CN220721364U

CN220721364U - Mechanical bionic jellyfish robot

Info

Publication number: CN220721364U
Application number: CN202322525575.2U
Authority: CN
Inventors: 郭泽宇; 靳皓翔; 何跃翔; 杨梦涛; 王小宇
Original assignee: Civil Aviation University of China
Current assignee: Civil Aviation University of China
Priority date: 2023-09-18
Filing date: 2023-09-18
Publication date: 2024-04-05
Anticipated expiration: 2033-09-18

Abstract

A mechanical bionic jellyfish robot. The device comprises an jellyfish simulation housing, a driving and adjusting device, a bionic driving device, a power storage device, a water collecting device and a remote controller; the driving and adjusting device, the bionic driving device, the power storage device and the water collecting device are arranged in the jellyfish simulation housing; the remote control is held by a worker. The mechanical bionic jellyfish robot provided by the utility model has the following advantages and positive effects: the device overcomes the defect that the traditional underwater exploration machine has large noise when driven by a propeller, simulates the shrinkage of a jellyfish bell, reduces the disturbance to marine organisms, has good concealment, can finish the water source collection in a deep sea area, has low energy consumption, and can stay at the water bottom for a long time.

Description

Mechanical bionic jellyfish robot

Technical Field

The utility model belongs to the technical field of bionic robots, and particularly relates to a mechanical bionic jellyfish robot.

Background

Biomimetic mechanics is a comprehensive emerging marginal discipline, which is formed by the mutual osmosis and the mutual combination of life science and engineering technology science, and comprises the steps of carrying out mechanical study on biological phenomena, carrying out engineering analysis on the movement and action of organisms, and putting the results into practical use according to the requirements of society.

If a conventional machine is referred to as a general machine, a bionic machine shall refer to a type of machine to which human intelligence is added. In terms of physical and mechanical functions, the general machinery is much more powerful than humans, but much less intelligent than humans. Therefore, if man-machine is combined, it is possible to evolve the general machine into a bionic machine. From this point of view, it is considered that the bionic machinery should have both conditions as precise as the moving organs of living beings and an excellent intelligent system, so that it is possible to perform smart control and perform complex actions.

However, the underwater robot in the related art still depends on a driving mode of propeller propulsion, and has the defects of larger noise, easiness in surprise of fish shoals and exposure of targets, so that the concealment is poor.

Disclosure of Invention

In order to solve the problems, the utility model aims to provide a mechanical bionic jellyfish robot.

In order to achieve the above purpose, the mechanical bionic jellyfish robot provided by the utility model comprises a jellyfish simulation housing, a driving and adjusting device, a bionic driving device, a power storage device, a water collecting device and a remote controller; the jellyfish simulation housing comprises a jellyfish simulation head housing, a first section center shaft, a second section center shaft, a third section center shaft and a water sampling mechanism shell which are sequentially connected from top to bottom, and cavities of the jellyfish simulation head housing, the first section center shaft, the second section center shaft and the third section center shaft are mutually communicated; a water inlet is formed in the middle of the bottom surface of the water collecting mechanism shell; the driving adjusting device comprises a gravity center adjusting mechanism and a slot cam transmission mechanism which are respectively arranged in the middle shaft of the first section and the middle shaft of the second section; the bionic driving devices are uniformly distributed on the outer side of the second section center shaft, the upper part of the inner end is fixed on the outer surface of the second section center shaft, and the lower part of the inner end penetrates through the second section center shaft and then is connected with the groove cam transmission mechanism; the power storage device is arranged in the middle shaft of the third section; the water collecting device is arranged in the shell of the water collecting mechanism; the remote controller is held by a worker and is respectively connected with the gravity center regulating mechanism, the slot cam transmission mechanism and the water sampling device in a wireless remote control mode.

The gravity center regulating mechanism comprises a weight block, a second steering engine, a first disc, a support frame, an upper gravity center regulating tray and a lower gravity center regulating tray; the first disc is horizontally arranged, and the edge part is fixed on the inner circumferential surface of the first section center shaft through a plurality of supporting frames; the second steering engine is fixed in the middle of the top surface of the first disc, and the output shaft is positioned at the upper end; the lower centering control tray is fixed on the inner circumferential surface of the middle shaft of the first section above the first disc through a plurality of supporting frames; the upper center of gravity regulating and controlling tray is positioned at the upper side of the lower center of gravity regulating and controlling tray; the output shaft of the second steering engine penetrates through the central hole of the lower gravity center regulating tray and then is fixed in the central hole of the upper gravity center regulating tray, so that the upper gravity center regulating tray can rotate under the drive of the second steering engine; two weight blocks are symmetrically fixed on the top surface edge of the upper gravity center regulating tray, and the other two weight blocks are symmetrically fixed on the bottom surface edge of the lower gravity center regulating tray; the second steering engine is connected with the remote controller in a wireless remote control mode.

The groove cam transmission mechanism comprises a groove cam disc, a double-shaft gear motor, a first tentacle connecting piece and a second disc; wherein the edge of the second disc is fixed on the inner circumferential surface of the second section middle shaft; the double-shaft speed reducing motor is fixed in the middle of the top surface of the second disc, and the output shaft is positioned at the upper end; the groove cam disc is positioned above the second disc, the central hole is connected with the output shaft of the double-shaft speed reducing motor, and a plurality of circular arc through holes which are distributed like fan blades are uniformly formed at the outer side of the central hole; the inner ends of the first tentacle connecting pieces are two clamping plates, the inner ends of the two clamping plates on each first tentacle connecting piece are respectively positioned at the upper port and the lower port of a circular arc through hole on the grooved cam disc, and the first tentacle connecting pieces are connected with the grooved cam disc 37 by utilizing screws penetrating through the front ends of the two clamping plates and the circular arc through holes; the double-shaft speed reducing motor is connected with the remote controller in a wireless remote control mode.

The bionic driving device comprises a plurality of driving rods, a plurality of second tentacle connectors and a plurality of bell-like multi-link mechanisms; the inner end of each driving rod is connected with the outer end of a first tentacle connecting piece on the grooved cam transmission mechanism, the middle part of the driving rod penetrates through the circumferential wall of the middle shaft of the second section, and the outer end of each driving rod is connected with the lower part of the inner end of a bell-like multi-link mechanism; the outer end of each second tentacle connecting piece is connected to the upper part of the inner end of a bell-like multi-link mechanism, and the inner end is fixed on the outer circumferential surface of the second section center shaft.

The contact part of the driving rod and the circumferential wall of the middle shaft in the second section is provided with a shaft outlet sleeve, the driving rod is embedded into the shaft outlet sleeve, and the two sides of the driving rod are respectively clamped and sealed by a sealing ring and a clamp, so that dynamic sealing is realized.

The power storage device comprises a porous square plate, a spring type reset mechanism, a square plate connecting piece, a sliding rail and a battery; the two sliding rails are arranged in parallel along the vertical direction, and the outer side parts of the two sliding rails are respectively fixed on the circumferential wall of the third section center shaft; each sliding rail is provided with a sliding rail connecting piece in a sliding way; the outer side part of each sliding rail connecting piece is provided with a square plate connecting piece respectively; the porous square plates are vertically arranged, a rectangular notch is formed at the lower end of the middle part of the porous square plates in an inward concave manner, the middle parts of the two sides of the porous square plates are respectively arranged on the two square plate connecting pieces, and the upper parts of the porous square plates are provided with batteries for supplying power to all power utilization parts in the device; the spring type reset mechanism is arranged in the rectangular notch of the porous square plate and comprises a first ratchet wheel, a second ratchet wheel, a sleeve and a spring; the upper end of the sleeve is in an opening shape; the spring is arranged at the inner lower part of the sleeve; the second ratchet wheel is arranged at the inner upper part of the sleeve, the lower end of the second ratchet wheel is contacted with the upper end of the spring, and rigid teeth are formed on the outer circumferential surface of the upper end; rigid teeth are formed on the inner circumferential surface of the lower end of the first ratchet wheel and meshed with the rigid teeth on the second ratchet wheel, and the upper end of the first ratchet wheel is contacted with the upper end of the rectangular notch of the porous square plate.

The water collecting device comprises a first steering engine, a water collecting disc driving rod, a limiting fixed shaft, a limiting fixer, a water collecting disc, a water collecting driving rod and a water collecting driving rod; the upper end of the first steering engine is fixed on the top surface of the water collection shell, and the output shaft is positioned at one side and hinged with one end of the water collection driving rod; two ends of the water collection driving rod are respectively hinged with the other end of the water collection driving rod and one end of the water collection disc driving rod; one side surface of the water collecting disc driving rod is fixed on the top surface of the water collecting disc; the middle part of the limiting fixed shaft penetrates through the other end of the driving rod of the water collecting disc, two ends of the limiting fixed shaft are respectively inserted into through holes at the upper parts of the two water collecting fixtures, the lower ends of the two water collecting fixtures are symmetrically fixed at the edge part of the bottom surface of the water collecting shell, and the water collecting disc is arranged at the water inlet of the water collecting shell in a rotating mode and is used for closing and opening the water inlet; the first steering engine is connected with the remote controller in a wireless remote control mode.

The mechanical bionic jellyfish robot provided by the utility model has the following advantages and positive effects:

the device overcomes the defect that the traditional underwater exploration machine has large noise when driven by a propeller, simulates the shrinkage of a jellyfish bell, reduces the disturbance to marine organisms, has good concealment, can finish the water source collection in a deep sea area, has low energy consumption, and can stay at the water bottom for a long time.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a mechanical bionic jellyfish robot provided by the utility model;

fig. 2 is a schematic diagram of the internal structure of the mechanical bionic jellyfish robot provided by the utility model;

FIG. 3 is a schematic diagram of a bionic driving device in the mechanical bionic jellyfish robot provided by the utility model;

FIG. 4 is a schematic diagram of a power storage device in the mechanical bionic jellyfish robot provided by the utility model;

FIG. 5 is a schematic diagram of the external structure of a spring type reset mechanism of the mechanical bionic jellyfish robot provided by the utility model;

fig. 6 is a cross-sectional view taken along A-A in fig. 5.

Fig. 7 is a schematic diagram of a connection state of a slot cam transmission mechanism and a bionic driving device of the mechanical bionic jellyfish robot.

Fig. 8 is a top view of a connection state of a slot cam transmission mechanism and a bionic driving device of the mechanical bionic jellyfish robot.

Fig. 9 is a schematic diagram of a gravity center regulating mechanism in the mechanical bionic jellyfish robot.

Fig. 10 is a schematic diagram of a water sampling device in the mechanical bionic jellyfish robot provided by the utility model.

Detailed Description

The present technical solution is described in further detail below with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1 to 10, the mechanical bionic jellyfish robot provided by the utility model comprises a jellyfish simulation housing, a driving and adjusting device, a bionic driving device, a power storage device, a water collecting device and a remote controller; the jellyfish simulation housing comprises a jellyfish simulation head housing 1, a first section center shaft 2, a second section center shaft 6, a third section center shaft 4 and a water collecting mechanism housing 5 which are sequentially connected from top to bottom, wherein cavities of the jellyfish simulation head housing 1, the first section center shaft 2, the second section center shaft 6 and the third section center shaft 4 are mutually communicated; a water inlet is formed in the middle of the bottom surface of the water collecting mechanism shell 5; the driving and adjusting device comprises a gravity center adjusting mechanism and a slot cam transmission mechanism which are respectively arranged in the first section center shaft 2 and the second section center shaft 6; the bionic driving devices are uniformly distributed on the outer side of the second section center shaft 6, the upper part of the inner end is fixed on the outer surface of the second section center shaft 6, and the lower part of the inner end penetrates through the second section center shaft 6 and then is connected with the groove cam transmission mechanism; the power storage device is arranged inside the middle shaft 4 of the third section; the water collecting device is arranged in the water collecting mechanism shell 5; the remote controller is held by a worker and is respectively connected with the gravity center regulating mechanism, the slot cam transmission mechanism and the water sampling device in a wireless remote control mode.

The gravity center regulating mechanism comprises a weight 32, a second steering engine 35, a first disc 34, a supporting frame 33, an upper gravity center regulating tray 36 and a lower gravity center regulating tray 8; wherein, the first disc 34 is horizontally arranged, and the edge part is fixed on the inner circumference surface of the first section center shaft 2 through a plurality of supporting frames 33; the second steering engine 35 is fixed in the middle of the top surface of the first disc 34, and the output shaft is positioned at the upper end; the lower centering control tray 8 is fixed on the inner circumferential surface of the first section center shaft 2 above the first disc 34 through a plurality of supporting frames 33; the upper centering control tray 36 is positioned on the upper side of the lower centering control tray 8; the output shaft of the second steering engine 35 penetrates through the central hole of the lower gravity center regulating and controlling tray 8 and then is fixed in the central hole of the upper gravity center regulating and controlling tray 36, so that the upper gravity center regulating and controlling tray 36 can rotate under the drive of the second steering engine 35; two weight blocks 32 are symmetrically fixed at the top edge of the upper gravity center regulating tray 36, and the other two weight blocks 32 are symmetrically fixed at the bottom edge of the lower gravity center regulating tray 8; the second steering engine 35 is connected with a remote controller in a wireless remote control mode.

The slot cam drive mechanism comprises a slot cam disc 37, a double-shaft gear motor 38, a first tentacle connector 17 and a second disc 39; wherein the edge of the second disc 39 is fixed on the inner circumference of the second section central shaft 6; the double-shaft speed reducing motor 38 is fixed in the middle of the top surface of the second disc 39, and the output shaft is positioned at the upper end; the groove cam disc 37 is positioned above the second disc 39, the central hole is connected with the output shaft of the double-shaft speed reducing motor 38, and a plurality of circular arc through holes 9 which are distributed like fan blades are uniformly formed at the outer side of the central hole; the inner ends of the first tentacle connecting pieces 17 are two clamping plates, the inner ends of the two clamping plates on each first tentacle connecting piece 17 are respectively positioned at the upper and lower ports of one circular arc-shaped through hole 9 on the groove cam disc 37, and the first tentacle connecting pieces 17 are connected with the groove cam disc 37 by utilizing screws penetrating the front ends of the two clamping plates and the circular arc-shaped through hole 9; the biaxial speed reducing motor 38 is connected to a remote controller by wireless remote control.

The bionic driving device comprises a plurality of driving rods 16, a plurality of second tentacle connectors 7 and a plurality of bell-like multi-link mechanisms 3; the inner end of each driving rod 16 is connected with the outer end of a first tentacle connecting piece 17 on the grooved cam transmission mechanism, the middle part of the driving rod penetrates through the circumferential wall of the second section middle shaft 6, and the outer end of the driving rod 16 is connected with the lower part of the inner end of a bell-like multi-link mechanism 3; the outer end of each second tentacle connecting piece 7 is connected to the upper part of the inner end of one bell-like multi-link mechanism 3, and the inner end is fixed on the outer circumferential surface of the second section center shaft 6.

The contact part of the driving rod 16 and the circumferential wall of the second section center shaft 6 is provided with a shaft sleeve, the driving rod 16 is embedded into the shaft sleeve, and the two sides are respectively clamped and sealed by a sealing ring and a clamp, so that dynamic sealing is realized.

The power storage device comprises a porous square plate 18, a spring type reset mechanism 20, a square plate connecting piece 21, a sliding rail connecting piece 22, a sliding rail 19 and a battery; wherein, two slide rails 19 are arranged in parallel along the vertical direction, and the outer side parts are respectively fixed on the circumferential wall of the third section center shaft 4; each slide rail 19 is provided with a slide rail connecting piece 22 in a sliding manner; the outside part of each sliding rail connecting piece 22 is respectively provided with a square plate connecting piece 21; the porous square plates 18 are vertically arranged, a rectangular notch is formed at the lower end of the middle part of each square plate in an inward concave manner, the middle parts of two sides of each square plate are respectively arranged on two square plate connecting pieces 21, and the upper parts of the square plates are provided with batteries for supplying power to all power consumption components in the device; the spring type reset mechanism is arranged in a rectangular notch of the porous square plate 18 and comprises a first ratchet wheel 40, a second ratchet wheel 41, a sleeve 42 and a spring 43; the upper end of the sleeve 42 is open; the spring 43 is provided at the inner lower portion of the sleeve 42; the second ratchet 41 is provided at an inner upper portion of the sleeve 42 with a lower end in contact with an upper end of the spring 43, and a rigid tooth is formed on an outer circumferential surface of the upper end; rigid teeth are formed on the inner circumferential surface of the lower end of the first ratchet wheel 40 and are engaged with the rigid teeth on the second ratchet wheel 41, and the upper end is contacted with the upper end of the rectangular notch of the porous square plate 18.

The water collecting device comprises a first steering engine 24, a water collecting disc driving rod 26, a limiting fixed shaft 27, a limiting fixer 28, a water collecting disc 29, a water collecting driving rod 30 and a water collecting driving rod 31; the upper end of the first steering engine 24 is fixed on the top surface of the water collection shell 5, and the output shaft is positioned at one side and hinged with one end of the water collection driving rod 31; two ends of the water collecting driving rod 30 are respectively hinged with the other end of the water collecting driving rod 31 and one end of the water collecting disc driving rod 26; one side surface of the water collecting disc driving rod 26 is fixed on the top surface of the water collecting disc 29; the middle part of the limiting fixed shaft 27 penetrates through the other end of the water collecting disc driving rod 26, two ends of the limiting fixed shaft are respectively inserted into through holes in the upper parts of the two water collecting fixtures 28, the lower ends of the two water collecting fixtures 28 are symmetrically fixed at the edge part of the bottom surface of the water collecting shell 5, and the water collecting disc 29 is arranged at the water inlet of the water collecting shell 5 in a rotating mode and is used for closing and opening the water inlet; the first steering engine 24 is connected with a remote controller in a wireless remote control manner.

The working process of the mechanical bionic jellyfish robot for collecting deep sea water sources is explained as follows:

when the bionic driving device is required to work, an operator starts a double-shaft speed reducing motor 38 in the groove cam transmission mechanism by using a remote controller, the double-shaft speed reducing motor 38 transmits power to the groove cam disc 37 to enable the groove cam disc 37 to alternately rotate forwards and reversely, in the process, the inner end of the first tentacle connecting piece 17 moves from one end of the circular arc-shaped through hole 9 to the other end, so that the distance from the inner end of the first tentacle connecting piece 17 to the circle center of the groove cam disc 37 changes, and then the driving rod 16 is driven to stretch forwards or backwards, when the groove cam disc 37 rotates forwards, the driving rod 16 stretches forwards, and when the groove cam disc 37 rotates reversely, the driving rod 16 retracts; the axial movement of the driving rod 16 can drive the bell-like multi-link mechanism 3 to swing around the second tentacle connecting piece 7, so that the mechanical bionic jellyfish robot is driven to finish forward pushing action.

When the water sampling device is required to work, an operator starts the first steering engine 24 by using the remote controller; the first steering wheel 24 rotates to drive the water collection driving rod 31 to rotate, the water collection driving rod 3 sequentially drives the water collection driving rod 30 and the water collection disc driving rod 26 to rotate, and then drives the water collection disc 29 to overturn, so that the water inlet of the water collection shell 5 is driven, water enters the water collection shell 5, the first steering wheel 24 reversely rotates after water collection is finished, the water inlet is closed, and the task of collecting a deep sea water source is effectively completed.

When the gravity center of the mechanical bionic jellyfish robot is unstable and the gravity center is required to be regulated by utilizing the gravity center regulating mechanism, an operator starts the second steering engine 35 by utilizing the remote controller, and the second steering engine 35 rotates to drive the upper gravity center regulating tray 36 to rotate, so that the position distribution of the weight blocks 32 on the upper gravity center regulating tray 36 in the space is changed, the weight blocks are matched with the weight blocks 32 on the lower gravity center regulating tray 8, and finally the gravity center of the mechanical bionic jellyfish robot in the space is regulated.

When the battery is needed to be replaced or the power storage device is maintained on land, the operator presses down the porous square plate 18, the porous square plate 18 presses down the first ratchet wheel 40 on the spring type reset mechanism, the first ratchet wheel 40 presses down the second ratchet wheel 41 and the spring 43 again, the spring 43 pushes up the first ratchet wheel 40 and the second ratchet wheel 41 by means of self elastic force, and therefore the porous square plate 18, the square plate connecting piece 21 and the sliding rail connecting piece 22 move upwards along the sliding rail 19 smoothly, and then the porous square plate 18 and the battery on the porous square plate 18 can be conveniently taken down for replacement or maintenance.

Claims

1. A mechanical bionic jellyfish robot is characterized in that: the mechanical bionic jellyfish robot comprises a jellyfish simulation housing, a driving and adjusting device, a bionic driving device, a power storage device, a water collecting device and a remote controller; the jellyfish simulation housing comprises a jellyfish simulation head housing (1), a first section center shaft (2), a second section center shaft (6), a third section center shaft (4) and a water sampling mechanism shell (5) which are sequentially connected from top to bottom, wherein cavities of the jellyfish simulation head housing (1), the first section center shaft (2), the second section center shaft (6) and the third section center shaft (4) are mutually communicated; a water inlet is formed in the middle of the bottom surface of the water collecting mechanism shell (5); the driving and adjusting device comprises a gravity center adjusting mechanism and a slot cam transmission mechanism which are respectively arranged in the first section center shaft (2) and the second section center shaft (6); the bionic driving devices are uniformly distributed on the outer side of the second section center shaft (6), the upper part of the inner end is fixed on the outer surface of the second section center shaft (6), and the lower part of the inner end penetrates through the second section center shaft (6) and then is connected with the groove cam transmission mechanism; the power storage device is arranged in the middle shaft (4) of the third section; the water collecting device is arranged in the water collecting mechanism shell (5); the remote controller is held by a worker and is respectively connected with the gravity center regulating mechanism, the slot cam transmission mechanism and the water sampling device in a wireless remote control mode.

2. The mechanical bionic jellyfish robot of claim 1, wherein: the gravity center regulating mechanism comprises a weight block (32), a second steering engine (35), a first disc (34), a supporting frame (33), an upper gravity center regulating tray (36) and a lower gravity center regulating tray (8); wherein, the first disc (34) is horizontally arranged, and the edge part is fixed on the inner circumferential surface of the first section center shaft (2) through a plurality of supporting frames (33); the second steering engine (35) is fixed in the middle of the top surface of the first disc (34), and the output shaft is positioned at the upper end; the lower centering control tray (8) is fixed on the inner circumferential surface of the first section middle shaft (2) above the first disc (34) through a plurality of supporting frames (33); the upper centering control tray (36) is positioned at the upper side of the lower centering control tray (8); an output shaft of the second steering engine (35) penetrates through a central hole of the lower gravity center regulating and controlling tray (8) and then is fixed in a central hole of the upper gravity center regulating and controlling tray (36), so that the upper gravity center regulating and controlling tray (36) can rotate under the drive of the second steering engine (35); two weight blocks (32) are symmetrically fixed on the top surface edge of the upper gravity center regulating tray (36), and the other two weight blocks (32) are symmetrically fixed on the bottom surface edge of the lower gravity center regulating tray (8); the second steering engine (35) is connected with the remote controller in a wireless remote control mode.

3. The mechanical bionic jellyfish robot of claim 1, wherein: the slot cam transmission mechanism comprises a slot cam disc (37), a double-shaft gear motor (38), a first tentacle connecting piece (17) and a second disc (39); wherein the edge of the second disc (39) is fixed on the inner circumferential surface of the second section center shaft (6); the double-shaft speed reducing motor (38) is fixed in the middle of the top surface of the second disc (39), and the output shaft is positioned at the upper end; the groove cam disc (37) is positioned above the second disc (39), the central hole is connected with the output shaft of the double-shaft speed reducing motor (38), and a plurality of circular arc through holes (9) which are distributed like fan blades are uniformly formed at the outer side of the central hole; the inner ends of the first tentacle connecting pieces (17) are two clamping plates, the inner ends of the two clamping plates on each first tentacle connecting piece (17) are respectively positioned at the upper port and the lower port of a circular arc through hole (9) on the groove cam disc (37), and the first tentacle connecting pieces (17) are connected with the groove cam disc (37) by utilizing screws penetrating the front ends of the two clamping plates and the circular arc through hole (9); the double-shaft speed reducing motor (38) is connected with the remote controller in a wireless remote control mode.

4. The mechanical bionic jellyfish robot of claim 1, wherein: the bionic driving device comprises a plurality of driving rods (16), a plurality of second tentacle connectors (7) and a plurality of bell-like multi-link mechanisms (3); the inner end of each driving rod (16) is connected with the outer end of a first tentacle connecting piece (17) on the grooved cam transmission mechanism, the middle part of the driving rod penetrates through the circumferential wall of the second section middle shaft (6), and the outer end of the driving rod is connected with the lower part of the inner end of a bell-like multi-link mechanism (3); the outer end of each second tentacle connecting piece (7) is connected to the upper part of the inner end of a bell-like multi-link mechanism (3), and the inner end is fixed on the outer circumferential surface of the second section center shaft (6).

5. The mechanical bionic jellyfish robot of claim 4, wherein: the contact part of the driving rod (16) and the circumferential wall of the second section center shaft (6) is provided with a shaft outlet sleeve, the driving rod (16) is embedded into the shaft outlet sleeve, and the two sides are respectively clamped and sealed by a sealing ring and a clamping hoop, so that dynamic sealing is realized.

6. The mechanical bionic jellyfish robot of claim 1, wherein: the power storage device comprises a porous square plate (18), a spring type reset mechanism (20), a square plate connecting piece (21), a sliding rail connecting piece (22), a sliding rail (19) and a battery; wherein, two slide rails (19) are arranged in parallel along the vertical direction, and the outer side parts are respectively fixed on the circumferential wall of the middle shaft (4) of the third section; each sliding rail (19) is provided with a sliding rail connecting piece (22) in a sliding mode; the outer side part of each sliding rail connecting piece (22) is respectively provided with a square plate connecting piece (21); the porous square plates (18) are vertically arranged, a rectangular notch is formed at the lower end of the middle part of each porous square plate in an inward concave manner, the middle parts of two sides of each porous square plate are respectively arranged on two square plate connecting pieces (21), and the upper parts of the porous square plates are provided with batteries for supplying power to all power utilization parts in the device; the spring type reset mechanism is arranged in a rectangular notch of the porous square plate (18) and comprises a first ratchet wheel (40), a second ratchet wheel (41), a sleeve (42) and a spring (43); the upper end of the sleeve (42) is in an opening shape; the spring (43) is arranged at the inner lower part of the sleeve (42); the second ratchet wheel (41) is arranged at the inner upper part of the sleeve (42) and the lower end of the second ratchet wheel is contacted with the upper end of the spring (43), and rigid teeth are formed on the outer circumferential surface of the upper end; rigid teeth are formed on the inner circumferential surface of the lower end of the first ratchet wheel (40) and meshed with the rigid teeth on the second ratchet wheel (41), and the upper end of the first ratchet wheel is contacted with the upper end of the rectangular notch of the porous square plate (18).

7. The mechanical bionic jellyfish robot of claim 1, wherein: the water collecting device comprises a first steering engine (24), a water collecting disc driving rod (26), a limiting fixed shaft (27), a limiting fixer (28), a water collecting disc (29), a water collecting driving rod (30) and a water collecting driving rod (31); the upper end of the first steering engine (24) is fixed on the top surface of the water collection shell (5), and the output shaft is positioned at one side and hinged with one end of the water collection driving rod (31); two ends of the water collection driving rod (30) are respectively hinged with the other end of the water collection driving rod (31) and one end of the water collection disc driving rod (26); one side surface of the water collecting disc driving rod (26) is fixed on the top surface of the water collecting disc (29); the middle part of the limiting fixed shaft (27) penetrates through the other end of the water collecting disc driving rod (26), two ends of the limiting fixed shaft are respectively inserted into through holes at the upper parts of the two water collecting fixtures (28), the lower ends of the two water collecting fixtures (28) are symmetrically fixed at the edge part of the bottom surface of the water collecting shell (5), and the water collecting disc (29) is arranged at the water inlet of the water collecting shell (5) in a rotating mode and is used for closing and opening the water inlet; the first steering engine (24) is connected with the remote controller in a wireless remote control mode.