Biomimetic jellyfish robot

Abstract

This invention relates to a mechanical device, and more particularly to an underwater biomimetic jellyfish robot. The purpose of this invention is to provide a biomimetic jellyfish marine exploration robot with high speed and flexibility, capable of turning corners. The specific structure includes a head propulsion structure, a head probe device, a tail propulsion structure, and a lower drive and control structure. The head propulsion structure includes a group of rods, springs, and pull lines; the tail propulsion structure includes elastic tentacles and pull lines. Both the head and tail propulsion structures drain water under the action of the pull lines; the simultaneous drainage by both propulsion structures increases the overall speed of the biomimetic jellyfish robot. The lower drive and control structure enables control of the biomimetic jellyfish robot's movement.

Description

Technical Field

[0001] This invention relates to a mechanical device, and more particularly to an underwater biomimetic jellyfish robot. Background Technology

[0002] With the advancement of science and technology, marine exploration robots have become a new direction in robot development. Due to the differences between the marine and terrestrial environments, ordinary mechanical devices struggle to achieve free movement in water.

[0003] Existing underwater exploration equipment has difficulty increasing its movement speed in water, resulting in slow movement. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a biomimetic jellyfish marine exploration robot that is fast-moving, highly flexible, and capable of turning.

[0005] To address the aforementioned technical problems, this application provides the following technical solution:

[0006] The present invention relates to a biomimetic jellyfish robot, comprising a head propulsion structure, a head probe device, a tail propulsion structure, and a lower drive and control structure.

[0007] This invention relates to a biomimetic jellyfish robot, wherein the head propulsion structure comprises multiple propulsion units. Each propulsion unit includes a first rod, a second rod, a spring, and a pull wire. One end of the first rod is hinged to the second rod at the head shell, and the other end of the first rod is hinged to the lower end of the head shell. One end of the second rod is hinged to the central axis, and the other end is hinged to the first rod at the head shell. A spring device is installed between the two rods, and the angle between the two rods is less than 180°. The first rod is connected to the lower drive and control unit via a pull wire. The multiple propulsion units are evenly distributed circumferentially along the central axis.

[0008] The present invention relates to a biomimetic jellyfish robot, wherein the head probe device includes a first circular support plate, a second circular support plate, a tensioning structure, and a probe body, wherein the probe body is located on the first circular support plate, the first circular support plate and the second circular support plate are placed in parallel, and the first circular support plate and the second circular support plate are connected by the tensioning structure.

[0009] The present invention relates to a biomimetic jellyfish robot, wherein the head probe device is equipped with an environmental information sensor, which includes a camera and an infrared detector. The sensor is connected to the lower drive and control structure through a central shaft cavity.

[0010] The present invention relates to a biomimetic jellyfish robot, wherein the second support plate is connected to the central axis, and the lower side of the central axis is connected to the lower drive and control structure.

[0011] This invention relates to a biomimetic jellyfish robot, wherein the tensioning structure comprises multiple sets of flexible and rigid cables, each possessing a certain elasticity. The flexible cables include springs and flexible ropes; one end of the spring is connected to a first circular support plate, and the other end is connected to the flexible rope. One end of the flexible rope is connected to the spring, and the other end is hinged to a second circular support plate. The rigid cable includes a first rod, a second rod, and a spring. One end of the first rod is hinged to the second circular support plate, and the other end is connected to the second rod. One end of the second rod is connected to the first rod, and the other end is connected to the spring. One end of the spring is connected to the second rod, and the other end is connected to the first circular support plate. The connection between the first and second rods is a cavity on one side, with the second rod inserted into the cavity of the first rod. The distance between the distal ends of the first and second rods can vary. The tensioning structure allows the probe device to extend and retract.

[0012] This invention relates to a biomimetic jellyfish robot, wherein the tail-mounted propulsion structure includes multiple sets of elastic tentacles. Each set of elastic tentacles is connected to an arc-shaped support plate on a central axis. The upper part of the arc-shaped support plate is connected to an upper central axis, and the lower part is connected to a lower central axis. The elastic tentacles are evenly distributed circumferentially along the central axis. The elastic tentacles are connected to a winding wheel on a lower drive and control structure via pull lines. The elastic tentacles can move towards the central axis under the pull of the lines. Each elastic tentacle includes two elastic plates. The width of the lower elastic plate is greater than that of the upper elastic plate. In the retracted state, the width of the upper elastic plate is smaller to avoid collisions and interference between them, while the width of the lower elastic plate is larger to increase the drainage volume.

[0013] This invention relates to a biomimetic jellyfish robot, whose lower drive and control structure includes a shell, a winding wheel unit, a camera, and an internal drive and control device. The control unit includes an upper camera position, a main control unit, and a motor control unit. The motor, upper camera position, main control unit, and motor control unit are disposed within the internal cavity of the shell. The winding wheel unit comprises four sets, each set including a first winding wheel and a second winding wheel. The first winding wheel is connected to a first rod at the head via a pull wire and is also connected to a motor inside the shell cavity. The second winding wheel is connected to an elastic tentacle via a pull wire and is also connected to a motor inside the shell cavity. The first winding wheel is evenly distributed along a central axis, and the second winding wheel... The winding wheels are evenly distributed along the central axis. The first and second winding wheels on the same side are arranged parallel to each other and are connected to the same motor. By reducing the number of motors, the structure is simplified and the overall weight of the biomimetic jellyfish robot is lighter. The main control unit is connected to the upper unit and the motor control unit. One end of the motor control unit is connected to the main control unit, and the other end is connected to the motor. The upper unit receives information from environmental information sensors, analyzes it, and controls the main control unit. The main control unit controls the motor control unit, which in turn controls the rotation of the motor, thereby realizing the movement of the head and tail propulsion structures.

[0014] Compared with the prior art, the biomimetic jellyfish robot of the present invention has at least the following beneficial effects:

[0015] This invention relates to a biomimetic jellyfish robot, comprising a head-assist structure and a tail-assist structure. When moving in water, the head's soft membrane and the tail's tentacles are simultaneously pulled towards the central axis by a pull line. Both propulsion devices simultaneously discharge water, greatly increasing the volume of water discharged and thus further improving the robot's movement speed. Each drive unit is equipped with an independent motor, which, under the control of the control unit, can achieve single-sided drive, thereby enabling the entire robot to turn and rotate. The head probe device can collect environmental information, transmit the information to the upper camera, analyze it, and control the robot's overall movement direction. The head camera and the bottom camera can capture underwater images, which can be used for ocean underwater exploration.

[0016] The biomimetic jellyfish robot of the present invention will be further described below with reference to the accompanying drawings. Attached Figure Description

[0017] Figure 1 This is an overall diagram of the biomimetic jellyfish robot of the present invention;

[0018] Figure 2 This is a schematic diagram of the overall structure of the biomimetic jellyfish robot of the present invention;

[0019] Figure 3The diagram shows the structural parts of the biomimetic jellyfish robot of this invention.

[0020] Figure 4 This is a top view of the biomimetic jellyfish robot of the present invention;

[0021] Figure 5 This is a state diagram of the biomimetic jellyfish robot of the present invention when it turns a corner;

[0022] Figure 6 This is a diagram of the head probe device of the biomimetic jellyfish robot of the present invention;

[0023] Figure 7 This is a diagram of the head structure of the biomimetic jellyfish robot of the present invention;

[0024] Figure 8 This is a structural diagram of the elastic tentacles of the biomimetic jellyfish robot of the present invention. Detailed Implementation

[0025] like Figure 1 , 2 As shown in Figures 3 and 4, the biomimetic jellyfish robot of the present invention includes a head propulsion structure 50, a head probe device 40, a tail propulsion structure 70, and a lower drive and control structure 60. It includes two propulsion devices, which greatly improves the running speed of the biomimetic jellyfish robot compared with other biomimetic jellyfish structure robots. The head probe device contains a camera and an infrared detector, which can provide real-time feedback to the upper control unit, and the upper control unit further controls the movement of the biomimetic jellyfish robot.

[0026] like Figure 2 , 3 As shown in Figures 4 and 7, the head structure mainly includes a head booster structure 50, a head probe device 40, and a flexible head shell 8. Each head booster device includes a first rod 7, a second rod 10, a spring 9, a hinge group 6, and a pull wire 5. The head booster devices are evenly distributed along the central axis. The upper end of the first rod 7 is hinged to the second rod 10, and the lower end of the first rod 7 is connected to the head hinge. The lower end of the second rod 7 is connected to the central axis 19. One end of the spring 9 is connected to the first rod 7, and the other end is connected to... The second rod 10 is connected, and the first pull wire 5 is connected to the ring on the first rod 7. The other end of the first pull wire 5 is wound and connected to the first winding wheel 4. As the first winding wheel 4 rotates, the length of the first pull wire 5 decreases. Under the pull of the first pull wire 5, the first rod 7 moves closer to the central axis 19, and at the same time, it drives the flexible head shell on this side to move closer to the central axis 19. The flexible head shell 8 drains water downward, so that the bionic jellyfish robot gets the propulsion force and pushes the bionic jellyfish robot to move upward.

[0027] like Figure 6As shown, the head probe device 40 includes a first circular support plate 24, a second circular support plate 21, a head probe 25, flexible cables, and rigid cables. The head probe 25 contains an environmental information sensor, which includes a camera and an infrared detector. The camera and infrared detector in the environmental information sensor can collect environmental information and feed it back to the upper unit located in the lower drive and control structure. The upper unit analyzes the collected information and controls the motor to drive the winding wheel, thereby enabling the biomimetic jellyfish robot to move further. The first circular support plate 24 and the second circular support plate 21 are connected by a tension structure, which includes multiple flexible cables and rigid cables. The flexible cables include springs 23 and flexible ropes 22. One end of the spring 23 is connected to the first circular support plate 24, and the other end is connected to the flexible rope 22. One end of the flexible rope 22 is connected to the spring 23, and the other end is hinged to the second circular support plate 21. The rigid cable includes a first rod 28 and a second rod 27. The first rod 28 is hinged at one end to the second circular support plate 21 and connected to the second rod 27 at the other end. The second rod 27 is connected at one end to the first rod 28 and connected to the spring 26 at the other end. The spring 26 is connected at one end to the second rod 27 and connected to the first circular support plate 24 at the other end. The connection between the first rod 28 and the second rod 27 is a cavity on one side, and the second rod 27 is inserted into the cavity of the first rod 28. The distance between the distal ends of the first rod 28 and the second rod 27 can be varied. The tension structure allows the probe device to extend and retract. The tension structure gives the probe a certain buffering capacity. The probe itself is rigid, but the tension structure gives the probe a certain degree of flexibility. Because the probe is located at the top of the entire bionic jellyfish robot, it is necessary to avoid collision damage. With the buffer of the tension structure, the probe can have a certain degree of retraction when it is hit by a collision, thereby protecting the probe.

[0028] Optionally, the tail propulsion structure 70 includes an arc-shaped support plate 20, elastic tentacles 1, and a second pull wire 3 located on the central axis 19. Each set of elastic tentacles 1 and the second pull wire 3 is evenly distributed along the central axis. The elastic tentacles 1 are connected to the arc-shaped support plate 20, such as... Figure 7Each elastic tentacle 1 consists of two different elastic plates: the upper elastic plate 31 is narrower, and the lower elastic plate 32 is wider. The narrower width of the upper elastic plate 31 prevents collisions and interference between the elastic tentacles when they retract towards the central axis 19. The wider width of the lower elastic plate 32 increases the drainage volume when the elastic tentacles retract towards the central axis 19. One end of the second pull wire 3 is connected to the elastic tentacle 1, and the other end is connected to the second winding wheel 2. When the second winding wheel 2 rotates, the length of the second pull wire 3 decreases, pulling the elastic tentacles 1 towards the central axis 19. As each elastic tentacle 1 moves towards the center, it drains water, giving the biomimetic jellyfish robot thrust and allowing it to move upwards. The drainage from the elastic tentacles, combined with the flexible head shell, significantly increases the total drainage volume, thereby improving the movement speed of the biomimetic jellyfish robot.

[0029] Optionally, the lower drive and control structure 60 of the biomimetic jellyfish robot includes a shell 33, a first winding reel 4, a second winding reel 2, a bottom camera 18, and an internal drive and control device. The shell 33 is a cuboid. The internal drive and control device includes an upper unit, a main control unit, a motor control unit, and a motor. Each set of winding reels includes a first winding reel 4 and a second winding reel 2, which are placed parallel to each other. Each set of winding reels is evenly distributed along the central axis 19. The first winding reel 4 is connected to the first rod 7 on the head via a first pull wire 5 and is also connected to the motor inside the shell cavity. The second winding reel 2 is connected to the elastic tentacle 1 via a second pull wire 3 and is also connected to the motor inside the shell cavity. The first winding reel 4 and the second winding reel 2 on the same side are connected to the same motor. One motor drives the flexible head and elastic tentacle on the same side to drain water, thereby reducing the electrical discharge. The reduced number of motors simplifies the structure and makes the overall weight of the biomimetic jellyfish robot lighter. Different motors allow for easier control by different motor control units. The varying drainage volumes on different sides enable the entire biomimetic jellyfish robot to achieve turning and curved movements. The bottom camera 18 can capture images of the robot's bottom environment and save or transmit the images in real-time to an external receiving device, thus enabling the detection of the marine environment on the robot's bottom. The main control unit is connected to the upper camera and the motor control unit. One end of the motor control unit is connected to the main control unit, and the other end is connected to the motor. The upper camera receives and analyzes information from environmental sensors and controls the main control unit, which in turn controls the motor control unit. The motor control unit then controls the rotation of the motor, driving the winding wheel to rotate, thereby achieving the movement of the head and tail propulsion structures.

[0030] like Figure 5As shown, the biomimetic jellyfish robot of this invention can achieve turning and curved movement by pulling on one side or adjacent sides, thereby avoiding obstacles. When pulling on one side, the biomimetic jellyfish robot has a small offset, while when pulling on adjacent sides, the offset is larger, enabling it to avoid larger obstacles, such as... Figure 4 To achieve a slight leftward deflection of the biomimetic jellyfish robot, only the right-side pull line is driven. The motor drives the first winding wheel 4 and the second winding wheel 2 to rotate, causing the first pull line 5 and the second pull line 3 to shorten. This pulls the right-side flexible head shell 8 and elastic tentacles 1 towards the central axis 19, achieving a drainage motion. This provides the right side of the biomimetic jellyfish robot with propulsion, enabling a slight leftward shift. After the environmental information detected by the head probe is transmitted to the upper control unit, the upper control unit can select the required amount of shift based on the distance and size of the obstacle. Then, the control unit controls the rotation of the winding wheels to achieve the shift.

[0031] Optionally, each set of head drive rods, winding wheels, and elastic tentacles are evenly distributed around the periphery of the central axis 19.

[0032] Optionally, the head probe detects the external environment in real time and transmits the environmental information to the upper control unit. When there are no obstacles in front, each set of drive devices operates normally, and the flexible head shell and the elastic tentacles at the tail drain water simultaneously. The biomimetic jellyfish robot continuously obtains propulsion to move forward in a straight line. When there are obstacles in front, the upper control unit analyzes the distance and size of the obstacles. If the obstacles are far away or small, water can be drained by pulling a cable on one side. After shifting a certain amount, the robot continues to move in a straight line normally. If the obstacles are close or large, a larger shift can be achieved by pulling the cables on both sides, thereby avoiding the obstacles.

[0033] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A biomimetic jellyfish robot, comprising a head structure, a tail-assist structure (70), and a lower drive and control structure (60). The head structure includes a head-assist structure (50), a head probe device (40), and a flexible head shell (8). Each head-assist structure (50) includes a first rod (7), a second rod (10), a first spring (9), a hinge group (6), and a first pull wire (5). Each head-assist device is evenly distributed along the central axis. The upper end of the first rod (7) is hinged to the second rod (10), and the lower end of the first rod (7) is connected to the head hinge. The lower end of the second rod (10) is connected to the central axis. The spindle (19) is connected to the first spring (9). One end of the first spring (9) is connected to the first rod (7), and the other end is connected to the second rod (10). The first pull wire (5) is connected to the ring buckle on the first rod (7). The other end of the first pull wire (5) is wound and connected to the first winding wheel (4). As the first winding wheel (4) rotates, the length of the first pull wire (5) decreases. Under the pull of the first pull wire (5), the first rod (7) moves closer to the central shaft (19), and at the same time, it drives the flexible head shell (8) on this side to move closer to the central shaft (19). The flexible head shell (8) drains water downwards. This propulsion structure (70) provides the biomimetic jellyfish robot with thrust, propelling it upwards. The tail-mounted propulsion structure (70) includes an arc-shaped support plate (20) on the central axis (19), elastic tentacles (1), and a second pull line (3). Each set of elastic tentacles (1) and the second pull line (3) are evenly distributed along the central axis. The elastic tentacles (1) are connected to the arc-shaped support plate (20). Each elastic tentacle (1) consists of two different elastic plates. The upper elastic plate (31) is narrower, and the lower elastic plate (32) is wider. The narrower width of the upper elastic plate (31) makes the elastic tentacle (1) more flexible as it moves upwards. When the central axis (19) retracts, there will be no collision or interference between the elastic tentacles. The lower elastic plate (32) is wide, so that when the elastic tentacles (1) retract toward the central axis (19), the drainage volume increases. One end of the second pull line (3) is connected to the elastic tentacles (1), and the other end is wound and connected to the second winding wheel (2). When the second winding wheel (2) rotates, the length of the second pull line (3) decreases. The second pull line (3) pulls the elastic tentacles (1) toward the central axis (19). When the elastic tentacles (1) move toward the center, they will drain water, so that the bionic jellyfish robot can obtain thrust.

2. The biomimetic jellyfish robot according to claim 1, characterized in that, The head probe device includes a first circular support plate (24), a second circular support plate (21), a head probe (25), a flexible cable, and a rigid cable. The head probe (25) contains an environmental information sensor. The first circular support plate (24) and the second circular support plate (21) are connected by a tension structure.

3. The biomimetic jellyfish robot according to claim 2, characterized in that, The head probe (25) can extend and retract relative to the central axis (19).

4. The biomimetic jellyfish robot according to claim 3, characterized in that, The tensioning structure includes multiple flexible cables and rigid cables. The flexible cables include a second spring (23) and a flexible rope (22). One end of the second spring (23) is connected to the first circular support plate (24), and the other end is connected to the flexible rope (22). One end of the flexible rope (22) is connected to the second spring (23), and the other end is hinged to the second circular support plate (21). The rigid cable includes a third rod (28), a fourth rod (27), and a third spring (26). One end of the third rod (28) is hinged to the second circular support plate (21), and the other end is hinged to the fourth rod (27). The fourth rod (27) is connected to the third rod (28) at one end and to the third spring (26) at the other end. The third spring (26) is connected to the fourth rod (27) at one end and to the first circular support plate (24) at the other end. The side where the third rod (28) and the fourth rod (27) are connected is a cavity. The fourth rod (27) is inserted into the cavity of the third rod (28). The distance between the far ends of the third rod (28) and the fourth rod (27) can be changed. The tension structure allows the probe device to extend and retract.

5. The biomimetic jellyfish robot according to claim 4, characterized in that, The lower drive and control structure (60) of the biomimetic jellyfish robot includes a shell (33), a first winding wheel (4), a second winding wheel (2), a bottom camera (18), and an internal drive and control device. The shell (33) is a cuboid. The internal drive and control device includes an upper position, a main control unit, a motor control unit, and a motor. Each set of winding wheels includes a first winding wheel (4) and a second winding wheel (2). The first winding wheel (4) and the second winding wheel (2) are placed in parallel. Each set of winding wheels is evenly distributed along the central axis (19). The first winding wheel (4) is connected to the first rod (7) of the head through a first pull line (5). The first winding wheel (4) is connected to the motor inside the shell cavity. The second winding wheel (2) is connected to the elastic tentacle (1) through a second pull line (3). The second winding wheel (2) is connected to the motor inside the shell cavity. The first winding wheel (4) and the second winding wheel (2) located on the same side are connected to the same motor.

6. The biomimetic jellyfish robot according to claim 5, characterized in that, Each group of head drive rods, winding wheels, and elastic tentacles are evenly distributed around the central axis (19).

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