A biomimetic jellyfish robot

Abstract

This invention discloses a biomimetic jellyfish robot, comprising a base, a drive cam, a water-repelling structure, a sliding structure, and a tensioned integral structure. The base has a sliding hole; the drive cam, driven by a motor, is mounted on the base via a rotating shaft; the water-repelling structure is rotatably connected to the base; the sliding structure is installed within the sliding hole; the sliding structure corresponds in position to the drive cam; the water-repelling structure and the sliding structure are connected via a transmission connection through the tensioned integral structure, and the tensioned integral structure is rotatably connected to a support plate on the base. This invention combines a tensioned integral structure with a biomimetic jellyfish, utilizing the adaptive characteristics of the tensioned integral structure to make the mechanical motion efficiency of the biomimetic jellyfish more efficient, simplifying the underwater robot structure, resulting in smooth movement, more closely resembling the jellyfish's rapid contraction and slow expansion characteristics, and improving transmission efficiency.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, and more specifically to a biomimetic jellyfish robot. Background Technology

[0002] Oceans cover more than 71% of the Earth's surface and contain abundant resources, thus attracting increasing attention. In recent years, research on underwater robots has garnered widespread interest in order to better explore and acquire marine resources. Underwater robots are high-tech equipment that can assist or replace humans in performing various tasks, and they have significant application value in fields such as marine research, marine development, and marine environmental protection.

[0003] However, traditional underwater robots are generally propelled by propellers, which are complex in structure and have low transmission efficiency, and cannot meet the working requirements of underwater robots that are fully submerged in complex water bodies.

[0004] Therefore, providing an efficient biomimetic jellyfish robot is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides a biomimetic jellyfish robot with simple structure, smooth movement and high transmission efficiency.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A biomimetic jellyfish robot, comprising:

[0008] A base, wherein the base is provided with a sliding hole;

[0009] A drive cam, driven by a motor, is mounted on the base via a rotating shaft;

[0010] A water-repelling structure, wherein the water-repelling structure is rotatably connected to the base;

[0011] A sliding structure is installed inside the sliding hole; the sliding structure corresponds to the position of the drive cam.

[0012] The tensioned integral structure is connected to the water-repellent structure and the sliding structure through the tensioned integral structure, and the tensioned integral structure is rotatably connected to the support plate on the base.

[0013] By adopting the above technical solutions, the beneficial effects of the present invention are as follows:

[0014] The drive cam rotates, causing the sliding structure to slide within the sliding hole, thereby driving the tensioned overall structure to expand and contract. This, in turn, causes the water-repelling structure to open and contract, generating a forward thrust. By utilizing the adaptive characteristics of the tensioned overall structure, the robot structure is simplified, the movement is smooth, and it more closely resembles the jellyfish's rapid contraction and slow expansion characteristics, thus improving transmission efficiency.

[0015] Furthermore, the tensioning integral structure includes a tensioning assembly and a linkage mechanism. One end of the tensioning assembly is hinged to one end of the linkage mechanism, the other end of the tensioning assembly is hinged to the sliding structure, and the other end of the linkage mechanism is hinged to the water-repelling structure. The middle part of the linkage mechanism is hinged to the support plate.

[0016] Furthermore, the water-dispelling structure includes a first water-dispelling mechanism, a second water-dispelling mechanism, a third water-dispelling mechanism, and a fourth water-dispelling mechanism. The first water-dispelling mechanism, the second water-dispelling mechanism, the third water-dispelling mechanism, and the fourth water-dispelling mechanism are respectively hinged to the outer circumferential surface of the base and are evenly distributed along the circumference of the base. The first water-dispelling mechanism, the second water-dispelling mechanism, the third water-dispelling mechanism, and the fourth water-dispelling mechanism are respectively hinged to the linkage mechanism.

[0017] Furthermore, the linkage mechanism includes a first linkage assembly, a second linkage assembly, a third linkage assembly, and a fourth linkage assembly. One end of the first linkage assembly is hinged to the first water-dispelling mechanism, one end of the second linkage assembly is hinged to the second water-dispelling mechanism, one end of the third linkage assembly is hinged to the third water-dispelling mechanism, and one end of the fourth linkage assembly is hinged to the fourth water-dispelling mechanism. The other ends of the first linkage assembly, the second linkage assembly, the third linkage assembly, and the fourth linkage assembly are respectively hinged to the tensioning assembly.

[0018] Furthermore, the sliding structure includes a first sliding component, a second sliding component, a third sliding component, and a fourth sliding component. The base has four evenly distributed sliding holes, and the first sliding component, the second sliding component, the third sliding component, and the fourth sliding component are respectively installed in the four sliding holes. The positions of the four blades of the driving cam correspond to the first sliding component, the second sliding component, the third sliding component, and the fourth sliding component, respectively.

[0019] Furthermore, the tensioning assembly includes a first curved rod, a second curved rod, a third curved rod, and a fourth curved rod. One end of the first curved rod is hinged to the first connecting rod assembly, and the other end of the first curved rod is hinged to the third sliding assembly. One end of the second curved rod is hinged to the second connecting rod assembly, and the other end of the second curved rod is hinged to the fourth sliding assembly. One end of the third curved rod is hinged to the third connecting rod assembly, and the other end of the third curved rod is hinged to the first sliding assembly. One end of the fourth curved rod is hinged to the fourth connecting rod assembly, and the other end of the fourth curved rod is hinged to the second sliding assembly.

[0020] The beneficial effect of adopting the above-mentioned further technical solution is to avoid interference between the members of the tensioning component.

[0021] Furthermore, the first water-dispensing mechanism, the second water-dispensing mechanism, the third water-dispensing mechanism, and the fourth water-dispensing mechanism have the same structure, each including a water-dispensing plate and two one-way closed swing plates located on both sides thereon, and the two one-way closed swing plates are respectively hinged to the water-dispensing plate.

[0022] The beneficial effect of adopting the above-mentioned further technical solution is that the unidirectional closed swing plate can increase the water-spreading area in one direction, achieving the effect of high resistance when water is spread forward and low resistance when the mechanism opens and recovers.

[0023] Furthermore, connecting blocks are provided on both sides of the water-repelling plate; each of the unidirectional closed swing plates is provided with two connecting plates corresponding to the connecting blocks; a stop block is provided between the two connecting blocks of the water-repelling plate; and a limiting block is provided on each connecting plate corresponding to the position of the stop block.

[0024] The beneficial effect of adopting the above-mentioned further technical solution is that the maximum rotation angle of the unidirectional closed swing plate conforms to the hydrodynamic performance, avoiding the situation where the overturning is too large and cannot be recovered.

[0025] Furthermore, the first, second, third, and fourth linkage assemblies have the same structure, each including a connecting lever and a connecting rocker arm, with the connecting lever hinged to the connecting rocker arm. The extension end of the connecting rocker arm of the first linkage assembly is hinged to the water-dispelling plate of the first water-dispelling mechanism, and the extension end of the connecting lever of the first linkage assembly is hinged to the first crank. The extension end of the connecting rocker arm of the second linkage assembly is hinged to the water-dispelling plate of the second water-dispelling mechanism, and the extension end of the connecting lever of the second linkage assembly is hinged to the second crank. The extension end of the connecting rocker arm of the third linkage assembly is hinged to the water-dispelling plate of the third water-dispelling mechanism, and the extension end of the connecting lever of the third linkage assembly is hinged to the third crank. The extension end of the connecting rocker arm of the fourth linkage assembly is hinged to the water-dispelling plate of the fourth water-dispelling mechanism, and the extension end of the connecting lever of the fourth linkage assembly is hinged to the fourth crank.

[0026] Furthermore, the first sliding assembly, the second sliding assembly, the third sliding assembly, and the fourth sliding assembly have the same structure, each including a slide rail, a slider, a fixed shaft, and a sliding wheel. The slide rail is fixed inside the slide hole; the slider is fitted onto the slide rail; the fixed shaft is fixed to the outer end face of the slider; the sliding wheel is mounted on the fixed shaft; the four blades of the drive cam correspond to the four sliding wheels respectively; the end of the first crank is hinged to the slider of the third sliding assembly; the end of the second crank is hinged to the slider of the fourth sliding assembly; the end of the third crank is hinged to the slider of the first sliding assembly; and the end of the fourth crank is hinged to the slider of the second sliding assembly.

[0027] Furthermore, the first crank and the third crank have the same arc; the second crank and the fourth crank have the same arc; and the arc of the first crank is smaller than the arc of the second crank. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0029] Figure 1 The attached figure is a schematic diagram of the overall structure of a biomimetic jellyfish robot provided by the present invention;

[0030] Figure 2The attached figure is a schematic diagram of the overall structure of a biomimetic jellyfish robot provided by the present invention from another perspective;

[0031] Figure 3 The attached figure is an exploded view of the main body of a biomimetic jellyfish robot provided by the present invention;

[0032] Figure 4 The attached figure is a structural schematic diagram showing the relationship between the sliding structure and the driving cam position provided by the present invention;

[0033] Figure 5 The attached figure is a schematic diagram of the structure of the first water-repelling mechanism provided by the present invention;

[0034] Figure 6 The attached figure is a schematic diagram of the structure of the first sliding component provided by the present invention;

[0035] Figure 7 The attached figure is a structural schematic diagram of the first linkage assembly provided by the present invention. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] like Figure 1-7 As shown in the figure, an embodiment of the present invention discloses a biomimetic jellyfish robot, including a base 1, a drive cam 2, a water-repelling structure 3, a sliding structure 4, and a tensioning integral structure 5. The base 1 has a sliding hole 11. The drive cam 2, driven by a motor, is mounted on the base 1 via a rotating shaft 6. In this embodiment, the motor is powered by a battery. The water-repelling structure 3 is rotatably connected to the base 1. The sliding structure 4 is installed in the sliding hole 11. The sliding structure 4 is positioned corresponding to the drive cam 2. The water-repelling structure 3 and the sliding structure 4 are connected by transmission through the tensioning integral structure 5, and the tensioning integral structure 5 is rotatably connected to the support plate 12 on the base 1. In this embodiment, the tensioning integral structure 5 includes a tensioning component 51 and a linkage mechanism 52. One end of the tensioning component 51 is hinged to one end of the linkage mechanism 52, and the other end of the tensioning component 51 is hinged to the sliding structure 4. The other end of the linkage mechanism 52 is hinged to the water-repelling structure 3. The middle part of the linkage mechanism 52 is hinged to the support plate 12. This invention combines the tensioned integral structure 5 with a biomimetic jellyfish, utilizing the adaptive characteristics of the tensioned integral structure 5 to make the mechanical motion efficiency of the biomimetic jellyfish more efficient. It can simplify the underwater robot structure, make the movement smooth, and more closely resemble the movement characteristics of a jellyfish that contracts quickly and expands slowly, thereby improving transmission efficiency.

[0038] Of course, in order to protect the electronic equipment and prevent water from entering, a casing 7 can be installed on the base 1 to surround and seal the motor and battery.

[0039] Specifically, the water-dispelling structure 3 includes a first water-dispelling mechanism 31, a second water-dispelling mechanism 32, a third water-dispelling mechanism 33, and a fourth water-dispelling mechanism 34. These four mechanisms are hinged to the outer circumferential surface of the base 1 and are evenly distributed along the circumference of the base 1. They are also hinged to the linkage mechanism 52. In this embodiment, the first water-dispelling mechanism 31, the second water-dispelling mechanism 32, the third water-dispelling mechanism 33, and the fourth water-dispelling mechanism 34 are hinged to the linkage mechanism 52. 2. The third water-dispelling mechanism 33 and the fourth water-dispelling mechanism 34 have the same structure, both including a water-dispelling plate 311 and two one-way closed swing plates 312 located on both sides of it. The two one-way closed swing plates 312 are respectively hinged to the water-dispelling plate 311. The water-dispelling plate 311 is hinged to the outer circumferential surface of the base 1. The one-way closed swing plate 312 can realize the one-way increase of the water-dispelling area, achieving the effect of high resistance when the water is pushed forward and low resistance when the mechanism opens and closes. Of course, in order to facilitate paddling, both the water-dispelling plate 311 and the one-way closed swing plate 312 have a certain curvature.

[0040] Specifically, the linkage mechanism 52 includes a first linkage assembly 521, a second linkage assembly 522, a third linkage assembly 523, and a fourth linkage assembly 524. One end of the first linkage assembly 521 is hinged to the first water-dispelling mechanism 31, one end of the second linkage assembly 522 is hinged to the second water-dispelling mechanism 32, one end of the third linkage assembly 523 is hinged to the third water-dispelling mechanism 33, and one end of the fourth linkage assembly 524 is hinged to the fourth water-dispelling mechanism 34. The other ends of the first linkage assembly 521, the second linkage assembly 522, the third linkage assembly 523, and the fourth linkage assembly 524 are respectively hinged to the tensioning assembly 51. In this embodiment, the first linkage assembly 521, the second linkage assembly 522, the third linkage assembly 523, and the fourth linkage assembly 524 have the same structure, each including a connecting lever 5211 and a connecting rocker arm 5212. The connecting lever 5211 and the connecting rocker arm 5212 are hinged. The first link assembly 521's connecting rocker arm 5212 extension is hinged to the first water-spraying mechanism 31's water-spraying plate 311, and the first link assembly 521's connecting lever 5211 extension is hinged to the first crank 511; the second link assembly 522's connecting rocker arm 5212 extension is hinged to the second water-spraying mechanism 32's water-spraying plate 311, and the second link assembly 522's connecting lever 5211 extension is hinged to the second crank 512; the third link assembly 523's connecting rocker arm 5212 extension is hinged to the third water-spraying mechanism 33's water-spraying plate 311, and the third link assembly 523's connecting lever 5211 extension is hinged to the third crank 513; the fourth link assembly 524's connecting rocker arm 5212 extension is hinged to the fourth water-spraying mechanism 34's water-spraying plate 311, and the fourth link assembly 524's connecting lever 5211 extension is hinged to the fourth crank 514.

[0041] Specifically, the sliding structure 4 includes a first sliding component 41, a second sliding component 42, a third sliding component 43, and a fourth sliding component 44. The base 1 has four evenly distributed sliding holes 11, and the first sliding component 41, second sliding component 42, third sliding component 43, and fourth sliding component 44 are respectively installed in the four sliding holes 11. The four blade positions of the driving cam 2 correspond to the first sliding component 41, second sliding component 42, third sliding component 43, and fourth sliding component 44, respectively. In this embodiment, the first sliding component 41, second sliding component 42, third sliding component 43, and fourth sliding component 44 have the same structure, all including a slide rail 411. The system comprises a slider 412, a fixed shaft 413, and a sliding wheel 414. The slide rail 411 is fixed inside the slide hole 11. The slider 412 is fitted onto the slide rail 411. The fixed shaft 413 is fixed onto the outer end face of the slider 412. The sliding wheel 414 is mounted on the fixed shaft 413. The four fan blades of the drive cam 2 are respectively positioned opposite to the four sliding wheels 414. The end of the first crank 511 is hinged to the slider 412 of the third sliding assembly 43. The end of the second crank 512 is hinged to the slider 412 of the fourth sliding assembly 44. The end of the third crank 513 is hinged to the slider 412 of the first sliding assembly 41. The end of the fourth crank 514 is hinged to the slider 412 of the second sliding assembly 42.

[0042] Specifically, the tensioning assembly 51 includes a first curved rod 511, a second curved rod 512, a third curved rod 513, and a fourth curved rod 514. One end of the first curved rod 511 is hinged to the first connecting rod assembly 521, and the other end of the first curved rod 511 is hinged to the third sliding assembly 43. One end of the second curved rod 512 is hinged to the second connecting rod assembly 522, and the other end of the second curved rod 512 is hinged to the fourth sliding assembly 44. One end of the third curved rod 513 is hinged to the third connecting rod assembly 523, and the other end of the third curved rod 513 is hinged to the first sliding assembly 41. One end of the fourth curved rod 514 is hinged to the fourth connecting rod assembly 524, and the other end of the fourth curved rod 514 is hinged to the second sliding assembly 42.

[0043] Specifically, connecting blocks 3111 are provided on both sides of the water-dispelling plate 311; each unidirectional closed swing plate 312 is provided with two connecting plates 3121 corresponding to the connecting blocks 3111; a stop block 3112 is provided between the two connecting blocks 3111 of the water-dispelling plate 311; each connecting plate 3121 is provided with a limiting block 31211 corresponding to the position of the stop block 3112, so that the maximum rotation angle of the unidirectional closed swing plate 312 conforms to the hydrodynamic performance and avoids the situation of excessive overturning that cannot be recovered.

[0044] Specifically, the first crank 511 and the third crank 513 have the same arc; the second crank 512 and the fourth crank 514 have the same arc; and the arc of the first crank 511 is smaller than the arc of the second crank 512.

[0045] The working process of this invention:

[0046] First, the motor drives the drive cam 2 to rotate. When the sliding wheel 414 moves outward along the curve of the drive cam 2, it drives the slider 412 to slide on the slide rail 411. The upper end of the tensioning component 51 expands and the lower end contracts. The water-repelling structure 3 slowly opens under the action of the linkage mechanism 52. When the sliding wheel 414 passes the point of maximum diameter of the drive cam 2, the entire transmission mechanism loses force instantly. Due to the characteristics of the tensioning overall structure 5, the upper end of the tensioning component 51 self-aligns, that is, the upper end contracts quickly and the lower end expands. The water-repelling structure 3 contracts quickly under the action of the linkage mechanism 52, thereby providing a forward thrust for the robot. Since the forward speed and thrust are greater than the backward factors in a series of continuous actions, a certain speed of forward movement can be guaranteed.

[0047] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0048] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A biomimetic jellyfish robot, characterized in that, include: A base, wherein the base is provided with a sliding hole; A drive cam, driven by a motor, is mounted on the base via a rotating shaft; A water-repelling structure, wherein the water-repelling structure is rotatably connected to the base; A sliding structure is installed inside the sliding hole; the sliding structure corresponds to the position of the drive cam. The tensioned integral structure is connected to the water-repellent structure and the sliding structure through the tensioned integral structure, and the tensioned integral structure is rotatably connected to the support plate on the base. The tensioning structure includes a tensioning assembly and a linkage mechanism. One end of the tensioning assembly is hinged to one end of the linkage mechanism, the other end of the tensioning assembly is hinged to the sliding structure, and the other end of the linkage mechanism is hinged to the water-repelling structure. The middle part of the linkage mechanism is hinged to the support plate. The water-dispelling structure includes a first water-dispelling mechanism, a second water-dispelling mechanism, a third water-dispelling mechanism, and a fourth water-dispelling mechanism. The first water-dispelling mechanism, the second water-dispelling mechanism, the third water-dispelling mechanism, and the fourth water-dispelling mechanism are respectively hinged to the outer circumferential surface of the base and are evenly distributed along the circumference of the base. The first water-dispelling mechanism, the second water-dispelling mechanism, the third water-dispelling mechanism, and the fourth water-dispelling mechanism are respectively hinged to the linkage mechanism. The linkage mechanism includes a first linkage assembly, a second linkage assembly, a third linkage assembly, and a fourth linkage assembly. One end of the first linkage assembly is hinged to the first water-dispelling mechanism, one end of the second linkage assembly is hinged to the second water-dispelling mechanism, one end of the third linkage assembly is hinged to the third water-dispelling mechanism, and one end of the fourth linkage assembly is hinged to the fourth water-dispelling mechanism. The other ends of the first linkage assembly, the second linkage assembly, the third linkage assembly, and the fourth linkage assembly are respectively hinged to the tensioning assembly. The sliding structure includes a first sliding component, a second sliding component, a third sliding component, and a fourth sliding component. The base has four evenly distributed sliding holes. The first sliding component, the second sliding component, the third sliding component, and the fourth sliding component are respectively installed in the four sliding holes. The four blades of the driving cam are respectively positioned corresponding to the first sliding component, the second sliding component, the third sliding component, and the fourth sliding component. The tensioning assembly includes a first curved rod, a second curved rod, a third curved rod, and a fourth curved rod. One end of the first curved rod is hinged to the first connecting rod assembly, and the other end of the first curved rod is hinged to the third sliding assembly. One end of the second curved rod is hinged to the second connecting rod assembly, and the other end of the second curved rod is hinged to the fourth sliding assembly. One end of the third curved rod is hinged to the third connecting rod assembly, and the other end of the third curved rod is hinged to the first sliding assembly. One end of the fourth curved rod is hinged to the fourth connecting rod assembly, and the other end of the fourth curved rod is hinged to the second sliding assembly. The first water-dispensing mechanism, the second water-dispensing mechanism, the third water-dispensing mechanism and the fourth water-dispensing mechanism have the same structure, each including a water-dispensing plate and two one-way closed swing plates located on both sides thereon, and the two one-way closed swing plates are respectively hinged to the water-dispensing plate; The first, second, third, and fourth linkage assemblies have the same structure, each including a connecting lever and a connecting rocker arm, with the connecting lever hinged to the connecting rocker arm. The extension end of the connecting rocker arm of the first linkage assembly is hinged to the water-dispensing plate of the first water-dispensing mechanism, and the extension end of the connecting lever of the first linkage assembly is hinged to the first crank rod. The extension end of the connecting rocker arm of the second linkage assembly is hinged to the water-dispensing plate of the second water-dispensing mechanism, and the extension end of the connecting lever of the second linkage assembly is hinged to the second crank rod. The extension end of the connecting rocker arm of the third linkage assembly is hinged to the water-dispensing plate of the third water-dispensing mechanism, and the extension end of the connecting lever of the third linkage assembly is hinged to the third crank rod. The extension end of the connecting rocker arm of the fourth linkage assembly is hinged to the water-dispensing plate of the fourth water-dispensing mechanism, and the extension end of the connecting lever of the fourth linkage assembly is hinged to the fourth crank rod. The first, second, third, and fourth sliding components have the same structure, each including a slide rail, a slider, a fixed shaft, and a sliding wheel. The slide rail is fixed inside the slide hole; the slider is fitted onto the slide rail; the fixed shaft is fixed to the outer end face of the slider; the sliding wheel is mounted on the fixed shaft; the four blades of the drive cam correspond to the four sliding wheels respectively; the end of the first crank is hinged to the slider of the third sliding component; the end of the second crank is hinged to the slider of the fourth sliding component; the end of the third crank is hinged to the slider of the first sliding component; the end of the fourth crank is hinged to the slider of the second sliding component; the first and third cranks have the same curvature; the second and fourth cranks have the same curvature; and the curvature of the first crank is smaller than that of the second crank.

2. The biomimetic jellyfish robot according to claim 1, characterized in that, Connecting blocks are provided on both sides of the water-repelling plate; each of the unidirectional closed swing plates is provided with two connecting plates corresponding to the connecting blocks; a stop block is provided between the two connecting blocks of the water-repelling plate; a limiting block is provided on each connecting plate corresponding to the position of the stop block.

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