CN216943500U

CN216943500U - Bionic jellyfish robot

Info

Publication number: CN216943500U
Application number: CN202220076108.9U
Authority: CN
Inventors: 李东杰; 何欢
Original assignee: Qingdao Cehai Automation Technology Co ltd
Current assignee: Qingdao Cehai Automation Technology Co ltd
Priority date: 2022-01-12
Filing date: 2022-01-12
Publication date: 2022-07-12
Anticipated expiration: 2032-01-12

Abstract

The utility model relates to the technical field of underwater bionic robots, in particular to a bionic jellyfish robot which is complex in mechanism when a jellyfish umbrella cover is simulated to move and the technical problem of improving the manufacturing cost. The scheme specifically comprises the following steps: an umbrella cover made of soft material; the multiple groups of driving mechanisms are covered in the umbrella cover and are arranged in a rotational symmetry way; the plurality of groups of swing arm mechanisms and the plurality of groups of driving mechanisms are arranged in a one-to-one correspondence manner; the group of driving mechanisms correspondingly drive the swing arm mechanisms correspondingly arranged with the group of driving mechanisms to swing; when the multiple groups of driving mechanisms synchronously work, the multiple groups of swing arm mechanisms swing simultaneously to drive the first ends of the multiple groups of swing arm mechanisms to drive the lower edges of the umbrella cover and the second ends of the multiple groups of swing arm mechanisms to drive the middle edges of the umbrella cover, so that the lower edges of the umbrella cover and the middle edges of the umbrella cover can be alternately fluctuated. The technical scheme of the utility model has simple structure, can effectively reduce the cost for manufacturing the jellyfish robot, can simulate the movement of the jellyfish umbrella cover and can be used as an auxiliary of the existing propulsion device, and has wide application range.

Description

Bionic jellyfish robot

Technical Field

The utility model relates to the technical field of underwater bionic robots, in particular to a bionic jellyfish robot.

Background

Under the existing mode, the application field of the underwater working robot is gradually expanded, and the more mature application field comprises safety inspection of underwater equipment, underwater pipelines, underwater structures of dams, installation and disassembly of underwater matrixes or other underwater targets; the design of the bionic jellyfish robot is biased to the advancing action of a high-imitation jellyfish, in the prior art, the bionic jellyfish robot assists the movement of the jellyfish robot through the movement of an imitation jellyfish umbrella cover, and the jellyfish robot obtains power through carrying a propulsion device; and the mechanism that imitates the umbrella lid application among the prior art is complicated, will increase the weight and the volume of jellyfish robot certainly, has improved manufacturing cost, has restricted the application of imitative jellyfish robot.

SUMMERY OF THE UTILITY MODEL

The utility model provides a bionic jellyfish robot, aiming at solving the technical problems that the mechanism is complex when the jellyfish umbrella cover is simulated to move and the manufacturing cost is increased in the prior art.

In order to solve the technical problems, the technical scheme of the utility model is as follows:

a biomimetic jellyfish robot, comprising:

a canopy made of a soft material;

the multiple groups of driving mechanisms are covered in the umbrella cover and are rotationally and symmetrically arranged;

the plurality of groups of swing arm mechanisms are arranged in one-to-one correspondence with the plurality of groups of driving mechanisms;

the group of driving mechanisms correspondingly drives the swing arm mechanisms correspondingly arranged with the driving mechanisms to swing;

when the multiple groups of driving mechanisms synchronously work, the multiple groups of swing arm mechanisms swing simultaneously to drive the first ends of the multiple groups of swing arm mechanisms to drive the lower edges of the umbrella covers and the second ends of the multiple groups of swing arm mechanisms to drive the middle edges of the umbrella covers, so that the lower edges of the umbrella covers and the middle edges of the umbrella covers can be alternately raised and lowered.

Specifically, the device at least comprises four groups of driving mechanisms and corresponding swing arm mechanisms;

the rotational symmetry angle of the four groups of driving mechanisms is 90 degrees.

Specifically, the method further comprises the following steps:

the second end of the connecting component is flush with the lower edge of the umbrella cover;

a cross-shaped bracket structure mounted on the connection member;

the support structure is used for mounting the driving mechanism.

Specifically, the connecting member includes:

a silk-cell mounting part, the lower end of which is used for connecting the silk-cell ornament;

and the supporting column is vertically arranged at the center of the silk pricking cell installation part.

Specifically, the support structure includes:

the four groups of brackets in a triangular shape are arranged along the circumferential direction of the supporting columns to form the cross shape;

one end of any group of supports is provided with a box, install driving motor in the box, driving motor's output extends to outside the box to be used for connecting swing arm mechanism.

Specifically, the swing arm mechanism includes:

the output end of the driving mechanism of the first rocker arm is used as the circle center to rotate, and the driving mechanism drives the first rocker arm to work;

the second end of the swinging paddle is rotatably connected with the first end of the first rocker arm;

and the limiting assembly is relatively fixed with the driving mechanism, so that the swinging paddle is limited by the limiting assembly to move along the length of the swinging paddle.

Specifically, the method further comprises the following steps:

one end of the first traction component is rotatably connected to the first end of the swinging paddle, and the other end of the first traction component is rotatably connected to the lower edge of the umbrella cover;

and one end of the second traction part is rotatably connected to the middle part of the swinging paddle, and the other end of the second traction part is used for being rotatably connected to the middle edge of the umbrella cover.

Specifically, a plurality of rotational connections for connecting the first traction member or the second traction member;

at least comprises four groups of rotating connectors which are arranged at the lower edge of the umbrella cover and are connected with the umbrella cover

The first traction part is correspondingly arranged;

at least four groups of rotating connectors are arranged on the middle edge of the umbrella cover and are arranged corresponding to the second traction part.

Specifically, the pendulum paddle includes:

the spout, it sets up on the pendulum oar, the spout is followed the length direction of pendulum oar, and be close to the first end of pendulum oar arranges.

Specifically, spacing subassembly includes:

the limiting rod penetrates through the sliding groove;

the limiting nut is used for limiting the swinging paddle to move along the axial direction of the limiting rod.

The utility model has the following beneficial effects:

the technical scheme of the utility model has simple structure, can effectively reduce the cost for manufacturing the jellyfish robot, can simulate the motion of the jellyfish umbrella cover and be used as the auxiliary of the existing propulsion device, can meet the requirement of the jellyfish robot as a working robot, particularly can construct the jellyfish robot with small volume, and has wide application range.

Drawings

The utility model is described in further detail below with reference to the drawings and the detailed description.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of a swing arm mechanism of the present invention;

FIG. 3 is an enlarged partial view of the spacing assembly of the present invention;

the reference numerals in the figures denote:

the umbrella cover 10, the driving mechanism 20, the swing arm mechanism 30 and the connecting part 40;

a bracket structure 410, a wire-pricking mounting part 420, a supporting column 430 and a bracket 440;

a case 450, a driving motor 460;

the first rocker arm 310, the swinging paddle 320, the limiting assembly 330, the first traction part 340 and the second traction part 350;

the rotary connecting piece 50, the sliding chute 321, the limiting rod 331 and the limiting nut 332.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative effort belong to the protection scope of the present invention; for convenience of description, in the present application, "left side" is "first end", "right side" is "second end", "upper side" is "first end", and "lower side" is "second end" in the current view, so that the description is for the purpose of clearly expressing the technical solution, and should not be construed as an improper limitation to the technical solution of the present application.

In order to solve the technical problems of the prior art that the mechanism is complex when the jellyfish umbrella cover is simulated to move and the manufacturing cost is increased, please refer to fig. 1, the bionic jellyfish robot comprises: a canopy 10 made of a soft material; the multiple groups of driving mechanisms 20 are covered in the umbrella cover 10 and are rotationally and symmetrically arranged; the plurality of groups of swing arm mechanisms 30 are arranged in a one-to-one correspondence manner with the plurality of groups of driving mechanisms 20; the group of driving mechanisms 20 correspondingly drive the swing arm mechanisms 30 correspondingly arranged with the group of driving mechanisms to swing; when the multiple sets of driving mechanisms 20 synchronously work, the multiple sets of swing arm mechanisms 30 swing simultaneously to drive the first ends of the multiple sets of swing arm mechanisms 30 to drive the lower edges of the umbrella cover and the second ends of the multiple sets of swing arm mechanisms 30 to drive the middle edges of the umbrella cover, so that the lower edges of the umbrella cover 10 and the middle edges of the umbrella cover 10 can alternately rise and fall. The swing of the swing arm mechanism 30 is mainly utilized to drive the lower edge of the umbrella cover 10 and the middle edge of the umbrella cover 10 to move alternately, so that the fluctuation alternation is realized, the jellyfish umbrella cover is simulated, and the aim of simulating jellyfish and assisting the propulsion of the propulsion mechanism is fulfilled, wherein the aim of simulating jellyfish and assisting the propulsion of the propulsion mechanism is fulfilled; it is easy to think and see, in time do not rely on prior art in this application, only rely on above-mentioned structure, can make the motion that the bionic jellyfish robot that this application provided can accomplish the motion in aqueous equally, and what need explain is that, adopts canopy 10 and cooperation actuating mechanism 20, swing arm mechanism 30 that soft materials made to make the part that technical scheme of this application provided simpler, does benefit to equipment and mass production, can show the cost that reduces when this robot of large-scale practicality.

In one embodiment, at least four sets of drive mechanisms 20 and corresponding swing arm mechanisms 30 are included; the rotational symmetry angle of the four sets of driving mechanisms 20 is 90 degrees, so that the whole bionic jellyfish robot further eliminates the problem of unbalance caused by the self structure, the four sets of driving mechanisms 20 belong to a more reasonable and cost-considered embodiment, and obviously, under possible conditions, for example, 6 sets or 8 sets of driving mechanisms 20 can be more beneficial to the stabilization of jellyfish, but the problem of increasing the self weight is also existed, therefore, the embodiment proposes an embodiment in which the rotational symmetry angle of the four sets of driving mechanisms 20 is 90 degrees, so as to illustrate the selection mode in practical application.

Further, please refer to fig. 1-3, which also includes: a second end of the connecting part 40 is flush with the lower edge of the umbrella cover; a support structure 410 in the shape of a cross, which is mounted on the connecting member 40; the mounting structure 410 is used to mount the driving mechanism 20; the connection member 40 includes: a cartridge mounting part 420 for connecting a cartridge ornament at a lower end thereof; and a support column 430 vertically installed at the center of the stinger cell installation part 420.

Obviously, in order to achieve the purpose of being able to move itself, and to provide the driving mechanism 20 and the swing arm mechanism 30 in the above manner, it is necessary to construct a component that integrates all the mechanisms.

Referring to fig. 2, the supporting structure 410 includes: four sets of triangular brackets 440 arranged along the circumference of the support columns 430 to form a cross shape; one end of any group of the brackets 440 is provided with a box body 450, a driving motor 460 is installed in the box body 450, and the output end of the driving motor 460 extends out of the box body and is used for connecting the swing arm mechanism 30. Obviously, the biomimetic jellyfish robot works in water, so its power part, the power part being the drive motor 460, needs to be installed inside one box 450, and the box 450 is closed, and only the output end of the motor is outside the box 450.

In one embodiment, referring to fig. 2, the swing arm mechanism 30 includes: the first rocker arm 310 rotates with the output end of the driving mechanism 20 as the center of a circle, and is driven by the driving mechanism 20 to work; a swing paddle 320, a second end of which is rotatably connected to the first end of the first swing arm 310; and the limiting assembly 330 is kept fixed relative to the driving mechanism 20, so that the swinging paddle 320 is limited by the limiting assembly 330 in the moving distance along the length of the swinging paddle.

In one specific embodiment, please refer to fig. 2, which further includes: a first traction member 340, one end of which is rotatably connected to the first end of the swinging paddle 320, and the other end of which is rotatably connected to the lower edge of the umbrella cover 10; the second pulling member 350 has one end rotatably connected to the middle of the swing paddle 320 and the other end rotatably connected to the middle edge of the canopy 10. In order to make the actions of the bionic jellyfish robot more realistic, the first traction part 340 and the second traction part 350 are arranged and are connected with the rotation of the swinging paddle 320, and the actions of the fluctuation alternation are influenced in a way that the actions are delayed, so that the reciprocating alternation actions of the lower edge and the middle edge of the umbrella cover are softened, and the whole bionic jellyfish robot has more sense of reality during the actions; the practical technical effect is that the portion of the canopy 10 between the middle and lower edges thereof has a reserve time to push the water by this "softening" so that it obtains a greater pushing efficiency with a limited number of operations.

In one embodiment, referring to fig. 1-3, a plurality of rotational couplings 50 are provided for coupling either the first traction element 340 or the second traction element 350; at least four groups of rotating connectors 50 are arranged on the lower edge of the umbrella cover 10 and are arranged corresponding to the first traction part 340; at least four sets of rotary connectors 50 are mounted on the middle edge of the canopy 10 and are disposed to correspond to the second drawing members 350.

In one embodiment, referring to fig. 2-3, the paddle 320 includes: and a sliding slot 321 which is opened on the pendulum paddle 320, wherein the sliding slot 321 is arranged along the length direction of the pendulum paddle 320 and adjacent to the first end of the pendulum paddle 320.

In one embodiment, referring to fig. 2-3, the position-limiting assembly 330 includes: the limiting rod 331, the limiting rod 331 crosses the runner 321; the limiting nut 332 and the limiting rod 331 penetrate through one end of the sliding groove 321 and can be in threaded connection with the limiting nut 332, and the limiting nut 332 is used for limiting the movement of the swinging paddle 320 along the axial direction of the limiting rod 331.

To sum up, the simple structure of the technical scheme of this application can effectively support the cost that reduces this jellyfish robot of manufacturing to can imitate jellyfish canopy the motion and as current advancing device's supplementary use, can reach the requirement that jellyfish robot uses as work robot, but especially this technical scheme framework volume is small jellyfish robot, and application scope is wide.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications derived therefrom are intended to be within the scope of the utility model.

Claims

1. A bionic jellyfish robot, comprising:

an umbrella cover (10) made of soft material;

the multiple groups of driving mechanisms (20) are covered in the umbrella cover (10) and are rotationally and symmetrically arranged;

the multiple groups of swing arm mechanisms (30) are arranged in one-to-one correspondence with the multiple groups of driving mechanisms (20);

the group of driving mechanisms (20) correspondingly drive the swing arm mechanisms (30) arranged correspondingly to the driving mechanisms to swing;

when the plurality of groups of driving mechanisms (20) synchronously work, the plurality of groups of swing arm mechanisms (30) swing simultaneously to drive the first ends of the plurality of groups of swing arm mechanisms (30) to drive the lower edges of the umbrella covers (10) and the second ends of the plurality of groups of swing arm mechanisms (30) to drive the middle edges of the umbrella covers, so that the lower edges of the umbrella covers (10) and the middle edges of the umbrella covers (10) can fluctuate and alternate.

2. The biomimetic jellyfish robot of claim 1, comprising at least four sets of the drive mechanism (20) and corresponding swing arm mechanism (30);

the rotational symmetry angle of the four groups of driving mechanisms (20) is 90 degrees.

3. The biomimetic jellyfish robot of claim 2, further comprising:

a connecting part (40) with a second end flush with the lower edge of the umbrella cover;

a support structure (410) in the shape of a cross, mounted on said connection member (40);

the mounting structure (410) is used for mounting the driving mechanism (20).

4. The biomimetic jellyfish robot as recited in claim 3, wherein the connection member (40) includes:

a cartridge mounting part (420) having a lower end connected to the cartridge decoration;

and the supporting column (430) is vertically arranged at the center of the wire pricking cell installation part (420).

5. The biomimetic jellyfish robot of claim 4, wherein the support structure (410) includes:

four groups of brackets (440) in a triangular shape are arranged along the circumferential direction of the supporting columns (430) to form the cross shape;

one end of any group of supports (440) is provided with a box (450), install driving motor (460) in box (450), the output of driving motor (460) extends to outside the box to be used for connecting swing arm mechanism (30).

6. The biomimetic jellyfish robot as recited in claim 5, wherein the swing arm mechanism (30) includes:

the output end of the driving mechanism (20) of the first rocker arm (310) is used as a circle center to rotate, and the driving mechanism (20) drives the first rocker arm to work;

a swing paddle (320) having a second end rotatably connected to the first end of the first swing arm (310);

and the limiting component (330) is kept relatively fixed with the driving mechanism (20), so that the swinging paddle (320) is limited by the limiting component (330) to move along the length thereof.

7. The biomimetic jellyfish robot of claim 6, further comprising:

a first traction component (340), one end of which is rotatably connected with the first end of the swinging paddle (320), and the other end of which is rotatably connected with the lower edge of the umbrella cover (10);

and the second traction component (350) is rotationally connected to the middle part of the swinging paddle (320) at one end, and rotationally connected to the middle edge of the umbrella cover (10) at the other end.

8. The biomimetic jellyfish robot of claim 7, wherein a plurality of swivel connections (50) are provided for connecting either the first traction member (340) or the second traction member (350);

at least four groups of rotary connectors (50) are arranged on the lower edge of the umbrella cover (10) and are arranged corresponding to the first traction part (340);

at least four groups of rotating connectors (50) are arranged on the middle edge of the umbrella cover (10) and are arranged corresponding to the second traction part (350).

9. The biomimetic jellyfish robot of claim 7, wherein the paddle (320) includes:

a chute (321) opening on the paddle (320), the chute (321) being arranged along a length direction of the paddle (320) and adjacent to a first end of the paddle (320).

10. The biomimetic jellyfish robot as recited in claim 9, wherein the position limiting assembly (330) comprises:

the limiting rod (331) penetrates through the sliding groove (321);

the limiting nut (332), the limiting rod (331) passes one end of the sliding groove (321) and can be in threaded connection with the limiting nut (332), and the limiting nut (332) is used for limiting the swinging paddle (320) to move along the axial direction of the limiting rod (331).