CN215554049U - Bionic jellyfish robot - Google Patents
Bionic jellyfish robot Download PDFInfo
- Publication number
- CN215554049U CN215554049U CN202122220835.6U CN202122220835U CN215554049U CN 215554049 U CN215554049 U CN 215554049U CN 202122220835 U CN202122220835 U CN 202122220835U CN 215554049 U CN215554049 U CN 215554049U
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- connecting rod
- electronic cabin
- robot
- hinged
- jellyfish robot
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- 238000005452 bending Methods 0.000 claims description 3
- 230000003592 biomimetic effect Effects 0.000 claims 6
- 238000000034 method Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 abstract description 2
- 108010066057 cabin-1 Proteins 0.000 description 8
- 229920003229 poly(methyl methacrylate) Polymers 0.000 description 4
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- 230000009471 action Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
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- 241000251468 Actinopterygii Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
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Abstract
The utility model discloses a bionic jellyfish robot, which comprises an electronic cabin, a swing arm and a first connecting rod, wherein the swing arm is connected with the electronic cabin; the plurality of swing arms are annularly hinged at the bottom edge of the electronic cabin; the electronic cabin is provided with a telescopic component; one end of the first connecting rod is hinged with the movable end of the telescopic part, and the other end of the first connecting rod is hinged with the surface of the swing arm; the reciprocating flexible part drives the swing arm to swing through the first connecting rod; a mass block is movably arranged in the electronic cabin; when the mass block deviates from the gravity center of the electronic cabin and moves, the bionic jellyfish robot correspondingly changes the direction; the mass block has the function of solving the problem of robot steering, and the self movement of the mass block can deviate the gravity center of the electronic cabin, so that the robot in process deflects towards the deviating direction, and the steering is realized.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a bionic jellyfish robot.
Background
The underwater robot is an important tool essential for exploring and developing oceans, and the conventional underwater robot mainly comprises fish swimming type or other non-bionic equipment. In an actual working environment, under the condition that a plurality of marine animals are easy to be disturbed, the traditional robot is easy to cause disturbance to influence the self operation. Therefore, it is necessary to invent a bionic jellyfish robot with small disturbance to seawater and flexible movement.
Disclosure of Invention
The purpose of the utility model is as follows: in order to overcome the defects in the prior art, the utility model provides a bionic jellyfish robot which has small disturbance to seawater and flexible movement.
The technical scheme is as follows: in order to achieve the purpose, the bionic jellyfish robot comprises an electronic cabin, a swing arm and a first connecting rod; the plurality of swing arms are annularly hinged to the bottom edge of the electronic cabin; the electronic cabin is provided with a telescopic component; one end of the first connecting rod is hinged with the movable end of the telescopic part, and the other end of the first connecting rod is hinged with the surface of the swing arm; the telescopic component which reciprocates drives the swing arm to swing through the first connecting rod; a mass block is movably arranged in the electronic cabin; when the mass block deviates from the gravity center of the electronic cabin and moves, the bionic jellyfish robot correspondingly changes the direction.
Further, a guide rail is arranged inside 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 part comprises a cam, a housing and a second connecting rod; the housing is connected with the electronic cabin; the cam rotationally runs inside the housing; one end of the second connecting rod is matched with the first connecting rod in a free bending way, and the other end of the second connecting rod penetrates through the housing to be matched and connected with the cam; the rotating cam drives the first connecting rod to move telescopically.
Further, the telescopic part also 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.
Furthermore, 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 compartment comprises a fairing and a floor; the bottom plate is buckled with the drag reduction cover to form a closed space; the telescopic component is assembled on the bottom plate; the outer surface of the drag reduction cover is a smooth curved surface.
Further, the drag reduction cover is a hemispherical shell.
Has the advantages that: the bionic jellyfish robot comprises an electronic cabin, a swing arm and a first connecting rod; the plurality of swing arms are annularly hinged to the bottom edge of the electronic cabin; the electronic cabin is provided with a telescopic component; one end of the first connecting rod is hinged with the movable end of the telescopic part, and the other end of the first connecting rod is hinged with the surface of the swing arm; the telescopic component which reciprocates drives the swing arm to swing through the first connecting rod; a mass block is movably arranged in the electronic cabin; when the mass block deviates from the gravity center of the electronic cabin and moves, the bionic jellyfish robot correspondingly changes the direction; the mass block has the function of solving the problem of robot steering, and the movement of the mass block can deviate the gravity center of the electronic cabin, so that the robot in process deflects towards the deviating direction to realize steering; in addition, the electronic cabin comprises the drag reduction cover and the bottom plate, and the drag reduction cover utilizes the characteristic of high transparency of PMMA (polymethyl methacrylate) to facilitate visual mastering of the working conditions of internal components during use and maintenance.
Drawings
FIG. 1 is a schematic view of the overall structure of a bionic jellyfish robot;
FIG. 2 is a schematic view of the structure of the telescopic member;
FIG. 3 is a schematic view of a mass and a rail;
fig. 4 is a schematic view of an electronic compartment structure.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The bionic jellyfish robot comprises an electronic cabin 1, a swing arm 3 and a first connecting rod 9, as shown in figure 1; the plurality of swing arms 3 are annularly hinged to the bottom edge of the electronic cabin 1; 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 part, 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; a mass block 6 is movably arranged in the electronic cabin 1; when the mass block 6 deviates from the gravity center of the electronic cabin 1 and moves, the bionic jellyfish robot correspondingly changes the direction.
The electronic cabin 1 is provided with equipment such as a detection element 15, and specific equipment types can be modified according to actual research tasks, which are not described herein; when the bionic jellyfish robot needs to move, the telescopic component uses the first connecting rod 9 to pull the plurality of swing arms 3 around a circle at the same time, so that the swing arms contract synchronously to paddle, and the generated thrust can drive the robot to move; 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 center of gravity of the electronic cabin 1, so that the robot in progress deflects towards the deviating direction, and the robot steers.
As shown in fig. 3, a guide rail 61 is arranged inside the electronic compartment 1; the mass block 6 is arranged on the guide rail 61 in a reciprocating sliding manner; the two guide rails 61 are arranged perpendicular to each other.
The two vertically staggered guide rails 61 can respectively control different mass blocks 6 to move, so that the center of gravity is changed annularly, and the steering control precision is greatly improved.
As shown in fig. 1 and 2, the telescopic member includes a cam 8, a housing 10, and a second link 11; the housing 10 is connected with the electronic cabin 1; the cam 8 runs in rotation inside the casing 10; one end of the second connecting rod 11 is matched with the first connecting rod 9 in a free bending way, and the other end of the second connecting rod passes through the housing 10 to be matched and connected with the cam 8; the rotating cam 8 drives the first connecting rod 9 to move telescopically.
The second connecting rod 11 can be driven to reciprocate by the rotation of the cam 8, and the rotation driving mode is better than the steering connection of equipment such as a linear telescopic rod, the whole action is smoother, and the damage to the rocker arm 3 is reduced.
The telescopic part also comprises a return spring 4; the return spring 4 is sleeved on the second connecting rod 11; one end of the return spring 4 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.
The function of the return spring 4 is similar to that of a spring near the pen point in the ball-point pen shell, and stable and reliable pushing force can be provided 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.
As shown in fig. 2, an end of the second link 11 away from the cam 8 is connected with a mounting plate 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 different second connecting rods 11, so as to avoid mutual interference and facilitate the sufficient conversion of the driving force.
As shown in fig. 4, the electronic compartment 1 includes a fairing 12 and a floor 14; the bottom plate 14 and the drag reduction cover 12 are buckled to form a closed space; the telescopic component is assembled on the bottom plate 14; the outer surface of the drag reduction cover 12 is a smooth curved surface.
The drag reduction cover 12 is made of PMMA (polymethyl methacrylate) with the wall thickness of preferably 10mm, and the characteristic of high transparency of the material can be utilized, so that the working condition of internal parts can be intuitively mastered during use and maintenance.
The drag reduction cover 12 is a hemispherical shell, and can reduce water flow resistance when moving forward and improve cruising ability.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the utility model and these are intended to be within the scope of the utility model.
Claims (7)
1. Bionic jellyfish robot, its characterized in that: comprises an electronic cabin (1), a swing arm (3) and a first connecting rod (9); the plurality of swing arms (3) are annularly hinged to the bottom edge of the electronic cabin (1); 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 part, 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 a first connecting rod (9); a mass block (6) is movably arranged in the electronic cabin (1); when the mass block (6) deviates from the gravity center of the electronic cabin (1) to move, the bionic jellyfish robot correspondingly changes the direction.
2. The biomimetic jellyfish robot of claim 1, wherein: a guide rail (61) is arranged in the electronic cabin (1); the mass block (6) is arranged on the guide rail (61) in a reciprocating sliding manner; the two guide rails (61) are arranged perpendicular to each other.
3. The biomimetic jellyfish robot of 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 electronic cabin (1); the cam (8) runs in a rotating manner inside the housing (10); one end of the second connecting rod (11) is matched with the first connecting rod (9) in a freely bending way, and the other end of the second connecting rod penetrates through the housing (10) to be connected with the cam (8) in a matching way; the rotating cam (8) drives the first connecting rod (9) to do telescopic motion.
4. The biomimetic jellyfish robot of claim 3, wherein: the telescopic component also comprises a return spring (4); the return spring (4) is sleeved on the second connecting rod (11); one end of the return spring (4) 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).
5. The biomimetic jellyfish robot of claim 3, wherein: 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 disc (13).
6. The biomimetic jellyfish robot of claim 1, wherein: the electronic cabin (1) comprises a drag reduction cover (12) and a bottom plate (14); the bottom plate (14) is buckled with the drag reduction cover (12) to form a closed space; the telescopic component is assembled on the bottom plate (14); the outer surface of the drag reduction cover (12) is a smooth curved surface.
7. The biomimetic jellyfish robot of claim 6, wherein: the drag reduction cover (12) is a hemispherical shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122220835.6U CN215554049U (en) | 2021-09-14 | 2021-09-14 | Bionic jellyfish robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122220835.6U CN215554049U (en) | 2021-09-14 | 2021-09-14 | Bionic jellyfish robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215554049U true CN215554049U (en) | 2022-01-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122220835.6U Expired - Fee Related CN215554049U (en) | 2021-09-14 | 2021-09-14 | Bionic jellyfish robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215554049U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115027648A (en) * | 2022-05-25 | 2022-09-09 | 西北工业大学 | Underwater universal mobile robot |
| CN115107962A (en) * | 2022-08-10 | 2022-09-27 | 华侨大学 | Jellyfish robot based on bionic design |
| CN115158610A (en) * | 2022-07-07 | 2022-10-11 | 广州大学 | Jellyfish robot cam transmission mechanism based on flexible bionic tentacles |
| CN115489686A (en) * | 2022-10-27 | 2022-12-20 | 广东海洋大学 | Bionic jellyfish and spider type ship bottom decontamination robot |
-
2021
- 2021-09-14 CN CN202122220835.6U patent/CN215554049U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115027648A (en) * | 2022-05-25 | 2022-09-09 | 西北工业大学 | Underwater universal mobile 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 |
| CN115107962A (en) * | 2022-08-10 | 2022-09-27 | 华侨大学 | Jellyfish robot based on bionic design |
| CN115489686A (en) * | 2022-10-27 | 2022-12-20 | 广东海洋大学 | Bionic jellyfish and spider type ship bottom decontamination robot |
| CN115489686B (en) * | 2022-10-27 | 2024-04-26 | 广东海洋大学 | Bionic jellyfish and spider type ship bottom trash cleaning robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220118 |