A Steering Mechanism for a Wired Bionic Jellyfish and a Bionic Jellyfish Robot

Abstract

The present invention discloses a steering mechanism for a wire-controlled bionic jellyfish and a bionic jellyfish robot. The bionic jellyfish robot includes a housing that is generally cylindrical in shape, with one end of the housing being a hemispherical head and the other end being a tail; a plurality of wire wheels around which pulling ropes are wound and a servo motor for driving the wire wheels to rotate are provided inside the housing, and the pulling ropes on the wire wheels are used to connect and drive the umbrella part of the bionic jellyfish robot to open; it is characterized in that the steering mechanism is provided corresponding to the wire wheels one by one, and includes at least two fixed pulleys spaced apart along the radial direction of the housing, a movable pulley is arranged between the two fixed pulleys, the pulling rope sequentially bypasses the fixed pulley and the movable pulley, and the fixed pulley and the movable pulley are respectively located on both sides of the pulling rope; a linear driving mechanism arranged along the axial direction is further provided inside the housing, and the telescopic end of the linear driving mechanism is connected to the movable pulley. The steering mechanism and the bionic jellyfish robot of the present invention both have the advantages of ingenious structural design, simple operation and easy realization of steering, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and particularly to a steering mechanism of a wire-controlled bionic jellyfish and a bionic jellyfish robot. Background Art

[0002] With the continuous development of underwater robot technology, underwater robots have brought great convenience to the research of marine organisms. However, traditional underwater robots mainly use propellers for driving. The agitation of the high-speed rotating propellers will disturb underwater organisms, affecting the observation and research of underwater organisms. In addition, the rotating propellers will also cause physical damage to underwater organisms.

[0003] A bionic jellyfish robot is a bionic robot that mimics the movement mode of jellyfish. Jellyfish is an invertebrate. Its movement mainly relies on the contraction and elongation of radially distributed muscle fibers, which in turn drives the contraction and expansion of the flexible shell. The water flow moves under the action of the inner cavity of the shell, thereby driving the jellyfish forward. The flexible shell of the jellyfish does not simply contract radially. Its shell will also adjust its shape according to the direction and strength required to move forward. After adjusting the shape, when the jellyfish contracts its muscles to spray water, it can adjust the direction of its forward movement.

[0004] A Chinese patent document discloses a bionic jellyfish robot with an application publication number of CN114408142A. It uses a stepping motor to drive the up-and-down movement of the upper moving connecting plate and the lower moving connecting plate, respectively driving the outer upper push rod and the outer lower push rod to realize the opening and contraction of the swimming board. However, in this structure, the length of the swimming board remains unchanged. During the opening process, as the opening angle increases, its projected area in the forward direction also increases, generating a large forward resistance and affecting the swimming speed of the jellyfish. In addition, all the swimming boards of this structure open or contract synchronously, making the driving forces of the swimming boards the same and unable to achieve turning swimming. Summary of the Invention

[0005] Aiming at the deficiencies of the above-mentioned prior art, the technical problem to be solved by the present invention is: how to provide a steering mechanism and a bionic jellyfish robot with a clever structural design, simple operation, and easy to achieve turning.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A steering mechanism for a cable-controlled bionic jellyfish. The bionic jellyfish robot includes a housing that is generally cylindrical in shape. One end of the housing is a hemispherical head, and the other end is a tail. A plurality of wire wheels around which drawstrings are wound and servos for driving the rotation of the wire wheels are provided inside the housing. The drawstrings on the wire wheels are used to connect and drive the opening of the umbrella part of the bionic jellyfish robot. It is characterized in that the steering mechanism is provided corresponding to each wire wheel, and includes at least two fixed pulleys spaced apart along the radial direction of the housing. A movable pulley is provided between the two fixed pulleys. The drawstring successively bypasses the fixed pulley and the movable pulley, and the fixed pulley and the movable pulley are respectively located on both sides of the drawstring. A linear drive mechanism arranged axially is further provided inside the housing, and the telescopic end of the linear drive mechanism is connected to the movable pulley.

[0008] In the above structure, the umbrella part of the bionic jellyfish robot can be opened by pulling the drawstring. Once the pulling force of the drawstring is removed, the next action of the umbrella part is to contract to drive the robot forward. When the servo drives the wire wheel to rotate and release the rope, a part of the linear drive mechanism can drive the movable pulley to move towards the other side of the two fixed pulleys, pulling the drawstring released from the wire wheel between the two fixed pulleys, so that the amount of rope released at the end of the drawstring is reduced, making the corresponding umbrella part close at a relatively slower speed and reducing the propulsion force of the umbrella part, thereby enabling the bionic jellyfish robot to achieve steering.

[0009] Further, a first mounting plate perpendicular to the axis is provided inside the housing. The fixed pulley is rotatably mounted on the first mounting plate through a bracket. The first mounting plate has a polygonal guide hole penetrating axially along the housing, and a guide rod is axially movably fitted. The movable pulley is rotatably mounted at the end of the guide rod, and the telescopic end of the linear drive mechanism is connected to the guide rod.

[0010] Further, a second mounting plate parallel to the first mounting plate is provided inside the housing. The second mounting plate is connected to the telescopic end of the linear drive mechanism. An installation groove penetrating radially along the housing is provided at a position near the end of the guide rod. The movable pulley is rotatably mounted in the installation groove. A connection component that can be electrically controlled to separate is provided between the end of the guide rod and the second mounting plate, and a plurality of the connection components are evenly distributed circumferentially along the second mounting plate.

[0011] In this way, by connecting the connection component to the second mounting plate, all movable pulleys can be controlled by one linear drive mechanism, making the structure of the entire steering mechanism simple.

[0012] Furthermore, the connecting assembly includes an electromagnet arranged on the second mounting plate and a magnetic attraction block which can be attracted by a magnet, and the magnetic attraction block is arranged on the guide rod.

[0013] In this way, the connection between the guide rod and the second mounting plate can be achieved through the magnetic force between the electromagnet and the magnetic attraction block, and the structure is simple.

[0014] Furthermore, the second mounting plate is circular and is coaxially arranged with the shell; the diameter of the inscribed circle of the plurality of guide rods matches the diameter of the second mounting plate; the outer circular surface of the second mounting plate has radially arranged mounting holes, the electromagnet is buried in the mounting hole, and the distance from the outer end of the mounting hole is greater than 5mm; the guide rod has a sliding hole arranged opposite to the mounting hole, the magnetic attraction block is strip-shaped, and can be slidably installed in the sliding hole.

[0015] In this way, since the electromagnet is 2 to 5 mm away from the outer end of the mounting hole, once the magnetic block is attracted by the electromagnet, the end of the magnetic block will slide into the mounting hole. When the second mounting plate moves axially, the magnetic block will be hung on the second mounting plate, thereby preventing the guide rod from falling off during the movement, thereby ensuring the reliability of control.

[0016] Furthermore, both ends of the magnetic attraction block have flanges protruding perpendicular to the axis, and a return spring is arranged between the flange of the magnetic attraction block on the side away from the second mounting plate and the guide rod.

[0017] In this way, once the magnetic force of the electromagnet disappears, the magnetic attraction block will retract under the action of the reset spring, thereby disconnecting the guide rod from the second mounting plate.

[0018] Furthermore, the linear drive mechanism is an electric push rod.

[0019] A bionic jellyfish robot, characterized by comprising the above-mentioned wire-controlled bionic jellyfish steering mechanism.

[0020] In summary, the steering mechanism and the bionic jellyfish robot of the present invention have the advantages of ingenious structural design, simple operation, and easy steering. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of the overall structure of the bionic jellyfish robot.

[0022] Figure 2 for Figure 1 Schematic diagram of the cross-sectional structure.

[0023] Figure 3 It is a schematic diagram of another implementation of the second guide wheel.

[0024] Figure 4 is Figure 1 A schematic structural view of the wire outlet part of the wire wheel.

[0025] Figure 5 is Figure 1 A schematic structural view of the connecting component part in the middle. Embodiment

[0026] The present invention will be further described in detail below in conjunction with a bionic jellyfish robot adopting the structure of the present invention.

[0027] During specific implementation: As Figure 1 and Figure 2 shown, a bionic jellyfish robot includes a housing 11 that is integrally cylindrical. One end of the housing 11 is a hemispherical head, and the other end is a tail. A first swing arm 12 that can rotate radially along the housing 11 is hinged in the middle of the outer side of the housing 11. The other end of the first swing arm 12 is inclined towards the tail of the housing 11. In this embodiment, four first swing arms 12 are evenly distributed along the circumferential direction of the housing 11. A second swing arm 13 that can rotate radially inwards along the housing 11 is hinged to one end of each first swing arm 12 facing the tail of the housing 11. A first limiting mechanism is further provided between the first swing arm 12 and the second swing arm 13 to make the included angle between the first swing arm 12 and the second swing arm 13 less than or equal to 180°.

[0028] The outer circumferential surface of the housing 11 also has support columns extending radially. The support columns are arranged in one-to-one correspondence with the first swing arms 12 and are located on the side of the corresponding first swing arm 12 facing the head of the housing 11. A first guide wheel 14 is rotatably provided at the end of the support column.

[0029] A wire wheel 18 for winding a pulling rope and a servo 15 for driving the wire wheel 18 to rotate are arranged inside the housing 11. The pulling rope on the wire wheel 18 passes through the housing 11 and bypasses the first guide wheel 14 and is connected to the first swing arm 12, so that the pulling rope can radially pull the first swing arm 12 outwards along the housing 11. An elastic member 16 for folding the first swing arm 12 is also connected between the first swing arm 12 and the housing 11. As Figure 1 shown, the elastic member 16 in this embodiment is a tension spring connected between the first swing arm 12 and the housing 11, and the included angle between the tension spring and the tail end of the first swing arm 12 is an obtuse angle.

[0030] An umbrella-shaped film (not shown in the figure) is circumferentially arranged on the outer side of the housing 11. The umbrella-shaped film is made of an elastic material and is fixedly covered on all the first swing arms 12 and the second swing arms 13.

[0031] During the process of traveling, the steering gear 15 first controls the line wheel 18 to rotate and reel in the drawstring. Since the first guide wheel is located on the side of the first swing arm facing the head of the shell and extends radially outward, the pulling force of the drawstring is directed to the first guide wheel after the first guide wheel changes direction, and forms a component force toward the outside on the first swing arm, thereby pulling the first swing arm outward and stretching the tension spring at the same time. During the process of the first swing arm being pulled outward, the outer side of the umbrella-shaped membrane on the second swing arm is also subject to water resistance. Under the action of its own inertia and water resistance, the second swing arm rotates toward the middle relative to the first swing arm, so that during the opening process of the entire umbrella-shaped membrane, only the umbrella-shaped membrane on the first swing arm bears the main water resistance, thereby reducing the projected area in the traveling direction, allowing the bionic jellyfish robot to travel better. After the first swing arm is opened to the maximum state, the steering gear drives the line wheel 18 to reverse and release the rope, the first swing arm loses the pulling force of the drawstring, and the tension spring between the first swing arm and the shell pulls the first swing arm back toward the shell. At the same time, the inner side of the umbrella-shaped membrane is subject to water resistance, and the second swing arm rotates outward relative to the first swing arm under the action of its own inertia and the inner water resistance, and is finally fully unfolded under the action of the first limiting mechanism, and retracts toward the shell direction together with the first swing arm. Since the second swing arm is larger in size than the first swing arm after being fully unfolded, the umbrella-shaped membrane has a larger drainage volume, thereby obtaining a greater reverse thrust and increasing the travel speed.

[0032] In the above structure, the steering gear driving wire wheel 18 is used to realize the opening of the first swing arm and the umbrella-shaped membrane by pulling the rope, and then the tension spring stretched between the housing and the first swing arm is used to realize the folding of the first swing arm, the second swing arm and the umbrella-shaped membrane. In this process, the water resistance is cleverly used to realize the folding and unfolding of the second swing arm and the corresponding umbrella-shaped membrane, thereby changing the drainage area of ​​the umbrella-shaped membrane during the opening process and the folding process, and realizing a more efficient travel.

[0033] like Figure 2 As shown, the housing 11 has a first mounting plate 19 arranged perpendicular to the axis, the reel 18 is mounted on the first mounting plate 19 through a rotatable reel shaft, and the servo 15 is connected to the reel shaft in a transmission manner. Considering the limited space in the housing 11, in order to reduce the difficulty and cost of installation, a central gear 151 is installed on the first mounting plate 19 through a coaxially arranged shaft, the reel shaft has a gear 152 meshing with the central gear 151, and the servo 15 is coaxially connected to the shaft of the central gear 151. In this embodiment, the servo 15 is installed from the tail of the housing 11 toward the first mounting plate 19. In this way, the central gear 151 is driven to rotate by the servo, and all reels 18 are driven to rotate by the central gear 151 and the gear 152, so as to realize the synchronous winding and releasing of the pull rope. In this way, the movement of the bionic jellyfish can be controlled by only one servo, the structure is simpler and more reliable, and the cost of the whole machine is reduced.

[0034] During implementation, a second limiting mechanism is further provided between the first swing arm 12 and the second swing arm 13, so that the minimum angle between the first swing arm 12 and the second swing arm 13 is greater than 90°. In this way, when the first swing arm is fully opened under the pulling force of the pull rope and contracts under the action of the elastic member, the water resistance inside the second swing arm always acts on the area between the first swing arm and the second swing arm, so as to ensure that the second swing arm can be rotated outward relative to the first swing arm under the action of the water resistance. In this embodiment, the first limiting mechanism is a first stopper formed by the first swing arm 12 extending along the length direction, and the first stopper is located on the side of the second swing arm 13 away from the shell 11; the second limiting mechanism is a second stopper formed by the first swing arm 12 protruding along the vertical direction, and the second stopper is located on the side of the first swing arm 12 facing the shell 11.

[0035] In order to allow the second swing arm to retract inward faster during the opening of the umbrella-shaped membrane, the first swing arm 12 has a groove extending through the first swing arm 12 in the direction of rotation, and a second guide wheel 17 is rotatably mounted in the groove, and the second guide wheel 17 is close to the second swing arm 13; the second swing arm 13 has a vertically arranged column on the side facing the shell 11, and the pull rope passes over the second guide wheel 17 and is connected to the end of the column. Considering that the pull rope may generate friction with the second swing arm when connected to the end of the column, two second guide wheels 17 may be provided in a specific implementation, wherein the second guide wheel 17 close to the second swing arm is located on the side of the first swing arm facing the shell 11, and the other guide wheel 17 is located on the side of the first swing arm away from the shell 11, such as Figure 3 shown.

[0036] When the steering gear driving wire wheel 18 reels the pull rope, the pull rope applies tension to the column through the second guide wheel. At this time, the second swing arm actively rotates inward and contracts under the tension of the pull rope. After the second swing arm contracts to the second limit mechanism, the second swing arm cannot continue to rotate and opens together with the first swing arm under the tension. The above structure actively contracts the second swing arm through the pull rope, so that the expansion area of ​​the first swing arm when it is opened is smaller, which is conducive to reducing resistance and improving the travel speed. When the steering gear driving wire wheel 18 reverses to release the rope, the first swing arm and the second swing arm both lose the tension of the pull rope. The first swing arm is retracted under the action of the elastic member, and the second swing arm rotates outward relative to the first swing arm under the action of inertia and water resistance, finally forming a larger drainage area and improving the travel speed.

[0037] A torsion spring (not shown in the figure) is arranged on the rotating shaft between the first swing arm 12 and the second swing arm 13 to rotate the second swing arm 13 outward relative to the first swing arm 12. The torsion spring can ensure that the second swing arm is fully extended when the first swing arm and the second swing arm are retracted to drain water.

[0038] In this embodiment, although the opening and closing of the umbrella-shaped membrane can be achieved by one servo motor, since all the pull ropes are retracted and released synchronously, the actions of all the first swing arms and the second swing arms are synchronized, and the thrust for draining water during the closing process of the umbrella-shaped membrane is balanced, so only the linear movement of the bionic jellyfish robot can be achieved.

[0039] Therefore, in this embodiment, a steering mechanism corresponding to the wire wheel 18 one by one is further provided. The steering mechanism includes two fixed pulleys 21 arranged at intervals in the radial direction of the housing 11. A movable pulley 22 is arranged between the two fixed pulleys 21. The pull rope sequentially bypasses the fixed pulley 21 and the movable pulley 22, and the fixed pulley 21 and the movable pulley 22 are respectively located on both sides of the pull rope. A linear driving mechanism arranged along the axial direction is further provided in the housing 1. The telescopic end of the linear driving mechanism 23 is connected to the movable pulley 22. As Figure 4 shown, an auxiliary wheel 27 for maintaining the wire outlet direction of the wire wheel 18 is further arranged between the fixed pulley 21 and the wire wheel 18.

[0040] In this embodiment, the fixed pulley 21 is rotatably installed on the first mounting plate 19 through a bracket. The first mounting plate 19 is provided with a polygonal guiding hole axially penetrating through the housing 11, and a guiding rod 23 is axially movably matched therewith. The movable pulley 22 is rotatably installed at the end of the guiding rod 23, and the telescopic end of the linear driving mechanism is connected to the guiding rod 23. The cooperation of the polygonal guiding hole and the guiding rod 23 can prevent the guiding rod 23 from rotating.

[0041] During the process of the wire wheel 18 paying out the rope, the first swing arm is retracted under the pulling force of the tension spring. At this time, the rope paying-out speed directly determines the retracting speed of the first swing arm. Since all the wire wheels 18 rotate synchronously under the drive of the servo motor, that is, the rope paying-out speed of each wire wheel 18 is the same. At this time, the linear driving mechanism can drive the movable pulley to move towards the other side of the two fixed pulleys, so as to increase the path length between the fixed pulley and the movable pulley. As Figure 4 shown by the dotted line path of the movable pulley 22 in the figure, the length of the pull rope paid out by the wire wheel 18 is offset, so as to reduce the rope end paying-out speed of a part of the pull rope, that is, control the retracting speed of the first swing arm at this part. Where the retracting speed is slow, the drainage speed and the drainage volume also decrease, so as to reduce the propulsion force at this place, and thus realize the turning of the bionic jellyfish robot.

[0042] Similarly, considering the limited installation space inside the housing 11, in order to save the installation space, a second mounting plate 25 parallel to the first mounting plate 19 is provided inside the housing 11, and the second mounting plate 25 is connected to the telescopic end of the linear drive mechanism; an installation groove penetrating in the radial direction of the housing 11 is provided at a position near the end of the guide rod 23, and the movable pulley 22 is rotatably installed in the installation groove; a connection assembly 24 that can be electrically controlled to separate is provided between the end of the guide rod 23 and the second mounting plate, and a plurality of connection assemblies 24 are evenly distributed along the circumferential direction of the second mounting plate. In this embodiment, the linear drive mechanism is an electric push rod 26 arranged from the head to the tail of the housing 11, and the second mounting plate 25 is fixedly installed at the telescopic end of the electric push rod 26.

[0043] As Figure 5 shown, in this embodiment, the second mounting plate 25 is circular and coaxially arranged with the housing 11; the connection assembly 24 includes an electromagnet 241 provided on the second mounting plate 25 and a magnetic attracting block 242 that can be attracted by the magnet, and the magnetic attracting block 242 is provided on the guide rod 23.

[0044] In this way, when steering control is required, only one or two guide rods on the steering side need to be connected to the second mounting plate through the electromagnet and the magnetic attracting block, and then the linear drive mechanism is used to drive the second mounting plate to move along the axial direction of the housing to slow down the wire releasing speed of the end of the pulling rope on the steering side, so as to achieve deceleration. The above structure can also use one linear drive mechanism to control one or more steering mechanisms. At the same time, using an electromagnet as the connection assembly can not only reduce costs but also increase reliability.

[0045] Considering that during the process of the second mounting plate driving the guide rod to move, the guide rod is simultaneously affected by the pulling force of the pulling rope. In order to prevent the pulling force of the pulling rope from being too large and separating the magnetic attracting block and the electromagnet, in this embodiment, the inner diameter of the inscribed circle of the plurality of guide rods 23 matches the diameter of the second mounting plate 25, so that the ends of the guide rods 23 are circumferentially distributed outside the second mounting plate 25 and are close to the second mounting plate 25; mounting holes are provided on the outer circumferential surface of the second mounting plate 25 and are arranged radially opposite to the guide rods 23, the electromagnet 241 is embedded in the mounting holes, and the distance from the outer end of the mounting hole is greater than 5 mm; sliding holes are provided on the guide rod 23 and are arranged opposite to the mounting holes, the magnetic attracting block 242 is strip-shaped and is slidably installed in the sliding holes, and one end of the magnetic attracting block facing the mounting hole can move into the mounting hole. Once the magnetic attracting block is attracted by the electromagnet, the end of the magnetic attracting block will slide into the mounting hole. When the second mounting plate moves axially, the magnetic attracting block will hang on the second mounting plate, thus preventing it from falling off during the process of driving the guide rod to move, and ensuring the reliability of the control.

[0046] Both ends of the magnetic attraction block 242 have flanges protruding perpendicular to the axis, and a return spring 243 is provided between the flange of the magnetic attraction block on the side away from the second mounting plate 25 and the guide rod 23. Once the magnetic force of the electromagnet disappears, the magnetic attraction block will retract under the action of the return spring, thereby disconnecting the guide rod from the second mounting plate.

[0047] The bionic jellyfish robot of this embodiment is controlled in the following manner:

[0048] When traveling in a straight line, the steering gear is first used to drive the multiple wire wheels 18 to synchronously wind up the rope, and after pulling the second swing arm inwards to fold, the first swing arm is pulled outwards to open. At the same time, the tension spring is stretched by the tension. Then the steering gear is used to drive the multiple wire wheels 18 to synchronously release the rope. After the second swing arm loses the tension of the rope, it rotates outwards relative to the first swing arm under the torsion spring and the inner water resistance. At the same time, the first swing arm is retracted toward the shell under the action of the inner tension spring. Finally, the first swing arm and the second swing arm drive the umbrella-shaped membrane to retract as a whole. Since the umbrella-shaped membrane is supported by elastic materials, the volume of the inner side of the umbrella-shaped membrane decreases during the retraction process of the umbrella-shaped membrane, and the water inside is discharged to form a reverse thrust. At this time, the surroundings of the umbrella-shaped membrane are synchronously retracted, and the reverse thrust is evenly distributed along the circumference, so that the bionic jellyfish robot can travel in a straight line.

[0049] When turning, it is only necessary to use the electromagnet to attract the magnetic block on the guide rod on the turning side during the process of the wire wheel 18 releasing the rope, and use the linear drive mechanism to drive the movable pulley to move relative to the fixed pulley, thereby slowing down the releasing speed of the rope end on this side, that is, slowing down the folding speed and reverse thrust of the umbrella-shaped membrane on this side, thereby enabling the bionic jellyfish robot to achieve turning.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A steering mechanism for a cable-controlled bionic jellyfish. The bionic jellyfish robot includes a housing (11) that is generally cylindrical in shape. One end of the housing (11) is a hemispherical head, and the other end is the tail. A plurality of wire wheels around which drawstrings are wound and a servo motor (15) for driving the wire wheels to rotate are provided inside the housing (11). The drawstrings on the wire wheels are used to connect and drive the umbrella part of the bionic jellyfish robot to open. It is characterized in that, The steering mechanism is arranged in one-to-one correspondence with the wire wheel, and comprises at least two fixed pulleys (21) arranged at intervals along the radial direction of the housing (11), a movable pulley (22) is arranged between the two fixed pulleys (21), the pull rope passes around the fixed pulleys (21) and the movable pulley (22) in sequence, and the fixed pulleys (21) and the movable pulleys (22) are respectively located on both sides of the pull rope; the housing (11) also has a linear drive mechanism arranged along the axial direction, and the telescopic end of the linear drive mechanism is connected to the movable pulley (22).

2. The steering mechanism of the wire-controlled bionic jellyfish according to claim 1, characterized in that The housing (11) has a first mounting plate arranged perpendicular to the axis, and the fixed pulley is rotatably mounted on the first mounting plate via a bracket; the first mounting plate has a polygonal guide hole extending through the housing (11) in the axial direction, and is axially movably matched with a guide rod (23); the movable pulley (22) is rotatably mounted on the end of the guide rod (23), and the telescopic end of the linear drive mechanism is connected to the guide rod (23).

3. The steering mechanism of the wire-controlled bionic jellyfish according to claim 2, characterized in that, The housing (11) includes a second mounting plate arranged in parallel with the first mounting plate, and the second mounting plate is connected to the telescopic end of the linear drive mechanism; the guide rod (23) has a mounting groove arranged radially through the housing (11) at a position close to the end thereof, and the movable pulley (22) is rotatably mounted in the mounting groove; an electrically detachable connecting assembly (24) is arranged between the end of the guide rod (23) and the second mounting plate, and a plurality of the connecting assemblies (24) are evenly distributed along the circumference of the second mounting plate.

4. The steering mechanism of the wire-controlled bionic jellyfish according to claim 3, characterized in that The connecting assembly (24) comprises an electromagnet (241) arranged on the second mounting plate and a magnetic attraction block (242) that can be attracted by a magnet, and the magnetic attraction block (242) is arranged on the guide rod (23).

5. The steering mechanism of the wire-controlled bionic jellyfish according to claim 4, characterized in that The second mounting plate is circular and is coaxially arranged with the housing (11); the diameter of the inscribed circle of the plurality of guide rods (23) matches the diameter of the second mounting plate; the outer circumferential surface of the second mounting plate has a mounting hole arranged in a radial direction, the electromagnet (241) is buried in the mounting hole and the distance from the outer end of the mounting hole is greater than 5 mm; the guide rod (23) has a sliding hole arranged opposite to the mounting hole, the magnetic attraction block is strip-shaped and can be slidably mounted in the sliding hole.

6. The steering mechanism of the cable-controlled bionic jellyfish according to claim 5, characterized in that, Both ends of the magnetic attraction block have flanges protruding perpendicular to the axis, and a return spring is arranged between the flange of the magnetic attraction block on the side away from the second mounting plate and the guide rod (23).

7. The steering mechanism of the wire-controlled bionic jellyfish according to claim 3, characterized in that, The linear drive mechanism is an electric push rod.

8. A bionic jellyfish robot, characterized in that, The invention comprises a steering mechanism of a wire-controlled bionic jellyfish as claimed in any one of claims 1 to 7.

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