CN204642126U - Jellyfish bio-robot - Google Patents
Jellyfish bio-robot Download PDFInfo
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- CN204642126U CN204642126U CN201520338570.1U CN201520338570U CN204642126U CN 204642126 U CN204642126 U CN 204642126U CN 201520338570 U CN201520338570 U CN 201520338570U CN 204642126 U CN204642126 U CN 204642126U
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- shell fragment
- memorial alloy
- jellyfish
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- alloy shell
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Abstract
A kind of jellyfish bio-robot, is made up of jellyfish head, supporting seat, flexible shell, the radial memorial alloy shell fragment of flotation gear and axial memorial alloy shell fragment; Described flexible shell is the hemispheric hollow housing of a class, multiple radial memorial alloy shell fragment is evenly equipped with in its circumference, bottom is provided with multiple uniform axial memorial alloy shell fragment, described axial memorial alloy shell fragment is mutually vertical with described radial memorial alloy shell fragment, and described flexible shell is linked together by radial memorial alloy shell fragment and supporting seat; Be provided with a hemispheric jellyfish head above described supporting seat, below is provided with flotation gear, and described flotation gear and jellyfish head are threaded connection and seal and be fastened on described supporting seat; The utility model not only can realize jellyfish bio-robot ahead running, and can realize the break-in campaign being similar to true jellyfish, and structure is simple, bionical effective.
Description
Art
The utility model relates to bio-robot field, particularly a kind of jellyfish bio-robot.
Background technology
At present, along with underwater exploration, the exploitation of transporting under water, the exploitation of under-water robot is more and more paid attention to.At this wherein, imitative jellyfish robot, due to the dynaflow principle of propeller of its uniqueness, becomes the focus of research.Jellyfish is a kind of invertabrate, and its motion mainly relies on radially-arranged muscle fibers contract and elongation, and then drives the contraction of soft shell and unfold, and current at the move under influence of housing cavity, thus drive jellyfish and move ahead.The soft shell of jellyfish is not simple radial shrinkage, and its shell also can according to the required direction moved ahead, its form of the little adjustment of great efforts.When jellyfish is sprayed water by contracting muscles again after adjustment form, just can adjust its direction moved ahead of moving.
Through retrieval, publication number is that the patent of invention of CN101020498A provides a kind of bionic mechanical jellyfish, it proposes a kind of electromagnet that adopts first as driving body, baffle plate is pulled to realize the effect of shrinking and unfolding by driving retracing spring, described device adopts two cavitys, alternately completed the process of water suction and water spray by the motion of Reverse Turning Control two cavitys, and then realize the motor function of jellyfish.But the structure of this scheme is comparatively complicated, course of action and true jellyfish are not identical yet, cannot realize good bionical effect.Publication number is that the utility model of CN203305220U provides a kind of imitative jellyfish robot, this jellyfish robot uses memory alloy wire as the power resources of drive machines people soft shell, drives tail fin motion thus control the sense of motion of jellyfish by memory alloy wire.Described jellyfish can by controlling the power on/off to memory alloy wire, realize the reciprocal transformation of memory alloy wire, thus drive jellyfish motion, but this mode only has radial memory alloy wire shrinkage distortion, the change of its direction is realized by tail fin, this is not identical with natural jellyfish, bionical poor effect.
Summary of the invention
In order to overcome existing bionical jellyfish robot mechanism complexity and the deficiency of bionical poor effect, the utility model provides a kind of jellyfish bio-robot, this jellyfish bio-robot can not only realize imitative jellyfish and advance, and the break-in campaign being similar to jellyfish can be realized, and its structure is similar, bionical effective with jellyfish.
The utility model solves the technical scheme that its technical matters adopts: the utility model is made up of jellyfish head, supporting seat, flexible shell, flotation gear and radial direction, axial memorial alloy shell fragment; Described flexible shell is the hemispheric hollow housing of a class, and be evenly equipped with multiple radial memorial alloy shell fragment in its circumference, have multiple gap in its underpart circumference, described flexible shell is linked together by radial memorial alloy shell fragment and supporting seat; A hemispheric jellyfish head is provided with above described supporting seat, its inside is hollow state, for arranging control desk, power supply and communicator, is provided with flotation gear below described supporting seat, described flotation gear is used for providing buoyancy for jellyfish bio-robot, stablizes its state in water; In flexible shell bottom, circumference is also provided with multiple uniform axial memorial alloy shell fragment, and described axial memorial alloy shell fragment is mutually vertical with described radial memorial alloy shell fragment.
The utility model realizes its motion and the process that turns to is: jellyfish bio-robot is placed in water, and under the effect of flotation gear, jellyfish bio-robot can be stablized and swims in water; The control setup being arranged on jellyfish head sends control signal, makes the regular contraction of radial memorial alloy shell fragment that jellyfish flexible shell circumference is uniform, and then drives jellyfish bio-robot to travel forward; If now to some the axial memorial alloy shell fragment energisings being arranged in flexible shell periphery, then axial memorial alloy shell fragment also will shrink, and the water side now during flexible shell radial shrinkage changes, and then change the direction of jellyfish advance.
The beneficial effects of the utility model are, not only can realize jellyfish bio-robot ahead running, and can realize the break-in campaign being similar to true jellyfish; And structure is simple, bionical effective.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further illustrated.
Fig. 1 is whole structure Fig. 1 of the present utility model.
Fig. 2 is whole structure Fig. 2 of the present utility model.
Fig. 3 is the utility model radial memorial alloy shell fragment normal condition aspect graph.
Fig. 4 is the utility model radial memorial alloy shell fragment contraction state aspect graph.
Fig. 5 is the utility model axial memorial alloy shell fragment aspect graph.
1. jellyfish head, 2. supporting seats in figure, 3. radial memorial alloy shell fragment, the radial memory alloy wire of 3-1., 3-2. radial shell fragment, 4. flexible shell, 5. axial memorial alloy shell fragment, the axial memory alloy wire of 5-1., 5-2. axial shell fragment, 6. flotation gear.
Detailed description of the invention
As depicted in figs. 1 and 2, jellyfish bio-robot is made up of jellyfish head (1), supporting seat (2), flexible shell (4), flotation gear (6) radial memorial alloy shell fragment (3) and axial memorial alloy shell fragment (5); Described flexible shell (4) is the hemispheric hollow housing of a class, multiple radial memorial alloy shell fragment (3) is evenly equipped with in its circumference, together with described radial memorial alloy shell fragment (3) is fitted tightly by glue with flexible shell (4) in normal state, flexible shell (4) is linked together by radial memorial alloy shell fragment (3) and supporting seat (2); Described flexible shell (4) bottom circumference has multiple gap, resistance when this gap shrinks for reducing radial memorial alloy shell fragment (3); Described supporting seat (2) top is provided with a hemispheric jellyfish head (1), and its inside is hollow state, for arranging control desk, power supply and communicator; Described supporting seat (2) below is provided with flotation gear (6), and described flotation gear (6), for providing buoyancy for jellyfish bio-robot, stablizes its state in water; Described flotation gear (6) can be the oval-shaped shell of a hollow, be filled with the material of air equidensity lower than water therein, described flotation gear (6) and jellyfish head (1) are threaded connection and seal and be fastened on described supporting seat; In flexible shell (4) bottom, circumference is also provided with multiple uniform axial memorial alloy shell fragment (5), and described axial memorial alloy shell fragment (5) is mutually vertical with described radial memorial alloy shell fragment (3).
As shown in Figure 3 and Figure 5, described radial memorial alloy shell fragment (3) is made up of radial memory alloy wire (3-1) and radial shell fragment (3-2) two parts, radial memory alloy wire (3-1) is by glue and radial shell fragment (3-2) compact siro spinning technology, radial memory alloy wire (3-1) end is connected with control setup by circuit through radial shell fragment (3-2), and described radial shell fragment (3-2) act as: help the resilience of radial memorial alloy shell fragment (3) when radial memory alloy wire (3-1) power-off is in normal condition; The composition of described axial memorial alloy shell fragment (5) and connection mode and radial memorial alloy shell fragment (3) similar.Preferably, described radial memorial alloy shell fragment (3) and axial memorial alloy shell fragment (5) are equipped with 6 groups, are distributed on the circumference of flexible shell (4).
Described shape-memory wire is a kind of intellectual material, there is a transition temperature in it, when the temperature of memory alloy wire is higher or lower than this transition temperature, memory alloy wire just can show contraction and normal condition, the utility model is this feature utilizing memory alloy wire, use the mode of energising to heat to memory alloy wire, thus make its in check driving jellyfish motion.
The utility model realizes its motion and the process that turns to is: jellyfish bio-robot is placed in water, and under the effect of flotation gear (6), jellyfish bio-robot can be stablized and swims in water; The control setup being arranged on jellyfish head (1) sends control signal, make the regular contraction of radial memorial alloy shell fragment (3) that jellyfish flexible shell (4) circumference is uniform, and then drive jellyfish bio-robot to travel forward; If now to some axial memorial alloy shell fragment (5) energisings being arranged in flexible shell (4) periphery, then axial memorial alloy shell fragment (5) also will be shunk, water side now during flexible shell (4) radial shrinkage changes, and then changes the direction of jellyfish bio-robot advance.
Certainly; these are only preferred embodiment of the present utility model; non-ly therefore namely limit to the scope of the claims of the present utility model, all utilization the utility model specification sheetss and graphic content institute be simple and easy modification and equivalent structure change for it, all should in like manner be contained within scope of patent protection of the present utility model.
Claims (2)
1. a jellyfish bio-robot, comprises jellyfish head, flexible shell, flotation gear, supporting seat, it is characterized in that: also comprise radial memorial alloy shell fragment, axial memorial alloy shell fragment; Multiple radial memorial alloy shell fragment is evenly equipped with in described flexible shell circumference, together with described radial memorial alloy shell fragment is fitted tightly by glue with flexible shell in normal state, flexible shell is linked together by radial memorial alloy shell fragment and supporting seat, and described flexible shell bottom circumference has multiple gap; Be provided with a hemispheric jellyfish head above described supporting seat, its inside is hollow state, for arranging control desk, power supply and communicator; Below described supporting seat, flotation gear is installed; Described flotation gear and jellyfish head are threaded connection and seal and be fastened on supporting seat; In flexible shell bottom, circumference is also provided with multiple uniform axial memorial alloy shell fragment, and described axial memorial alloy shell fragment is mutually vertical with described radial memorial alloy shell fragment.
2. jellyfish bio-robot according to claim 1, is characterized in that: described radial memorial alloy shell fragment and axial memorial alloy shell fragment are equipped with 6 groups, are distributed on the circumference of flexible shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520338570.1U CN204642126U (en) | 2015-05-22 | 2015-05-22 | Jellyfish bio-robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520338570.1U CN204642126U (en) | 2015-05-22 | 2015-05-22 | Jellyfish bio-robot |
Publications (1)
| Publication Number | Publication Date |
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| CN204642126U true CN204642126U (en) | 2015-09-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201520338570.1U Expired - Fee Related CN204642126U (en) | 2015-05-22 | 2015-05-22 | Jellyfish bio-robot |
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| CN (1) | CN204642126U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105366018A (en) * | 2015-10-26 | 2016-03-02 | 冯亿坤 | Electromagnetic drive jellyfish imitation detecting robot |
| CN106272357A (en) * | 2016-09-21 | 2017-01-04 | 南京航空航天大学 | A kind of imitative siphonohore underwater detection robot and method of work thereof |
| CN106828842A (en) * | 2017-02-22 | 2017-06-13 | 哈尔滨工业大学 | A kind of bionical cavity film water Female Robot of Electromagnetic muscle |
| CN106864713A (en) * | 2017-02-28 | 2017-06-20 | 西北工业大学 | A kind of imitative jellyfish submarine navigation device |
| CN107031807A (en) * | 2017-05-10 | 2017-08-11 | 南京理工大学 | A kind of imitative jellyfish underwater robot based on software driver |
| CN108032307A (en) * | 2017-12-05 | 2018-05-15 | 长沙展朔轩兴信息科技有限公司 | Jellyfish bio-robot |
| CN108516067A (en) * | 2018-03-23 | 2018-09-11 | 西北工业大学 | A kind of deformable mechanical jellyfish based on cam wheel Composite Transmission |
| CN108622347A (en) * | 2018-05-07 | 2018-10-09 | 中国石油大学(华东) | A kind of Bionic flexible arm drive-type submersible |
| CN108891562A (en) * | 2018-06-20 | 2018-11-27 | 江苏大学 | Imitative starfish soft robot and control method based on shape-memory polymer driving |
| CN108909996A (en) * | 2018-06-18 | 2018-11-30 | 西北工业大学 | A kind of submersible sink-float device based on intelligent active deformation structure |
| CN110371279A (en) * | 2019-06-03 | 2019-10-25 | 中国水产科学研究院南海水产研究所 | A kind of fishing ground trapping information collecting device |
| CN114906302A (en) * | 2022-06-30 | 2022-08-16 | 天津大学 | Bionic jellyfish robot based on line driving principle |
| CN115285322A (en) * | 2022-06-20 | 2022-11-04 | 常州大学 | Miniature jellyfish-like robot with controllable track and control method thereof |
-
2015
- 2015-05-22 CN CN201520338570.1U patent/CN204642126U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105366018A (en) * | 2015-10-26 | 2016-03-02 | 冯亿坤 | Electromagnetic drive jellyfish imitation detecting robot |
| CN105366018B (en) * | 2015-10-26 | 2017-07-25 | 冯亿坤 | Electromagnetic drive imitates jellyfish sniffing robot |
| CN106272357A (en) * | 2016-09-21 | 2017-01-04 | 南京航空航天大学 | A kind of imitative siphonohore underwater detection robot and method of work thereof |
| CN106828842A (en) * | 2017-02-22 | 2017-06-13 | 哈尔滨工业大学 | A kind of bionical cavity film water Female Robot of Electromagnetic muscle |
| CN106864713A (en) * | 2017-02-28 | 2017-06-20 | 西北工业大学 | A kind of imitative jellyfish submarine navigation device |
| CN107031807A (en) * | 2017-05-10 | 2017-08-11 | 南京理工大学 | A kind of imitative jellyfish underwater robot based on software driver |
| CN108032307A (en) * | 2017-12-05 | 2018-05-15 | 长沙展朔轩兴信息科技有限公司 | Jellyfish bio-robot |
| CN108516067A (en) * | 2018-03-23 | 2018-09-11 | 西北工业大学 | A kind of deformable mechanical jellyfish based on cam wheel Composite Transmission |
| CN108622347A (en) * | 2018-05-07 | 2018-10-09 | 中国石油大学(华东) | A kind of Bionic flexible arm drive-type submersible |
| CN108622347B (en) * | 2018-05-07 | 2023-10-13 | 中国石油大学(华东) | Bionic flexible arm driving type submersible |
| CN108909996A (en) * | 2018-06-18 | 2018-11-30 | 西北工业大学 | A kind of submersible sink-float device based on intelligent active deformation structure |
| CN108891562A (en) * | 2018-06-20 | 2018-11-27 | 江苏大学 | Imitative starfish soft robot and control method based on shape-memory polymer driving |
| CN108891562B (en) * | 2018-06-20 | 2020-06-09 | 江苏大学 | Starfish-like soft robot based on shape memory polymer drive and control method |
| CN110371279A (en) * | 2019-06-03 | 2019-10-25 | 中国水产科学研究院南海水产研究所 | A kind of fishing ground trapping information collecting device |
| CN115285322A (en) * | 2022-06-20 | 2022-11-04 | 常州大学 | Miniature jellyfish-like robot with controllable track and control method thereof |
| CN115285322B (en) * | 2022-06-20 | 2023-12-26 | 常州大学 | Miniature jellyfish-like robot with controllable track and control method thereof |
| CN114906302A (en) * | 2022-06-30 | 2022-08-16 | 天津大学 | Bionic jellyfish robot based on line driving principle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150916 Termination date: 20160522 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |