A jellyfish bionic water quality cleaning robot

Abstract

The present invention relates to the field of jellyfish bionic technology, and specifically relates to a jellyfish bionic water quality cleaning robot, comprising: an umbrella-shaped body and a support frame. The umbrella-shaped body is provided at the top of the support frame. A servo motor is installed at the middle position of the support frame. The output end of the servo motor is connected to a power transmission mechanism. Eight groups of auxiliary antenna mechanisms are distributed in a circular shape on the outer side of the support frame, and soft fingers are installed on the auxiliary antenna mechanisms. The present invention designs the umbrella-shaped body of the jellyfish according to the jellyfish shape and the principle of streamline drag reduction, and fills a large amount of air in the body to increase the buoyancy of the jellyfish robot in water; the servo motor and the outside of the support frame are sealed with plastic and rubber, and part of the air is extracted to reduce the internal air pressure to ensure the waterproofness of the internal structure. At the same time, the drainage volume is increased to make the overall structure have a greater buoyancy underwater and be easier to move. At the same time, the soft fingers are used to recycle the garbage in the water, so as to achieve the purpose of cleaning the water quality.

Description

Technical Field

[0001] The present invention relates to the technical field of jellyfish bionics, and specifically to a jellyfish bionic water quality cleaning robot. Background Art

[0002] Compared with the swimming mode of wavy fish, jellyfish have the advantages of small size, light weight, high flexibility, fast moving speed, higher movement flexibility, and can effectively utilize the wave motion of water flow. Also due to these characteristics, people have started the research and development of bionic jellyfish. The diameter range of the umbrella structure of jellyfish is very large. There are many muscle fibers inside the umbrella. By contracting, it drives the entire inner umbrella cavity to generate a contraction movement, expelling the water in the cavity, and thus forming a jet of water backward to propel the jellyfish forward. During the relaxation process of the jellyfish, the elasticity of the outer umbrella muscles can make the outer umbrella slowly return to the relaxed state, and the water flows back into the inner part of the outer umbrella, thus completing the water absorption action and preparing for the next water jet propulsion. By this method of water jet propulsion, jellyfish can swim in the opposite direction. By changing the direction of the clockwise structure of the water jet, it can achieve turning swimming in any direction. Bionic jellyfish can operate in waters with complex environments, and also have a large cavity space that can be used to place sensing devices, reconnaissance equipment, cleaning tools, and a variety of working tools such as excavators, cranes, loaders, graders, clamps, bulldozers, and impact hammers to meet various needs during the operation process. Bionic jellyfish play an important role in scenarios such as marine biological investigations, marine resource explorations, and marine water quality cleaning. In addition, bionic jellyfish have the characteristics of lower noise, stronger concealment, and better movement stability, and are not easily detected during detection and reconnaissance, having significant advantages compared to other underwater robots.

[0003] Traditional clamping devices such as rigid jaws generally have high requirements for conditions such as the structural shape of the target object and the positioning accuracy of placement during the grasping process. Slight deviation may cause rigid collision and lead to equipment damage. Therefore, we propose a jellyfish bionic water quality cleaning robot. Summary of the Invention

[0004] The purpose of the present invention is to provide a jellyfish bionic water quality cleaning robot, which solves the problem that traditional clamping devices such as rigid jaws generally have high requirements for conditions such as the structural shape of the target object and the positioning accuracy of placement during the grasping process, and slight deviation may cause rigid collision and lead to equipment damage.

[0005] To achieve the above object, the present invention provides the following technical solution: A jellyfish bionic water quality cleaning robot, comprising an umbrella-shaped body and a support frame. The top end of the support frame is provided with the umbrella-shaped body. A servo motor is installed at the middle position of the support frame. A center of gravity adjustment device and a water permeation device are provided at the bottom end of the support frame. The output end of the servo motor is connected to a power transmission mechanism. Eight groups of auxiliary antenna mechanisms are distributed in a circular shape on the outer side of the support frame. Soft fingers are installed on the auxiliary antenna mechanisms.

[0006] Preferably, the support frame is composed of an upper cover plate, a motor connection plate, a smooth shaft, and a lower cover plate. Four reciprocating smooth shafts are provided between the upper cover plate and the lower cover plate. The threaded ends of the smooth shafts are fixed on the upper cover plate and are evenly distributed in a circular shape. Four through holes are opened at the bottom end of the lower cover plate and are in clearance fit with the smooth shafts.

[0007] Preferably, the umbrella-shaped body is filled with air. The servo motor is installed on the motor connection plate by bolts. Plastic and rubber are provided outside the servo motor and the support frame.

[0008] Preferably, the power transmission mechanism is composed of a disc, a connecting rod one, a connecting rod two, and a connecting rod three. The power input end of the disc is pin-connected to the output shaft of a speed reducer. The power input end of the disc is connected to the servo motor through a speed reducer. The power output end of the disc is connected to the connecting rod one. The power output end of the connecting rod one is connected to the connecting rod two. The power output end of the connecting rod two is connected to the connecting rod three. An opening one is provided at the middle part of the connecting rod two. The connecting rod two is rotatably installed on the motor connection plate through the opening one and bolts. An opening two is provided at the end of the connecting rod three. And the connecting rod three is rotatably installed on the lower cover plate through the opening two and bolts.

[0009] Preferably, the auxiliary antenna mechanism is composed of a side rod one, a side rod two, a side rod three, a side rod four, a side rod five, and a side rod six. An opening three is provided at the upper end of the side rod one. The side rod one is connected to the upper cover plate through the opening three. Two openings four are opened at the upper part of the side rod two. There are sixteen side rods two. The side rod two is rotatably connected to the side rod one through bolts. The ends of the side rod two and the side rod three are connected. And there are eight side rods three. There are sixteen side rods four. They are assembled and connected in groups of two. The end of the side rod three is connected to the side rod four. The end of the side rod four is connected to the side rod five. The upper end of the side rod six is installed on the opening four of the side rod two by bolts. The bottom end of the side rod six is rotatably installed on the lower cover plate by bolts.

[0010] Preferably, the center of gravity adjustment device adjusts the center of gravity through balance blocks. The water permeation device includes a one-way water permeable membrane and water spray holes. The water spray holes are symmetrically and penetratingly distributed on the one-way water permeable membrane.

[0011] Preferably, the soft finger is composed of an upper soft rubber airbag, a middle filling layer, and a lower soft rubber. The upper soft rubber airbag is a multi-chamber hollow structure. The middle filling layer is filled with non-elongable materials. A pneumatic control system is connected to the soft finger. The pneumatic control system includes a driving unit, an execution unit, and a control unit. The main component of the driving unit is a micro vacuum pump. The outlet of the micro vacuum pump is connected to the normally open port in the electromagnetic directional valve through a PVC pipe to provide compressed air for the soft finger. The execution unit includes an electromagnetic directional valve, a three-way pipe, and a soft hand. The exhaust port of the electromagnetic valve is connected to the soft hand through the three-way pipe. The three-way pipe is used to divide the gas output by the electromagnetic valve into three paths and deliver them to three soft fingers respectively. The control unit mainly includes a vacuum pump speed controller, a relay, and a single-chip microcomputer. The vacuum pump controller uses a PWM external speed control board to control the flow rate of the vacuum pump by adjusting the speed control board knob. The single-chip microcomputer controls the suction of the relay to control the opening and closing of the electromagnetic valve.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0013] The present invention designs the umbrella-shaped body of the jellyfish according to the jellyfish shape and the principle of streamline drag reduction, and fills a large amount of air in the body to increase the buoyancy of the jellyfish robot in water; the servo motor and the support frame are sealed with plastic and rubber, and part of the air is pumped out to reduce the internal air pressure to ensure the waterproofness of the internal structure. At the same time, the drainage volume is increased so that the overall structure has a greater buoyancy underwater and is easier to move.

[0014] When the disc rotates with the output shaft of the reducer, it will drive the lower cover plate to move up and down reciprocally. The length design of the link structure makes the movement of the lower cover plate have the four-bar motion quick-return characteristic that can shorten the non-working stroke time, realizing the posture change of the slow opening and rapid retraction of the umbrella-shaped body of the jellyfish bionic cleaning robot.

[0015] A center of gravity adjustment device is installed on the lower cover plate of the present invention. It can adjust the center of gravity of the jellyfish bionic cleaning robot in the plane by changing the mass ratio of the two side balance blocks, and can tilt the whole device to one side; during the process of the bionic jellyfish expanding its volume, seawater slowly enters the robot cabin through the one-way water-permeable membrane. When the bionic jellyfish compresses its volume, the water flows out of the cabin through the reverse-installed one-way water-permeable membrane and the left and right symmetric water spray holes, and the forward movement of the jellyfish can be realized; when the jellyfish needs to turn, the cooperation of the center of gravity adjustment device and the water spray holes at the lower part of the body is required. By electromagnetic control, the water spray holes on one side of the tilted jellyfish robot are closed, so as to control the water flow to pass only through one side of the water spray to change the propulsion direction of the jellyfish bionic cleaning robot, thus realizing the turning movement of the jellyfish bionic cleaning robot in another direction.

[0016] The upper soft rubber airbag of the present invention has a multi-chamber hollow structure. Materials such as thin plastics, nylon, or paper are used as fillers in the middle filling layer. When inflated, the upper soft rubber airbag expands and deforms. Restricted by the non-elongable material, the entire soft finger bends downward; when deflated, the airbag loses pressure and the finger returns to its original shape; the process of inflation and deflation can achieve the single-direction flexion and extension of the finger.

[0017] The degrees of freedom of various tools of the present invention are all between 2 and 5. This design concept of few degrees of freedom can reduce the mass and energy consumption of the machine, so that more energy of the jellyfish can be allocated to the operation time and workload. During the jellyfish cleaning process, the jellyfish will evenly sprinkle the alum stored in the cabin into the water area that needs to be sedimented and purified according to its own traveling speed, and at the same time, the soft finger will recycle the garbage in the water, so as to achieve the purpose of cleaning water quality. Brief Description of the Drawings

[0018] Figure 1 is a schematic diagram of the overall structure of a jellyfish bionic cleaning robot according to the present invention;

[0019] Figure 2 is a schematic diagram of the connection structure between the support frame and the power transmission mechanism of a jellyfish bionic cleaning robot according to the present invention;

[0020] Figure 3 is a schematic diagram of the structure of the auxiliary antenna mechanism of a jellyfish bionic cleaning robot according to the present invention;

[0021] Figure 4 is a schematic diagram of the structure of the soft finger of a jellyfish bionic cleaning robot according to the present invention;

[0022] Figure 5 is a schematic diagram of the structure of the water permeable device of a jellyfish bionic cleaning robot according to the present invention;

[0023] Figure 6 is a schematic diagram of the motion simulation process of a jellyfish bionic cleaning robot according to the present invention;

[0024] Figure 7 is an equivalent stress nephogram of the soft finger of a jellyfish bionic cleaning robot according to the present invention;

[0025] Figure 8 is a physical design drawing of the soft finger of a jellyfish bionic cleaning robot according to the present invention;

[0026] Figure 9 is a schematic diagram of the connection of the pneumatic system of a jellyfish bionic cleaning robot according to the present invention;

[0027] Figure 10 is a finger control scheme diagram of a jellyfish bionic cleaning robot according to the present invention.

[0028] In the figure: 1. Umbrella-shaped body; 2. Support frame; 201. Upper cover plate; 202. Motor connection plate; 203. Optical axis; 204. Lower cover plate; 3. Servo motor; 4. Power transmission mechanism; 401. Disc; 402. Link one; 403. Link two; 404. Link three; 5. Auxiliary antenna mechanism; 501. Side rod one; 502. Side rod two; 503. Side rod three; 504. Side rod four; 505. Side rod five; 506. Side rod six; 6. Soft finger; 601. Upper soft rubber airbag; 602. Intermediate filling layer; 603. Lower soft rubber; 7. Center of gravity adjustment device; 8. Water permeation device; 801. One-way water permeable membrane; 802. Water spraying hole. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0030] In the description of the present invention, unless otherwise specified, the meaning of "a plurality of" is two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0031] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0032] Please refer to Figure 1, a jellyfish - bionic water - quality cleaning robot, includes an umbrella - shaped body 1 and a support frame 2. The umbrella - shaped body 1 is provided at the top of the support frame 2. A servo - motor 3 is installed at the middle position of the support frame 2. A center - of - gravity adjustment device 7 and a water - permeable device 8 are provided at the bottom of the support frame 2. The output end of the servo - motor 3 is connected to a power transmission mechanism 4. Eight groups of auxiliary antenna mechanisms 5 are distributed in a circular - ring shape on the outside of the support frame 2. Soft fingers 6 are installed on the auxiliary antenna mechanisms 5. The umbrella - shaped body 1 of the jellyfish is designed according to the jellyfish's shape and the principle of streamline drag reduction, and a large amount of air is filled inside the body to increase the buoyancy of the jellyfish robot in water. The servo - motor 3 and the outside of the support frame 2 are sealed with plastic and rubber, and part of the air is pumped out to reduce the internal air pressure to ensure the waterproofness of the internal structure. At the same time, the drainage volume is increased so that the overall structure has a greater buoyancy underwater and is easier to move.

[0033] As Figure 2 shown, the support frame 2 is composed of an upper cover plate 201, a motor connection plate 202, a smooth shaft 203, and a lower cover plate 204. There are 4 smooth shafts 203 that support the reciprocating movement of the lower cover plate 204. After being processed into threaded ends, they are installed and fixed to the upper cover plate 201 and are evenly distributed in a circular - ring shape. Four through - holes are drilled in the lower cover plate 204 and are in clearance fit with the smooth shafts 203. The motor connection plate 202 is L - shaped, and the L - shaped bottom plate is installed at the center of the upper cover plate 201 through threaded connection.

[0034] As Figure 2 shown, the power transmission mechanism 4 includes a disc 401, a connecting rod one 402, a connecting rod two 403, and a connecting rod three 404. The disc 401 is fixed to the output shaft of the reducer through pin connection. The connecting rod one 402 is connected to the disc 401 through a bolt. The connecting rod two 403 is connected to the connecting rod one 402 through a bolt. The connecting rod three 404 is connected to the connecting rod two 403 through a bolt. An opening one is provided in the middle part of the connecting rod two 403 and is installed on the motor connection plate 202 through a bolt. An opening two is provided at the end of the connecting rod three 404 and is installed on the lower cover plate 204 through bolt connection. When the disc 401 rotates with the output shaft of the reducer, it will drive the lower cover plate 204 to move up and down reciprocally. The length design of the connecting - rod structure enables the movement of the lower cover plate 204 to have the quick - return characteristic of a four - bar motion that can shorten the non - working stroke time, realizing the posture change of the umbrella - shaped body 1 of the jellyfish - bionic cleaning robot to open slowly and retract quickly.

[0035] As Figures 1-3As shown in the figure, the auxiliary antenna mechanism 5 includes side rod one 501, side rod two 502, side rod three 503, side rod four 504, side rod five 505 and side rod six 506. There are 8 side rods one 501, with opening three at the upper end, and they are bolt-connected and installed on the upper cover plate 201, evenly distributed in a circular shape. There are 16 side rods two 502, with two opening fours at the upper part, and they are symmetrically bolt-connected and installed at the ends of side rods one 501. There are 8 side rods three 503, and they are bolt-connected and installed at the ends of side rods two 502. There are 16 side rods four 504. First, they are bolt-connected, then assembled in groups of two, and then bolt-connected and installed at the ends of side rods three 503. Side rod five 505 is installed at the ends of side rods four 504 in the same way. The upper end of side rod six 506 is bolt-connected and installed at the opening fours of side rods two 502, and the lower end is bolt-connected and installed on the lower cover plate 204. The body of the jellyfish bionic cleaning robot is mainly composed of a power transmission mechanism 4 and side rods. The power transmission mechanism 4 is mainly composed of a four-bar mechanism formed by four rods. Among them, the rod connected to the output shaft of the reducer is made of 45 steel and is cut by a wire cutting machine. The other three rods are all nylon products. The rods are drilled for subsequent bolt connection. The upper cover plate 201 and the lower cover plate 204 are obtained by cutting acrylic plates. The eight side rods of the auxiliary antenna mechanism 5 are made of nylon and are evenly distributed and installed on the lower cover plate 204. The antenna of the auxiliary antenna mechanism 5 is made of a short rod of acrylic plate. First, it is glued with acrylic glue and then bolt-connected. The upper end is evenly installed on the upper cover plate 201, and the middle part is bolt-connected to the side rod. The four optical axes 203 between the upper cover plate 201 and the lower cover plate 204 are made of stainless steel, and the bottom is tapped to facilitate installation. A linear bearing is installed on each optical axis 203 for guiding. The L-shaped plate for installing the servo motor 3 and the four-bar mechanism is made of two stainless steels welded together, and the positions for installing the servo motor 3 and the four-bar mechanism are cut on the steel plate.

[0036] As Figure 6 shown, for the jellyfish bionic cleaning robot, the auxiliary antenna is the main power joint for movement and also the main load driven by the motor. When the antenna of the jellyfish bionic cleaning robot moves to full extension, the moment of inertia is the largest. The moment of inertia of each antenna is 2.96 kgm 2。The rotational speed of the motor is 1 rad / s, the maximum angular velocity of each tentacle rotation is 1.85 rad / s, and the maximum moving speed of the translation mechanisms such as the bearing rollers and push rods is 0.01 m / s. Assuming that the reciprocating swing frequency of the jellyfish tentacles is 1 Hz, and each forward and reverse direction of a reciprocating swing rotates 55°, the required rotational speed of the motor shaft is 18.4 rpm. During the swinging process of the jellyfish bionic cleaning robot, the maximum thrust of the push rod is 20 N. Assuming that the pressure angle of the transmission mechanism reaches the maximum value of 15° at the maximum thrust, the maximum torque borne by each tentacle on the motor shaft can be calculated as 0.14 Nm. The motion simulation process of the jellyfish bionic cleaning robot includes five motion gaits of the jellyfish. According to the dynamic analysis and structural design of the jellyfish bionic cleaning robot, through parameter calculation, a servo motor 3 with an AC rated torque of 0.16 Nm, a rated current of 1.1 A, and a mass of 0.32 kg is selected.

[0037] As Figure 1 , Figure 4 and Figure 5 described, a center-of-gravity adjustment device 7 is installed on the lower cover plate 204. It can adjust the center of gravity of the jellyfish bionic cleaning robot in the plane by changing the mass ratio of the balance blocks on both sides, and can tilt the whole device to one side; during the process of the bionic jellyfish expanding its volume, seawater slowly enters the robot cabin through the one-way permeable membrane 801. When the bionic jellyfish compresses its volume, the water flows out of the cabin through the one-way permeable membrane 801 installed in the reverse direction and through the symmetrical water permeable devices 8 on the left and right, and the forward movement of the jellyfish can be achieved. When the jellyfish needs to turn, the cooperation of the center-of-gravity adjustment device 7 and the water spray holes 802 at the lower part of the body is required. By electromagnetic control, the water spray holes 802 on one side of the tilted jellyfish robot are closed, so as to control the water flow to pass only through one side of the water spray, and the propulsion direction of the jellyfish bionic cleaning robot can be changed, thus realizing the turning movement of the jellyfish bionic cleaning robot in another direction.

[0038] As Figure 4 , Figures 7-10As described above, a soft finger 6 is installed on the auxiliary antenna mechanism 5. The soft finger 6 is composed of three layers, namely an upper soft rubber airbag 601, a middle filling layer 602, and a lower soft rubber 603, which are bonded together. The upper soft rubber airbag 601 is a multi-chamber hollow structure. The middle filling layer 602 can be filled with inextensible materials such as thin plastics, nylon, or paper. When inflated, the airbag expands and deforms. Restricted by the inextensible material, the entire soft finger 6 bends downward; when deflated, the airbag loses pressure and the finger returns to its original shape. The process of inflation and deflation can achieve the one-way flexion and extension of the finger. The structure of the soft finger 6 is relatively complex compared to other components. Therefore, the finite element method is used to analyze and verify its structure for correctness. A three-dimensional model and a finite element analysis model of the soft finger 6 are established. The soft silicone material is set as a hyperelastic body, and the middle layer is an elastic body. A pressure of 0.055 MPa is applied to the inner surface of the cavity of the hyperelastic airbag. The overall model is subjected to gravity, and the element type is a tetrahedral element. The equivalent stress nephogram of the deformed elastic finger is as Figure 7 As described above, the maximum stress value is 20.934 MPa, and the minimum value is 0.0021 MPa, indicating that the finger model with a three-layer structure can be bent after being filled with pressurized gas. According to the three-dimensional structures of the upper soft rubber airbag 601 and the lower soft rubber 603 of the soft finger 6, molds for the upper airbag and the lower soft rubber 603 are designed, and the corresponding molds are made by 3D printing using PC as the raw material. The silicone material is composed of E625A silicone produced by Shenzhen Hongye Company and E625B curing agent in a ratio of 1:1. The preparation process requires a precision electronic scale, a 50-ml beaker, a glass rod, and a syringe. The finished product after production is as Figure 8 shown. The pneumatic control system for controlling the flexion and extension of the soft finger 6 includes a driving unit, an execution unit, and a control unit. The control scheme of the soft finger 6 is as Figure 10 shown. The main component of the driving unit is a micro vacuum pump (model KVP04 from Kamoer Company), and its outlet is connected to the normally open port in the electromagnetic directional valve through a PVC pipe to provide compressed air for the soft finger 6. The execution unit includes an electromagnetic directional valve, a three-way pipe, and a soft hand; the exhaust port of the solenoid valve is connected to the soft hand through a three-way pipe. The three-way pipe is used to divide the gas output by the solenoid valve into three paths and deliver them to three soft fingers 6 respectively. The control unit mainly includes a vacuum pump speed controller, a relay, and a single-chip microcomputer. The vacuum pump controller uses a PWM external speed control board to control the flow rate of the vacuum pump by adjusting the speed control board knob. The single-chip microcomputer controls the on and off of the relay to control the solenoid valve. The connection method of the PVC pipe between the air pump and the solenoid valve group is as Figure 9, during the inflation process, the solenoid valve 1 is in the energized state and the solenoid valve 2 is in the de-energized state; during the exhaust process, the solenoid valve 1 is in the de-energized state and the solenoid valve 2 is in the energized state; during the exhaust process, the gas paths are separated, and the gas output from the vacuum pump flows through the solenoid valve 1 and is directly discharged into the atmosphere. There is a certain air pressure difference between the gas in the soft finger 6 and the atmosphere communicated with the P port. Under the action of the restoring force generated after the silicone rubber deforms, the gas in the soft finger 6 is directly discharged into the atmosphere. During the holding stage, both the solenoid valves 1 and 2 are disconnected, the gas in the vacuum pump is directly discharged into the atmosphere, and the volume of the gas in the soft finger 6 does not change.

[0039] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A jellyfish - bionic water - cleaning robot, comprising an umbrella - shaped body (1) and a support frame (2), characterized in that: The top of the support frame (2) is provided with an umbrella-shaped body (1). A servo motor (3) is installed at the middle position of the support frame (2). The bottom end of the support frame (2) is provided with a center-of-gravity adjusting device (7) and a water-permeable device (8). The output end of the servo motor (3) is connected to a power transmission mechanism (4). Eight groups of auxiliary antenna mechanisms (5) are distributed in a circular shape on the outer side of the support frame (2). Soft fingers (6) are installed on the auxiliary antenna mechanisms (5). The auxiliary antenna mechanism (5) is composed of a first side rod (501), a second side rod (502), a third side rod (503), a fourth side rod (504), a fifth side rod (505) and a sixth side rod (506). An opening three is provided at the upper end of the first side rod (501). The first side rod (501) is connected to the upper cover plate (201) through the opening three. Two opening fours are provided in the upper part of the second side rod (502). There are sixteen second side rods (502). The second side rod (502) is rotatably connected to the first side rod (501) by bolts. The end of the second side rod (502) is connected to the third side rod (503), and there are eight third side rods (503).

2. The jellyfish - bionic water - cleaning robot according to claim 1, characterized in that: The support frame (2) is composed of an upper cover plate (201), a motor connection plate (202), a light shaft (203) and a lower cover plate (204). Four reciprocating light shafts (203) are provided between the upper cover plate (201) and the lower cover plate (204). The threaded ends of the light shafts (203) are fixed on the upper cover plate (201) and are evenly distributed in a circular shape. Four through holes are provided at the bottom end of the lower cover plate (204) and are in clearance fit with the light shafts (203).

3. The jellyfish - bionic water - cleaning robot according to claim 1, characterized in that: The umbrella-shaped body (1) is filled with air. The servo motor (3) is installed on the motor connection plate (202) by bolts. Plastic and rubber are provided outside the servo motor (3) and the support frame (2).

4. The jellyfish - bionic water - cleaning robot according to claim 1, characterized in that: The power transmission mechanism (4) is composed of a disc (401), a first connecting rod (402), a second connecting rod (403) and a third connecting rod (404). The power input end of the disc (401) is pin-connected to the output shaft of the reducer. The power input end of the disc (401) is connected to the servo motor (3) through the reducer. The power output end of the disc (401) is connected to the first connecting rod (402). The power output end of the first connecting rod (402) is connected to the second connecting rod (403). The power output end of the second connecting rod (403) is connected to the third connecting rod (404). An opening one is provided in the middle part of the second connecting rod (403). The second connecting rod (403) is rotatably installed on the motor connection plate (202) through the opening one and bolts. An opening two is provided at the end of the third connecting rod (404). The third connecting rod (404) is rotatably installed on the lower cover plate (204) through the opening two and bolts.

5. The jellyfish - bionic water - cleaning robot according to claim 1, characterized in that: Sixteen side rods four (504) are provided, and are assembled and connected in groups of two. The end of the side rod three (503) is connected to the side rod four (504). The end of the side rod four (504) is connected to a side rod five (505). The upper end of the side rod six (506) is installed in the fourth opening of the side rod two (502) by bolts. The bottom end of the side rod six (506) is rotatably installed on the lower cover plate (204) by bolts.

6. The jellyfish - bionic water - cleaning robot according to claim 1, characterized in that: The center of gravity adjusting device (7) adjusts the center of gravity through balance weights. The water permeable device (8) includes a one-way water permeable membrane (801) and water spraying holes (802). The water spraying holes (802) are symmetrically and penetratingly distributed on the one-way water permeable membrane (801).

7. The jellyfish - bionic water - cleaning robot according to claim 1, characterized in that: The soft finger (6) is composed of an upper soft rubber airbag (601), an intermediate filling layer (602), and a lower soft rubber (603). The upper soft rubber airbag (601) is a multi-chamber hollow structure. The intermediate filling layer (602) is filled with non-elongatable materials.

8. The jellyfish - bionic water - cleaning robot according to claim 7, characterized in that: A pneumatic control system is connected to the soft finger (6). The pneumatic control system includes a driving unit, an execution unit, and a control unit. The main component of the driving unit is a micro vacuum pump. The outlet of the micro vacuum pump is connected to the normally open port in the electromagnetic reversing valve through a PVC pipe to provide compressed air for the soft finger (6). The execution unit includes an electromagnetic reversing valve, a three-way pipe, and a soft hand. The exhaust port of the electromagnetic valve is connected to the soft hand through the three-way pipe. The three-way pipe is used to divide the gas output by the electromagnetic valve into three paths and deliver them to three soft fingers (6) respectively. The control unit mainly includes a vacuum pump speed controller, a relay, and a single-chip microcomputer. The vacuum pump controller uses a PWM external speed control board to control the flow rate of the vacuum pump by adjusting the speed control board knob. The single-chip microcomputer controls the suction of the relay to further control the on-off of the electromagnetic valve.

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