ocean development and can be widely applied to underwater information acquisition, deep water resource development, accurate striking and 'asymmetric information fight', so that the bionic underwater robot technology is an important and actively researched and developed field for various countries in the world.

The underwater robot is widely applied to various fields including ocean engineering, port construction, marine oil, maritime law enforcement evidence obtaining, scientific research, naval defense affairs and the like, and is used for completing various works such as underwater search and rescue, exploration and salvage, deep sea resource investigation, submarine line pipe laying, inspection and maintenance, underwater archaeology, power station and dam detection and the like.

At present, the demands of the market on underwater robots are divided into an observation detection type and an operation type. The observation type is equipped with an underwater television and a camera device, and regular observation and inspection are performed for a specific object underwater. The operation type can be used for carrying out simple underwater operation by being provided with equipment such as a forward-looking sonar, a side-scan sonar, a submarine drawing, a submarine profile and the like and various manipulators according to different requirements.

It should be noted that sea with 71% of the surface area of the occupied ball is a resource treasure house which is rich and has not been developed yet, and is also a battlefield seen by army. In the 21 st century, people face three contradictory challenges of population expansion, living space, land resource exhaustion, social production increase, ecological environment deterioration and human development, and ocean resources must be fully utilized to maintain self survival, reproduction and development, which is a choice without recyclability. The ocean development has special significance for China with scarce resources. China has broad breadth of width, long coastline and large territorial area. However, due to the defects of the prior art, the tools for fishermen in China are simple and crude, and the ocean protection consciousness is indifferent, so that the ocean ecological environment is damaged to different degrees.

Therefore, marine ranch construction and marine ecological remediation are the key directions for the development of marine fisheries in coastal countries in the world today. The ecological environment of a marine ranch determines the necessity of water quality monitoring, hydrological monitoring in China is at the stage of changing from a traditional mode to a modern mode at present, the traditional detection method can only detect the surface of water quality, is trapped in an underwater environment, can only further detect the water quality, and causes certain errors in detection results. Further developments in underwater robotics have addressed this problem well.

Meanwhile, in order to develop marine fishery and animal husbandry, more advanced equipment and detection means are needed, and according to river and channel hydrology water quality statistical data, sewage outlet quantity statistical data are needed. Based on the concept of ecosystem management, the method establishes a resource utilization mode of marine farming and herding for habitat improvement and fish proliferation by measures of ecological system restoration such as artificial fish reefs, seaweed field construction, proliferation and releasing. Underwater robots are more difficult to design than land robots due to the special environment in which they are located. The design in many aspects such as control of underwater depth, deep water pressure, line insulation processing and leak protection, driving principle, the identification of surrounding fuzzy environment all need to consider. Such as an intrusive underwater robot Defender, all take the form of a torpedo, driven by a turbine, with a rigid outer casing to resist water pressure. The development of micro unmanned underwater detectors and autonomous underwater robots has been limited by the problems of large size, heavy weight, low efficiency, loud noise, poor maneuverability and the like of the conventional steering and propulsion devices. Therefore, the propulsion mode of the submarine animal becomes the object for people to develop a novel flexible submersible with high speed, low noise and flexibility.

Disclosure of Invention

In view of the above, the present invention provides a jellyfish robot based on bionic design to solve the above problems.

The invention adopts the following scheme:

the application provides a jellyfish robot based on bionic design, which comprises an outer main body and a plurality of tentacles arranged on the peripheral side of the outer main body, wherein the two tentacles are combined into a whole and are in a jellyfish shape in appearance; the tension device also comprises a frame unit butted with the outer main body, and a linkage unit, a tension unit and a power control unit which are arranged in the frame unit; the frame unit has: the steering support comprises a first mounting frame positioned at the front end, a second mounting frame opposite to the rear end and a steering support group connected between the two mounting frames; the steering support group is mutually jointed with the mounting frames through a plurality of guide columns and comprises a plurality of hinged frames for providing the steering support group with free rotation along a plurality of degrees of freedom; the linkage unit comprises a driving plate and a driven plate which are arranged on the guide column in a sliding mode, and a hinge support group connected between the driving plate and the driven plate; the driving plate and the driven plate are respectively arranged on different sides of the steering support group, and the hinge support group can transmit power provided by the driving plate and the driven plate in the sliding process to the supply tentacles to swing freely in a linkage manner; the tensioning unit comprises an upper tensioning wheel arranged on the first mounting frame, a lower tensioning wheel arranged on the second mounting frame and a steel wire rope wound between the two tensioning wheels, one end of the steel wire rope is fixedly arranged on the driving plate, and the other end of the steel wire rope extends from the upper tensioning wheel to the lower tensioning wheel and is fixedly arranged on the driven plate; the power control unit comprises a first steering engine, a speed reducing motor, a second steering engine and a third steering engine; the outer main body is provided with a top head cover capable of rotating relatively, the first mounting frame is provided with a cover plate for being mounted on the top head cover, and the cover plate and the first mounting frame are in axial rotation fit, so that the frame unit can be controlled by external force to perform axial rotation movement; the speed reducing motor transmits the power thereof to the active plate through the transmission assembly to form a propulsion system for the jellyfish robot; and the first steering engine is arranged on one side of the top head cover, the second steering engine is arranged at the hinged end between the two hinged frames of the steering support group, and the third steering engine is arranged at the hinged end between the other two hinged frames of the steering support group so as to cooperate and cooperate together to form a steering system for the jellyfish robot.

As a further improvement, the steering support group is provided with at least three hinged frames; wherein, it has a plurality of guide posts to dock along length direction rule between articulated frame that is located the front end and the first mounting bracket, and it has a plurality of guide posts to dock along length direction rule between articulated frame that is located the rear end and the second mounting bracket, and the articulated frame that is located the centre articulates rather than two adjacent articulated frame looks axes respectively.

As a further improvement, the two hinged frames positioned on the front end side are hinged and matched along a first direction, and the second steering engine is used for controlling the two hinged frames to rotate along the first direction; the two hinged frames positioned on the rear end side are hinged and matched along a second direction, and the third steering engine is used for controlling the two hinged frames to rotate along the second direction; wherein the first direction and the second direction are arranged perpendicular to each other.

As a further improvement, the driven plate is controlled by the tensioning unit to move in the same direction with the driving plate, the upper tensioning wheel and the lower tensioning wheel are correspondingly arranged on the outer sides of the guide posts, and the steel wire rope penetrates through one guide post and the other guide post along the upper tensioning wheel until the steel wire rope is wound around the lower tensioning wheel.

As a further improvement, the guide posts are respectively arranged along the four corners, and the guide posts on different sides along the length direction are aligned with each other, so that the frame unit is in a strip rectangular frame structure; wherein, relatively independent tensioning units are respectively arranged at the two diagonal positions.

As a further improvement, the hinge bracket group comprises at least four groups of hinge bracket assemblies which are symmetrically arranged at the outer side of the frame unit, and each hinge bracket assembly comprises a first movable rod, a second movable rod and a third movable rod which are mutually connected in a hinge way; one end of the first movable rod is in butt joint with the driving plate in a fish-eye bearing mode, one end of the second movable rod is in butt joint with the driven plate in a fish-eye bearing mode, one end of the third movable rod is jointed with the tentacle in a hinged mode, and the end portions of the three movable rods are movably hinged to a transfer disc together.

As a further improvement, the gear motor is arranged above the driving plate, the transmission assembly comprises a pinion arranged on an output shaft of the gear motor, a gearwheel meshed with the pinion, and a four-bar mechanism in transmission connection between the gearwheel and the driving plate, and power output by the gear motor is transmitted to the driving plate to perform reciprocating motion in a form of quick return motion through the four-bar mechanism, so that the tentacles are driven to release outwards or tighten inwards through the hinge bracket assembly to simulate the abdominal cavity contraction or relaxation of jellyfishes.

As a further improvement, the four-bar mechanism comprises a first connecting bar which is in butt joint with the gearwheel and coaxially rotates, a second connecting bar which is hinged with the first connecting bar and eccentrically rotates relative to the gearwheel, and a third connecting bar which is hinged between the second connecting bar and the driving plate; the first connecting rod is configured into a short rod structure and is superposed between the large gear and the second connecting rod, the second connecting rod and the third connecting rod are long rod structures, the middle part of the second connecting rod is hinged with the first connecting rod, and a guide groove matched with a guide wheel arranged on the outer end side of the large gear in a sliding contact manner is arranged on one end side of the second connecting rod far away from the third connecting rod.

As a further improvement, the frame unit and the linkage unit are made of carbon fiber materials, and the tentacle is made of plastic materials.

As a further improvement, the driving plate is exposed outside the outer main body, and the outer side of the steering support group is coated with a waterproof rubber sleeve.

By adopting the technical scheme, the invention can obtain the following technical effects:

1. the utility model provides a jellyfish robot carries out long-term seabed and surveys and ecosystem and maintain when maintaining seabed ecological stability, and its simple mechanical structure is with low costs, and the durability is high, easy maintenance. Wherein, this jellyfish robot can dive entirely, also can paste the surface of water operation to the task of the animal growth circumstances such as the marine ranch internal environment of convenient completion observation and fishes, crabs and shrimps, thereby can establish long-term, three-dimensional, real-time detection net, it is visual to realize the marine ranch, both can reduce original observation cost, also can promote marine ranch construction economy, ecological benefits, helping hand marine economic development.

2. In the invention, the tentacles of the bionic-designed jellyfish robot contract or relax to provide power for the movement of the robot, and a propulsion system is formed by driving the speed reducing motor and the transmission assembly on the driving plate, so that the stability of the jellyfish robot is improved by controlling the contraction speed of the jellyfish robot. And the driving plate and the driven plate are under the common cooperation of the linkage unit and the tensioning unit, so that the power of the driving plate and the power of the driven plate are linked to the supply tentacle to swing freely, the jellyfish robot can swing freely in water, and the motion process of a real jellyfish is simulated. In addition, the design of a plurality of steering engines controls the drainage direction to achieve the multi-degree-of-freedom motion of the jellyfish robot, the jellyfish robot can swing in a matched mode, and the frame unit rotates relatively to form a propeller advancing state, so that the jellyfish robot can rotate in water. Particularly, the driving plate and the driven plate synchronously linked by the linkage unit and the tensioning unit can be well combined to move, so that the bionic motion of the jellyfish is realized.

3. The whole appearance adopts 3D to print the integrated manufacturing of accomplishing spare part and modular assembly thereof, and its low cost just compromises the lightweight, and needs waterproof electronic module independent design, easily realizes stable waterproof to waterproof material's change is easy to operate more.

4. The robot has the advantages that the rapid-return motion of the speed reducing motors and the transmission assemblies is used for transmitting power to the driving plate and the driven plate, so that the propelling power of the robot is unique, the design is simple and ingenious, the mechanical design mode is fully shown, and the linear motion can be realized by controlling the motions of a plurality of tentacles through the driving of one speed reducing motor to provide the driving force for propelling movement of the robot.

5. And the power control unit realizes the rotary advancing and sharp turning motion of the jellyfish robot in the motion direction through a plurality of steering engines, thereby utilizing the fluid mechanics design, combining with the mechanical design, realizing perfect functions and having low cost. The bionic robot is ingenious in design, the motion of the whole mechanism is realized by the mutual matching of a plurality of powers, the power conversion efficiency of the motion in water is high, and the concept of bionic design is well embodied. Wherein, through a steering wheel control top skull, two other steering wheel control turn to the support group to realize the direction control to the propulsion through the steering wheel motion, this design is very ingenious, fully embodies mechanical design's novelty.

Drawings

FIG. 1 is a schematic structural diagram of a jellyfish robot based on a bionic design according to an embodiment of the invention;

FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;

FIG. 3 is a schematic view of the structure of FIG. 1 from another perspective;

FIG. 4 is a schematic structural diagram of the jellyfish robot based on the bionic design after hiding the outer main body and the tentacle according to the embodiment of the invention;

FIG. 5 is a schematic view of the structure of FIG. 4 from a first perspective;

FIG. 6 is a schematic view of the structure of FIG. 4 from a second perspective;

FIG. 7 is a schematic view of the structure of FIG. 4 from a third perspective;

FIG. 8 is a schematic view of the structure of FIG. 4 from another perspective;

fig. 9 is a schematic view of the structure of fig. 4 from another perspective.

Icon: 1-an outer body; 2-tentacle; 3-a frame unit; 4-a first mounting frame; 5-a second mounting frame; 6-steering support group; 7-a guide post; 8-hinged frame; 9-a driving plate; 10-a driven plate; 11-a hinge bracket set; 12-upper tensioning wheel; 13-lower tensioning wheel; 14-a first steering engine; 15-a reduction motor; 16-a second steering engine; 17-a third steering engine; 18-top head cover; 19-a cover plate; 20-a first movable bar; 21-a second movable bar; 22-a third movable bar; 23-an adapter plate; 24-a pinion gear; 25-a bull gear; 26-a first link; 27-a second link; 28-a third link; 29-a guide wheel; 30-guide groove.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Examples

With reference to fig. 1 to 9, the present embodiment provides a jellyfish robot based on bionic design, which includes an outer main body 1 and a plurality of tentacles 2 disposed at the periphery of the outer main body 1, and the two are combined into a whole in a jellyfish shape in appearance. Wherein, the jellyfish robot further comprises a frame unit 3 butted with the outer main body 1, and a linkage unit, a tension unit and a power control unit which are configured in the frame unit 3.

The frame unit 3 has a first mounting frame 4 at the front end, a second mounting frame 5 at the rear end, and a steering bracket group 6 connected between the two mounting frames. The steering support set 6 is connected with each mounting frame through a plurality of guide columns 7, and the steering support set 6 comprises a plurality of hinged frames 8 for providing the steering support set 6 with free rotation along a plurality of degrees of freedom.

The linkage unit comprises a driving plate 9 and a driven plate 10 which are arranged on the guide post 7 in a sliding mode, and a hinge support group 11 connected between the driving plate 9 and the driven plate 10. The driving plate 9 and the driven plate 10 are respectively arranged on different sides of the steering bracket group 6, and the hinge bracket group 11 can transmit power provided by the driving plate 9 and the driven plate 10 in the sliding process to the supply tentacle 2 in a linkage manner to swing freely.

The tensioning unit comprises an upper tensioning wheel 12 arranged on the first mounting frame 4, a lower tensioning wheel 13 arranged on the second mounting frame 5 and a steel wire rope wound between the two tensioning wheels, wherein one end of the steel wire rope is fixedly arranged on the driving plate 9, and the other end of the steel wire rope extends from the upper tensioning wheel 12 to the lower tensioning wheel 13 and is fixedly arranged on the driven plate 10.

Wherein, the power control unit comprises a first steering engine 14, a speed reducing motor 15, a second steering engine 16 and a third steering engine 17 (as shown in fig. 5). Specifically, the outer body 1 is provided with a top cover 18 capable of rotating relatively, the first mounting frame 4 is provided with a cover plate 19 for mounting on the top cover 18, and the cover plate 19 is axially and rotatably matched with the first mounting frame 4, specifically, in this embodiment, by being butted by a bearing, so that the frame unit 3 can be controlled by an external force to perform axial rotation movement. The reduction motor 15 transmits its power to the active plate 9 through a transmission assembly to form a propulsion system for the jellyfish robot. And the first steering engine 14 is arranged on one side of the top head cover 18, the second steering engine 16 is arranged at the hinged end between the two hinged frames 8 of the steering support frame set 6, and the third steering engine 17 is arranged at the hinged end between the other two hinged frames 8 of the steering support frame set 6 so as to cooperatively form a steering system for the jellyfish robot.

In the above, the tentacle 2 of the bionic-design jellyfish robot contracts or expands to provide power for the robot to move, and a propulsion system is further formed by the driving of the speed reducing motor 15 and the transmission assembly on the driving plate 9, so that the stability of the jellyfish robot is improved by controlling the contraction speed of the jellyfish robot. And the driving plate 9 and the driven plate 10 are matched with each other by the linkage unit and the tensioning unit, so that the power of the driving plate 9 and the power of the driven plate 10 are linked to the supply tentacle 2 to swing freely, the jellyfish robot can swing freely in water, and the motion process of a real jellyfish is simulated. In addition, the design of a plurality of steering engines achieves the multi-degree-of-freedom motion of controlling the water discharging direction to reach the jellyfish robot, the matched tentacle 2 swings, and the frame unit 3 rotates relatively to form a propeller advancing state, so that the jellyfish robot can rotate in water. Particularly, the driving plate 9 and the driven plate 10 synchronously linked by the linkage unit and the tensioning unit can be well combined to move, so that the bionic of the jellyfish movement form is realized.

It should be understood that the frame unit 3 can be controlled by external force to perform axial rotation movement, and specifically, during the traveling process of the jellyfish robot, the frame unit 3 can perform steering operation more flexibly by cutting water at a set angle to form an axial moment, so that the whole body can advance in an axial rotation manner. Obviously, the axial moment can be embodied by further acting on the robot by the fluid, and is not described in detail herein.

As shown in fig. 3 to 5, in the present embodiment, the steering support frame assembly 6 is configured with at least three hinged frames 8. Wherein, it has a plurality of guide posts 7 to dock regularly along length direction between articulated frame 8 that is located the front end and the first mounting bracket 4, and it has a plurality of guide posts 7 to dock regularly along length direction between articulated frame 8 that is located the rear end and the second mounting bracket 5, and articulated frame 8 that is located the centre is articulated rather than two adjacent articulated frame 8 looks axes respectively. Furthermore, the two hinge frames 8 at the front end side are in hinge fit along the first direction, and the second steering engine 16 is used for controlling the two hinge frames 8 to rotate along the first direction. The two hinged frames 8 on the rear end side are hinged and matched along the second direction, and the third steering engine 17 is used for controlling the two hinged frames 8 to rotate along the second direction. Wherein the first direction and the second direction are arranged perpendicular to each other. Thereby, the steering bracket set 6 for providing the turning swing is formed by mutually butting along a plurality of hinge frames 8 located in the middle of the frame unit 3, so that the frame unit 3 is more flexible and the operability thereof is better.

In the embodiment, the driven plate 10 is controlled by the tensioning unit to move along the same direction as the driving plate 9, the upper tensioning wheel 12 and the lower tensioning wheel 13 are correspondingly arranged on the outer sides of the guide posts 7, and the steel wire rope is arranged on one guide post 7 and the other guide post 7 along the upper tensioning wheel 12 until the steel wire rope is wound on the lower tensioning wheel 13. Specifically, the upper tensioning wheel 12 and the lower tensioning wheel 13 extend along the length direction and are configured on the outer end faces of the respective mounting frames to cooperatively perform tensioning operation on the steel wire rope, so that the driving plate 9 and the driven plate 10 are configured in a linkage manner towards the same direction, and the two plates synchronously slide downwards or synchronously move upwards to transmit power to the hinge bracket group 11, thereby driving the tentacle 2 to move relatively.

In the preferred embodiment, the guide posts 7 are respectively arranged along the four corners, and the guide posts 7 on different sides along the length direction are aligned with each other, so that the frame unit 3 has an elongated rectangular frame structure. Wherein, dispose relatively independent tensioning unit respectively in two diagonal departments to link the symmetry that accomplishes two boards relatively between the plane more steadily and move. Further, one end of the elongated rectangular frame structure is butted in the top head cover 18 of the outer body 1 through the cover plate 19, and the other end thereof is extended in the longitudinal direction and disposed outside the outer body 1, so that part of the frame unit 3 is exposed to the outside.

As shown in fig. 6 to 9, in one embodiment, the hinge bracket set 11 comprises at least four sets of hinge bracket assemblies symmetrically arranged at the outer side of the frame unit 3. The hinge bracket assembly includes a first movable bar 20, a second movable bar 21, and a third movable bar 22 hinge-connected to each other. One end of the first movable rod 20 is butted on the driving plate 9 in a fish-eye bearing manner, one end of the second movable rod 21 is butted on the driven plate 10 in a fish-eye bearing manner, one end of the third movable rod 22 is jointed on the tentacle 2 in a hinged manner, and the end parts of the three movable rods are jointly and movably hinged on a junction disc 23. In this embodiment, four hinge bracket sets 11 are regularly arranged on the outer peripheral side of the rectangular frame, and the tentacle 2 is provided with four movable rods 22 for each hinge bracket set 11 to abut against one of the tentacles 2, so that after the driving plate 9 is controlled by the power transmission of the speed reducing motor 15, the linkage cooperation among the movable rods drives the tentacle 2 to swing outwards or contract inwards.

The gear motor 15 is disposed above the active plate 9, and specifically, the gear motor 15 and its transmission components are disposed in the installation space formed by the first mounting frame 4 and the active plate 9. The transmission assembly comprises a small gear 24 arranged on an output shaft of the speed reducing motor 15, a large gear 25 meshed with the small gear 24 and a four-bar mechanism in transmission connection between the large gear 25 and the driving plate 9, and power output by the speed reducing motor 15 is transmitted to the driving plate 9 through the four-bar mechanism in a quick-return motion mode to implement reciprocating motion, so that the tentacles 2 are driven by the hinge bracket assembly to be loosened outwards or tightened inwards to simulate the abdominal cavity contraction or relaxation of jellyfishes. Obviously, in the four-bar linkage, when the crank rotates at a constant speed as the driving part, the reciprocating swing stroke and the reciprocating speed of the rocker of the driven part are different, the return stroke is faster than the forward stroke, and the motion characteristic is called as a quick return characteristic. The quick return motion characteristic is widely applied to practical production, the average speed of the working stroke is small, the working stroke is stable, the speed of the non-working stroke is increased, the non-working time is shortened, and the aim of improving the working efficiency is fulfilled.

The four-bar linkage mechanism includes a first link 26 (a crank in the above) that is connected to rotate coaxially with the large gear 25, a second link 27 (a rocker in the above) that is hinged to the first link 26 and rotates eccentrically with respect to the large gear 25, and a third link 28 (another crank in the above) that is hinged between the second link 27 and the driving plate 9. The first connecting rod 26 is configured to be a short rod structure and is overlapped between the large gear 25 and the second connecting rod 27, the second connecting rod 27 and the third connecting rod 28 are long rod structures, the middle part of the second connecting rod 27 is hinged with the first connecting rod 26, and one end side of the second connecting rod 27 far away from the third connecting rod 28 is provided with a guide groove 30 matched with a guide wheel 29 arranged at the outer end side of the large gear 25 in a sliding contact manner, so that the second connecting rod 27 can more stably swing along the plane where the second connecting rod is located. Therefore, the three connecting rods are overlapped layer by layer and are hinged with each other to form a connecting rod structure, so that the purposes of quick linkage and feedback are realized.

In this embodiment, the frame unit 3 and the linkage unit are preferably made of carbon fiber, and the tentacle 2 is preferably made of plastic. In this embodiment, the support and the frame formed of the carbon fiber material are more favorable for lightweight design, and have higher strength. The total length of the jellyfish robot is 600mm-700mm, the complete expansion radius of the tentacle 2 is 650mm-750mm, the total assembly weight is light to 1000g, the jellyfish robot can be widely used for underwater detection, rescue search and ecological detection, and the problems that a common underwater detector is heavy in size, large in energy consumption and the like are solved. In addition, to tentacle 2's design, through cutting out thin plastic slab, design suitable shape under the fluid mechanics emulation, through the emulation to the motion mode of jellyfish robot, consolidate each position to thin plastic slab, the concrete implementation mode is for utilizing high rigidity plastic slab intermediate layer to vertically pile up, with the design of carbon fiber tubule collocation skeleton, tentacle 2 of accomplishing like this can be effectively in the motion of quick return mechanism, obtains the propulsive force through the motion of control intra-abdominal cavity rivers.

In this embodiment, the active plate 9 is exposed outside the outer body 1, and the outside of the steering bracket set 6 is covered with a waterproof rubber sleeve (not shown). Further, on the waterproof design of jellyfish robot, adopt main electronic equipment casing and add silica gel envelope waterproof treatment, can adopt the drum to add waterproof gum cover assembly to head motion equipment concentrated place and form, adopt software silica gel envelope to power output position, be connected with sealed shell, each controller in frame element 3 passes through waterproof gum cover envelope sealed, and no motion position adds 3D and prints casing and clamping ring, constitutes holistic waterproof. For the waterproof without electronic equipment, fasteners such as a waterproof rubber ring, a screw and the like are added into a bearing and a hinge shaft, and a chrome plating or 304 stainless steel screw is adopted.

It needs to be mentioned that, to the steering wheel assembly of jellyfish robot, its dynamic stability control under water adopts gyroscope and programmable control program to realize, can adopt the density controller who constitutes by the water pump system who sets up in skull one side to realize to the rising of jellyfish robot in aquatic decline to the jellyfish robot can dive totally, also can the head exposes the perpendicular operation of surface of water face of sticking to, in order to conveniently accomplish the task of observing the animal growth condition such as the interior environment of marine ranch and fishes and crabs shrimp. All above devices have open source procedure and system, and the part also can purchase the substitution on the market, provides the convenience to later stage maintenance. And for the motion set of all units and mechanisms thereof, an open source model controller is adopted to receive the integrated signal, and the corresponding mechanisms of the jellyfish robot are controlled to move by manual remote control, which is the prior art and is not limited herein.

The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention.

Claims

1. A jellyfish robot based on bionic design comprises an outer main body and a plurality of tentacles arranged on the peripheral side of the outer main body, wherein the two tentacles are combined into a whole and are in a jellyfish shape in appearance;

it is characterized in that the preparation method is characterized in that,

the frame unit is butted on the outer main body;

the frame unit has: the steering support comprises a first mounting frame positioned at the front end, a second mounting frame opposite to the rear end and a steering support group connected between the two mounting frames; the steering support group is mutually jointed with the mounting frames through a plurality of guide columns, and the steering support group comprises a plurality of hinged frames and is used for providing the steering support group with free rotation along a plurality of degrees of freedom;

and the number of the first and second groups,

the linkage unit comprises a driving plate and a driven plate which are arranged on the guide column in a sliding mode, and a hinge support group connected between the driving plate and the driven plate; the driving plate and the driven plate are respectively arranged on different sides of the steering support group, and the hinge support group can transmit power provided by the driving plate and the driven plate in the sliding process to the supply tentacles to swing freely in a linkage manner;

the tensioning unit comprises an upper tensioning wheel arranged on the first mounting frame, a lower tensioning wheel arranged on the second mounting frame and a steel wire rope wound between the two tensioning wheels, one end of the steel wire rope is fixedly arranged on the driving plate, and the other end of the steel wire rope extends from the upper tensioning wheel to the lower tensioning wheel and is fixedly arranged on the driven plate;

the power control unit comprises a first steering engine, a speed reducing motor, a second steering engine and a third steering engine;

wherein the content of the first and second substances,

the outer main body is provided with a top head cover capable of rotating relatively, the first mounting frame is provided with a cover plate for being mounted on the top head cover, and the cover plate and the first mounting frame are in axial rotation fit, so that the frame unit can be controlled by external force to perform axial rotation movement;

the speed reducing motor transmits the power thereof to the active plate through the transmission assembly to form a propulsion system for the jellyfish robot; and the first steering engine is arranged on one side of the top head cover, the second steering engine is arranged at the hinged end between the two hinged frames of the steering support group, and the third steering engine is arranged at the hinged end between the other two hinged frames of the steering support group so as to cooperate and cooperate together to form a steering system for the jellyfish robot.

2. The jellyfish robot based on bionic design of claim 1, wherein the steering support group is configured with at least three of the hinged frames; wherein, it has a plurality of guide posts to dock along length direction rule between the articulated frame that is located the front end and the first mounting bracket, and it has a plurality of guide posts to dock along length direction rule between the articulated frame that is located the rear end and the second mounting bracket, and the articulated frame that is located the centre is articulated rather than two adjacent articulated frame looks axis respectively.

3. The jellyfish robot based on the bionic design of claim 2, wherein the two hinged frames positioned at the front end side are hinged and matched along a first direction, and the second steering engine is used for controlling the two hinged frames to rotate along the first direction; the two hinged frames positioned on the rear end side are hinged and matched along the second direction, and the third steering engine is used for controlling the two hinged frames to rotate along the second direction; wherein the first direction and the second direction are arranged perpendicular to each other.

4. The jellyfish robot based on bionic design as claimed in claim 1, wherein the driven plate is controlled by a tension unit to move along the same direction as the driving plate, the upper tension wheel and the lower tension wheel are correspondingly arranged outside the guide posts, and the wire rope is threaded through one of the guide posts and the other guide post along the upper tension wheel until the wire rope is wound around the lower tension wheel.

5. The jellyfish robot based on bionic design as claimed in claim 4, wherein the guide posts are respectively arranged along the four corners, and the guide posts on different sides along the length direction are aligned with each other, so that the frame unit has a rectangular frame structure with a long strip shape; wherein, relatively independent tensioning units are respectively arranged at the two diagonal positions.

6. The jellyfish robot based on bionic design of claim 1, wherein the hinge bracket set comprises at least four sets of hinge bracket components symmetrically arranged at the outer side of the frame unit, and the hinge bracket components comprise a first movable rod, a second movable rod and a third movable rod which are hinged with each other; one end of the first movable rod is in butt joint with the driving plate in a fish-eye bearing mode, one end of the second movable rod is in butt joint with the driven plate in a fish-eye bearing mode, one end of the third movable rod is in joint with the tentacle in a hinged mode, and the end portions of the three movable rods are jointly movably hinged to a transfer disc.

7. The jellyfish robot based on bionic design of claim 6, wherein the gear motor is configured above the driving plate, the transmission component comprises a pinion configured on an output shaft of the gear motor, a gearwheel meshed with the pinion, and a four-bar linkage mechanism in transmission connection between the gearwheel and the driving plate, and power output by the gear motor is transmitted to the driving plate through the four-bar linkage mechanism in a quick-return motion mode to implement reciprocating motion, so that the tentacles are driven to relax outwards or tighten inwards through the hinge bracket component to simulate the abdominal cavity contraction or relaxation of jellyfish.

8. The jellyfish robot based on bionic design of claim 7, wherein the four-bar linkage comprises a first connecting bar which is connected with the gearwheel for coaxial rotation, a second connecting bar which is hinged with the first connecting bar and rotates eccentrically relative to the gearwheel, and a third connecting bar which is hinged between the second connecting bar and the driving plate; the first connecting rod is configured into a short rod structure and is superposed between the large gear and the second connecting rod, the second connecting rod and the third connecting rod are long rod structures, the middle part of the second connecting rod is hinged with the first connecting rod, and a guide groove matched with a guide wheel arranged on the outer end side of the large gear in a sliding contact manner is arranged on one end side of the second connecting rod far away from the third connecting rod.

9. The jellyfish robot based on the bionic design of claim 1, wherein the frame unit and the linkage unit are made of carbon fiber, the outer main body and the top cover thereof are made of plastic, and the tentacle is formed by overlapping a plastic sheet and a carbon fiber tubule.

10. The jellyfish robot based on bionic design of claim 1, wherein the active plate is exposed outside the outer body, and the outside of the steering bracket group is covered with a waterproof rubber sleeve.