A vector-propelled bionic robot with active posture adjustment

Abstract

The invention discloses a vector-propelled bionic robot capable of actively adjusting posture, which belongs to the technical field of bionic robots and comprises an umbrella-shaped body module, a tentacle module and a posture adjustment module; the umbrella-shaped body module comprises an umbrella-shaped head and a skirt-shaped tail, the skirt-shaped tail being composed of a high elastic film; the tentacle module comprises a swing arm circumferentially mounted on the outer periphery of the umbrella-shaped head, the swing arm being capable of swinging in multiple stages toward or away from the axis of the umbrella-shaped head, the swing arm being fixedly connected with the skirt-shaped tail along the axis from the head end to the tail end in sequence; the posture adjustment module comprises a rotating mechanism and a swingable pendulum, the pendulum being eccentrically rotated and connected to the center of the top of the umbrella of the umbrella-shaped head through the rotating mechanism. The rotating mechanism drives the pendulum to eccentrically rotate to achieve azimuth adjustment, the pendulum swings to achieve pitch angle adjustment, and the swing arm and the skirt-shaped tail are coordinated to realize autonomous swimming posture change in three-dimensional space, so as to complete various basic movements in a manner highly consistent with the movement of jellyfish in real life, and the degree of bionics is high.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, in particular to a vector-propelled bionic robot capable of actively adjusting posture. Background Art

[0002] Bionic jellyfish robots can imitate jellyfish in the biological world and can be used in water quality monitoring, military detection and many other aspects. The bionic jellyfish robot mainly includes an umbrella-shaped body part and a tentacle part. The umbrella-shaped body part is usually composed of a head and an umbrella-shaped elastic film. The tentacle part is circumferentially arranged around the head, and the umbrella-shaped elastic film is sleeved outside the tentacle part. The tentacle part is composed of multiple joints and can perform multi-stage swings to achieve the expansion or contraction of the umbrella-shaped elastic film to provide driving force for drainage, such as the "a bionic jellyfish robot" disclosed in the patent number "202110002094.6". However, most of the current bionic jellyfish robots cannot flexibly and autonomously adjust the swimming posture in three-dimensional space, have a low degree of conformity with the actual movement mode of jellyfish, and have poor simulation and imitation effects, which brings difficulties and challenges to subsequent practical applications. Summary of the invention

[0003] The purpose of the present invention is to solve the above technical problems and provide a vector-propelled bionic robot with active posture adjustment. The rotating mechanism can drive the pendulum to rotate eccentrically to achieve azimuth adjustment, and the swing of the pendulum can achieve pitch angle adjustment, thereby completing two-degree-of-freedom regulation of the center of gravity of the bionic jellyfish in space to change the posture and improve flexibility. In conjunction with the swing arm and the skirt-shaped tail, the robot can achieve autonomous swimming posture changes in three-dimensional space, and complete various basic movements in a manner that is highly consistent with the movement of jellyfish in real life, with a high degree of bionics.

[0004] To achieve the above-mentioned purpose, the present invention provides the following scheme: The present invention discloses a vector-propelled bionic robot with active posture adjustment, comprising an umbrella-shaped body module, a tentacle module and a posture adjustment module; the umbrella-shaped body module comprises an umbrella-shaped head and a skirt-shaped tail coaxially connected in sequence, the top of the umbrella of the umbrella-shaped head is away from the skirt-shaped tail, and the skirt-shaped tail is composed of a high-elastic film; the tentacle module comprises a swing arm circumferentially installed on the outer periphery of the umbrella-shaped head, the swing arm can swing in multiple stages toward or away from the axis of the umbrella-shaped head, and the swing arm is fixedly connected to the skirt-shaped tail along the axis from the head end to the tail end; the posture adjustment module comprises a rotating mechanism and a swingable pendulum, and the pendulum is eccentrically rotated and connected to the center of the top of the umbrella of the umbrella-shaped head through the rotating mechanism.

[0005] Preferably, the swing arm includes a primary joint, a secondary joint and a web, the primary joint is hinged to the bottom end of the umbrella of the umbrella-shaped head through a primary swing mechanism, the secondary joint is hinged to the primary joint through a secondary swing mechanism, the web is fixedly connected to the secondary joint, and the primary joint, the secondary joint and the web are all fixedly connected to the skirt-shaped tail.

[0006] Preferably, a first double-ear plate is circumferentially provided at the bottom end of the umbrella-shaped head, the first-level swing mechanism is a first steering gear installed at one end of the first-level joint, a first-level rotating shaft symmetrically arranged with the output rotating shaft of the first steering gear is provided on the first-level joint, the output rotating shaft of the first steering gear is fixedly connected to one ear plate of the first double-ear plate, and the first-level rotating shaft is rotatably connected to the other ear plate of the first double-ear plate; a second double-ear plate is fixedly connected to the other end of the first-level joint, the second-level swing mechanism is a second steering gear installed at one end of the second-level joint, a second-level rotating shaft symmetrically arranged with the output rotating shaft of the second steering gear is provided on the second-level joint, the output rotating shaft of the second steering gear is fixedly connected to one ear plate of the second double-ear plate, and the second-level rotating shaft is rotatably connected to the other ear plate of the second double-ear plate; the web plate is fixedly connected to the other end of the second-level joint.

[0007] Preferably, the rotating mechanism comprises a third steering gear, the output shaft of the third steering gear is eccentrically fixedly connected to a fourth steering gear, and the pendulum is fixed to the output shaft connected to the fourth steering gear through a third double-ear plate.

[0008] Preferably, the pendulum can be replaced by a camera or a mechanical claw.

[0009] Preferably, the umbrella-shaped head includes a butterfly-shaped functional cabin and a basin-shaped functional cabin arranged in sequence from the top end to the bottom end of the umbrella, the butterfly-shaped functional cabin and the basin-shaped functional cabin are detachably connected, and the swing arm is installed on the basin-shaped functional cabin.

[0010] Preferably, a first installation groove is provided on the surface of the basin-shaped functional compartment facing the butterfly-shaped functional compartment, and a waterproof sealing groove for installing a sealing ring is coaxially provided outside the first installation groove.

[0011] Preferably, a detector and a power switch are provided on the outer wall of the basin-shaped functional cabin.

[0012] Preferably, a second installation groove is provided in the butterfly-shaped functional cabin, and a transparent spherical cover is provided on the second installation groove.

[0013] Preferably, the high elastic membrane comprises soft silicone membrane areas matching the number of the swing arms and spandex stretch fabric areas connecting the soft silicone membrane areas, and the swing arm is connected to the soft silicone membrane areas.

[0014] Compared with the prior art, the present invention has achieved the following technical effects:

[0015] In the vector-propelled bionic robot with active posture adjustment of the present invention, the skirt-like tail can be repeatedly expanded and contracted by the swing of the swing arm, thereby squeezing water away from the umbrella-shaped head to provide forward power; the rotating mechanism can drive the pendulum to rotate eccentrically to achieve azimuth adjustment, and the swing of the pendulum can achieve pitch angle adjustment. The azimuth adjustment and pitch angle adjustment can complete the two-degree-of-freedom regulation of the center of gravity of the bionic jellyfish in space to change the posture and improve flexibility. The swing arm and the skirt-like tail can realize autonomous swimming posture changes in three-dimensional space, and complete various basic movements in a manner that is highly consistent with the movement of jellyfish in real life, with a high degree of bionics. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a front view structural schematic diagram of a vector-propelled bionic robot (with a skirt-shaped tail);

[0018] Figure 2 It is a front view structural schematic diagram of a vector-propelled bionic robot (without a skirt-shaped tail);

[0019] Figure 3 The three-dimensional structure diagram of the vector-propelled bionic robot (without the skirt-shaped tail) from a top-down perspective;

[0020] Figure 4 This is a schematic diagram of the three-dimensional structure of a vector-propelled bionic robot (without a skirt-shaped tail) from an upward perspective;

[0021] Figure 5 It is a schematic diagram of the three-dimensional structure of the transparent ball cover;

[0022] Figure 6 This is a three-dimensional structural diagram of the butterfly-shaped functional cabin from a bird's-eye view;

[0023] Figure 7 This is a schematic diagram of the three-dimensional structure of the butterfly-shaped functional cabin from an upward perspective;

[0024] Figure 8 It is a three-dimensional structural diagram of the basin-shaped functional cabin from a top-down perspective;

[0025] Fig. 9 This is a schematic diagram of the three-dimensional structure of the basin-shaped functional cabin from an upward perspective;

[0026] Fig.10 Schematic diagram of the three-dimensional structure of the swing arm;

[0027] Fig.11 is a schematic diagram of the three-dimensional structure of the pendulum;

[0028] Fig.12 It is a front view structural diagram of the pendulum;

[0029] Fig.13 A schematic diagram of a top view of a vector-propelled bionic robot (with a skirt-shaped tail);

[0030] Fig.14 This is a motion principle diagram of a vector-propelled bionic robot (without a skirt-like tail).

[0031] Explanation of reference numerals: 1. transparent ball cover; 2. butterfly-shaped functional cabin; 3. basin-shaped functional cabin; 4. skirt-shaped tail; 5. primary joint; 6. secondary joint; 7. flipper; 8. first double-ear plate; 9. first servo; 10. primary rotating shaft; 11. second double-ear plate; 12. second servo; 13. secondary rotating shaft; 14. third servo; 15. fourth servo; 16. third double-ear plate; 17. pendulum; 18. detector; 19. first mounting groove; 20. second mounting groove; 21. waterproof sealing groove; 22. servo fixing frame; 23. servo rotating frame; 24. film mounting hole; 25. bolt connection hole; 26. detector mounting hole; 27. power switch mounting hole; 28. swing arm wiring hole; 29. ​​pendulum wiring hole; 30. attitude mounting seat; 31. servo mounting hole; 32. power switch; 33. soft silicone membrane area; 34. spandex stretch fabric area. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] This embodiment provides a vector-propelled bionic robot that actively adjusts its posture, such as Figures 1 to 14As shown, it includes an umbrella-shaped body module, a tentacle module and a posture adjustment module. The umbrella-shaped body module includes an umbrella-shaped head and a skirt-shaped tail 4. The umbrella-shaped head and the skirt-shaped tail 4 are coaxially connected in sequence, and the top of the umbrella of the umbrella-shaped head is away from the skirt-shaped tail 4. The skirt-shaped tail 4 is composed of a high elastic film. The tentacle module includes a plurality of swing arms, and the plurality of swing arms are arranged around the outer periphery of the umbrella-shaped head. The number of the swing arms is at least three, preferably four, and they are arranged in a cross. The swing arm can swing toward or away from the axis of the umbrella-shaped head in multiple stages, at least in two stages. The swing arm is fixedly connected to the skirt-shaped tail 4 in sequence from the head end to the tail end along the axis of the skirt-shaped tail 4, so that when the swing arm swings, the skirt-shaped tail 4 can repeatedly expand and contract with the swing of the swing arm, thereby squeezing the water out in the direction away from the umbrella-shaped head to provide forward power. The posture adjustment module includes a rotating mechanism and a pendulum 17. The pendulum 17 is connected to the center of the top of the umbrella of the umbrella-shaped head by eccentric rotation of the rotating mechanism. The rotating mechanism can drive the pendulum 17 to eccentrically rotate to achieve azimuth adjustment, and the pendulum 17 can swing to achieve pitch angle adjustment. The azimuth adjustment and pitch angle adjustment can change the center of gravity of the bionic jellyfish. With the power provided by the swing arm and the skirt-shaped tail 4, the swimming posture of the bionic jellyfish in three-dimensional space can be flexibly and autonomously adjusted to complete various basic movements in a way that is highly consistent with the movement of jellyfish in real life, with a high degree of bionics.

[0034] In this embodiment, Figures 1 to 14 As shown, the swing arm includes a primary joint 5, a secondary joint 6 and a fin 7. The primary joint 5 is hinged to the bottom end of the umbrella head through a primary swing mechanism, the secondary joint 6 is hinged to the primary joint 5 through a secondary swing mechanism, the fin 7 is fixedly connected to the secondary joint 6, and the primary joint 5, the secondary joint 6 and the fin 7 are all fixedly connected to the skirt-shaped tail 4. The swing process of the swing arm can be referred to Fig.14 As shown, the secondary swing mechanism drives the secondary joint 6 and the web plate 7 to swing toward or away from the axis of the swing umbrella-shaped head, and the primary swing mechanism drives the primary joint 5 to swing toward or away from the axis of the swing umbrella-shaped head.

[0035] Further, in this embodiment, if Figures 1 to 14As shown, the umbrella bottom end of the umbrella-shaped head is circumferentially provided with a first double-ear plate 8, and the number of the first double-ear plates 8 is consistent with the number of swing arms. The primary swing mechanism is a first steering gear 9, which is mounted on one end of the primary joint 5, and a primary rotating shaft 10 is provided on the primary joint 5, and the primary rotating shaft 10 is symmetrically arranged with the output rotating shaft of the first steering gear 9. The output rotating shaft of the first steering gear 9 is fixedly connected to one ear plate of the first double-ear plate 8, and the primary rotating shaft 10 is rotatably connected to the other ear plate of the first double-ear plate 8, and the output rotating shaft of the first steering gear 9 can drive the swing of the primary joint 5 by rotating. The other end of the primary joint 5 is fixedly connected with a second double-ear plate 11, preferably bolted. The secondary swing mechanism is a second steering gear 12, which is mounted on one end of the secondary joint 6, and a secondary rotating shaft 13 is provided on the secondary joint 6, and the secondary rotating shaft 13 is symmetrically arranged with the output rotating shaft of the second steering gear 12. The output shaft of the second steering gear 12 is fixedly connected to one ear plate of the second double-ear plate 11, and the secondary shaft 13 is rotatably connected to the other ear plate of the second double-ear plate 11. The rotation of the output shaft of the second steering gear 12 can drive the swing of the secondary joint 6. The webbed board 7 is fixedly connected to the other end of the secondary joint 6.

[0036] Further, in this embodiment, if Figures 1 to 14 As shown, the rotating mechanism includes a third steering gear 14, the output shaft of the third steering gear 14 is eccentrically fixedly connected to the fourth steering gear 15, and the pendulum 17 is fixed to the output shaft connected to the fourth steering gear 15 through the third double-ear plate 16. Preferably, the third steering gear 14 is installed at the center of the bottom end of the umbrella head through a steering gear fixing frame 22, and the fourth steering gear 15 can be eccentrically fixedly connected to the output shaft of the third steering gear 14 through a steering gear rotating frame 23, and the steering gear rotating frame 23 is provided with a rotating frame rotating shaft, and the rotating frame rotating shaft is rotatably connected to one ear plate of the third double-ear plate 16, and the output shaft of the fourth steering gear 15 is fixedly connected to the other ear plate of the third double-ear plate 16.

[0037] In this embodiment, Figures 1 to 14 As shown, the pendulum 17 can be replaced by a camera or a mechanical claw, and the camera can have both the function of changing the center of gravity and shooting. The mechanical claw can have both the function of changing the center of gravity and grasping.

[0038] In this embodiment, Figures 1 to 14As shown, the umbrella-shaped head includes a butterfly-shaped functional cabin 2 and a basin-shaped functional cabin 3, and the butterfly-shaped functional cabin 2 and the basin-shaped functional cabin 3 are arranged in sequence from the top end of the umbrella to the bottom end of the umbrella. The butterfly-shaped functional cabin 2 and the basin-shaped functional cabin 3 are detachably connected, and the detachable method is preferably a bolt connection method. Specifically, bolt connection holes 25 are correspondingly opened on the butterfly-shaped functional cabin 2 and the basin-shaped functional cabin 3, and the specific number is set according to needs. The swing arm is installed on the basin-shaped functional cabin 3, and the first double-ear plate 8 can be installed on the basin-shaped functional cabin 3. Different functional components can be installed on the butterfly-shaped functional cabin 2 and the basin-shaped functional cabin 3 according to needs. The basin-shaped functional cabin 3 is connected to the skirt-shaped tail 4, and a film installation hole 24 is specifically set at the bottom of the basin-shaped functional cabin 3 for connecting with the skirt-shaped tail 4. Further, a film installation hole 24 can also be set on the inner side of the primary joint 5, the secondary joint 6, and the web plate 7 for connecting with the skirt-shaped tail 4. In this way, the swing arm and the umbrella-shaped head include the skirt-shaped tail part 4. Compared with the integrated high-elastic membrane covering the inside, compared with the isolated membrane or the membrane sleeved outside the swing arm, it can effectively reduce the force disputes and coupling, and greatly increase the drainage capacity and area, thereby improving the ability to spray water.

[0039] Further, in this embodiment, if Figures 1 to 14 As shown, a first mounting groove 19 is provided on the surface of the basin-shaped functional cabin 3 facing the butterfly-shaped functional cabin 2, and a waterproof sealing groove 21 for installing a sealing ring is coaxially provided outside the first mounting groove 19. After the butterfly-shaped functional cabin 2 is detachably mounted on the basin-shaped functional cabin 3, the first mounting groove 19 can be buckled inside and fit with the sealing ring in the waterproof sealing groove 21, thereby improving the sealing performance. The first mounting groove 19 is used to install various functional components, such as a battery pack, a controller, etc., and the controller can be wirelessly controlled.

[0040] Further, in this embodiment, if Figures 1 to 14 As shown, a detector 18 and a power switch 32 are provided on the outer wall of the basin-shaped functional cabin 3. The detector 18 adopts various water quality detectors, such as a pH detector, a temperature detector, a dissolved oxygen detector, etc. The power switch 32 is connected to the battery pack in the first mounting groove 19. For this purpose, a detector mounting hole 26 and a power switch mounting hole 27 can be provided on the outer wall of the basin-shaped functional cabin 3. In addition, a swing arm wiring hole 28 can be provided on the outer wall of the basin-shaped functional cabin 3 for wiring to electrically connect the first steering gear 9, the second steering gear 12 and the controller. A pendulum wiring hole 29 is provided at the bottom of the basin-shaped functional cabin 3 for wiring to electrically connect the secondary rotating shaft 13, the third steering gear 14 and the controller.

[0041] Further, in this embodiment, if Figures 1 to 14 As shown, a posture mounting seat 30 is provided at the bottom of the basin-shaped functional cabin 3 , a steering gear mounting hole 31 is provided on the posture mounting seat 30 , and the third steering gear 14 is connected to the steering gear mounting hole 31 through bolts via the steering gear fixing frame 22 .

[0042] Further, in this embodiment, if Figures 1 to 14 As shown, a second installation groove 20 is provided in the butterfly-shaped functional cabin 2, and a transparent ball cover 1 is provided on the second installation groove 20. Different functional parts can be arranged in the second installation groove 20 as required, such as a lighting system, where the light source is illuminated through the transparent ball cover 1, and a camera, a sonar system or a fish-repelling system can also be installed in the second installation groove 20 at the same time, such as a lighting fish-repelling device or an acoustic fish-repelling device.

[0043] Further, in this embodiment, if Figures 1 to 14 As shown, the high elastic membrane includes a soft silicone membrane area 33 and a spandex elastic fabric area 34. The soft silicone membrane area 33 matches the number of swing arms, and the swing arms and the umbrella-shaped head are connected to the soft silicone membrane area 33. The spandex elastic fabric area 34 connects the soft silicone membrane areas 33. The soft silicone membrane area 33 is preferably 1 mm thick. The spandex elastic fabric area 34 is a high elastic polyester glossy spandex fabric;

[0044] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A vector-propelled bionic robot with active posture adjustment, characterized in that: The invention comprises an umbrella-shaped body module, a tentacle module and a posture adjustment module; the umbrella-shaped body module comprises an umbrella-shaped head and a skirt-shaped tail which are connected coaxially in sequence, the top of the umbrella-shaped head is away from the skirt-shaped tail, and the skirt-shaped tail is composed of a high elastic film; the tentacle module comprises a swing arm circumferentially mounted on the outer periphery of the umbrella-shaped head, the swing arm can swing in multiple stages toward or away from the axis of the umbrella-shaped head, and the swing arm is fixedly connected with the skirt-shaped tail along the axis from the head end to the tail end in sequence; the posture adjustment module comprises a rotating mechanism and a swingable pendulum, the pendulum is eccentrically rotated and connected to the center of the top of the umbrella of the umbrella-shaped head through the rotating mechanism; the rotating mechanism comprises a third steering gear, the output shaft of the third steering gear is eccentrically fixedly connected to the fourth steering gear, and the pendulum is fixed to the output shaft connected to the fourth steering gear through a third double ear plate; the high elastic film comprises a soft silicone film area matching the number of the swing arms and a spandex elastic cloth area connecting each of the soft silicone film areas, and the swing arm is connected to the soft silicone film area.

2. A vector-propelled bionic robot with active posture adjustment according to claim 1, characterized in that: The swing arm includes a primary joint, a secondary joint and a web, the primary joint is hinged to the bottom end of the umbrella of the umbrella-shaped head through a primary swing mechanism, the secondary joint is hinged to the primary joint through a secondary swing mechanism, the web is fixedly connected to the secondary joint, and the primary joint, the secondary joint and the web are all fixedly connected to the skirt-shaped tail.

3. The vector-propelled bionic robot with active posture adjustment according to claim 2, characterized in that: A first double-ear plate is circumferentially provided at the bottom end of the umbrella-shaped head, the first-level swing mechanism is a first steering gear installed at one end of the first-level joint, a first-level rotating shaft symmetrically arranged with the output rotating shaft of the first steering gear is provided on the first-level joint, the output rotating shaft of the first steering gear is fixedly connected to one ear plate of the first double-ear plate, and the first-level rotating shaft is rotatably connected to the other ear plate of the first double-ear plate; a second double-ear plate is fixedly connected to the other end of the first-level joint, the second-level swing mechanism is a second steering gear installed at one end of the second-level joint, a second-level rotating shaft symmetrically arranged with the output rotating shaft of the second steering gear is provided on the second-level joint, the output rotating shaft of the second steering gear is fixedly connected to one ear plate of the second double-ear plate, and the second-level rotating shaft is rotatably connected to the other ear plate of the second double-ear plate; the web plate is fixedly connected to the other end of the second-level joint.

4. The vector-propelled bionic robot with active posture adjustment according to claim 1, characterized in that: The pendulum may be replaced by a camera or a mechanical claw.

5. The vector-propelled bionic robot with active posture adjustment according to claim 1, characterized in that: The umbrella-shaped head comprises a butterfly-shaped functional cabin and a basin-shaped functional cabin arranged in sequence from the top end to the bottom end of the umbrella, the butterfly-shaped functional cabin and the basin-shaped functional cabin are detachably connected, and the swing arm is installed on the basin-shaped functional cabin.

6. The vector-propelled bionic robot with active posture adjustment according to claim 5, characterized in that: A first installation groove is arranged on the surface of the basin-shaped functional cabin facing the butterfly-shaped functional cabin, and a waterproof sealing groove for installing a sealing ring is coaxially arranged outside the first installation groove.

7. The vector-propelled bionic robot with active posture adjustment according to claim 6, characterized in that: A detector and a power switch are arranged on the outer wall of the basin-shaped functional cabin.

8. The vector-propelled bionic robot with active posture adjustment according to claim 7, characterized in that: A second installation groove is arranged in the butterfly-shaped functional cabin, and a transparent ball cover is arranged on the second installation groove.

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