A self-supplied magnetic field type magnetic soft jellyfish robot

Abstract

This application discloses a self-powered magnetic field soft-body jellyfish robot, belonging to the field of underwater robotics. The application comprises a soft magnetic body, an electromagnetic coil, and a density adjustment chamber. The soft magnetic body is made of a mixture of magnetic particles and silica gel. The coil has two operating modes: first, connecting an external power supply to the electromagnetic coil via a lead wire to generate a magnetic field; second, integrating the power supply and magnetic control system by placing a micropower supply inside the jellyfish, achieving the effect of self-powering and self-magnetizing the jellyfish without external leads. The density adjustment chamber adjusts the jellyfish robot's near-water density, allowing it to remain suspended in the water without energy input. The electromagnetic coil provides the jellyfish robot with a magnetic field of a specific waveform. The magnetic body deforms under the influence of the magnetic field, enabling the jellyfish to achieve controllable buoyancy and diving, providing an effective method for resource surveying and detecting complex underwater environments.

Description

Technical Field

[0001] The present application belongs to the field of underwater robot technology, and more specifically, relates to a self-supplied magnetic field type magnetic soft jellyfish robot. Background Art

[0002] Jellyfish robots mainly refer to robots that are shaped like jellyfish and have jellyfish-like movement patterns. They have important application value and broad application prospects in underwater resource exploration, environmental monitoring, equipment fault diagnosis and other fields.

[0003] Currently, jellyfish robots mostly use material property-driven and electromagnetic actuation. Compared to material property-driven actuation, electromagnetic actuation offers faster response, greater driving force, and lower driving voltage. However, current electromagnetically driven jellyfish robots all use rigid transmission structures to convert electromagnetic energy into kinetic energy. This rigid transmission structure has drawbacks such as complex structure, high operating noise, and potential damage to fragile seabed organisms. Summary of the Invention

[0004] In response to the above defects or improvement needs of the existing technology, the present application provides a self-supplied magnetic field type magnetic soft jellyfish robot, the purpose of which is to solve the technical problem that the rigid transmission structure of the existing jellyfish robot is too complicated.

[0005] To achieve the above objectives, in a first aspect, the present application provides a self-supplied magnetic field type magnetic soft jellyfish robot, comprising:

[0006] The electromagnetic coil is used to convert electrical energy into magnetic energy and generate an axial magnetic field inside the electromagnetic coil;

[0007] The magnetic soft body is a flexible structure with magnetic properties and is located in the electromagnetic coil. Part of the magnetic soft body is fixed in the electromagnetic coil, and the non-fixed part of the magnetic soft body is driven by the magnetic field generated by the electromagnetic coil to deflect upward or downward in the fluid, generating reverse thrust to drive the jellyfish robot to float up or sink.

[0008] The density adjustment chamber is used to adjust the overall density of the jellyfish robot by controlling the gas-liquid ratio in the chamber.

[0009] Preferably, the magnetic soft body is a planar centrally symmetrical structure.

[0010] Preferably, the angle θ between the magnetization direction of the magnetic soft body and the axial direction of the magnetic soft body satisfies: 45°≤θ≤75°.

[0011] Preferably, the magnetic soft body includes a fixed part and a plurality of wings; the fixed part is used to fix the soft magnetic body in the center of the electromagnetic coil and make the soft magnetic body perpendicular to the axial direction of the electromagnetic coil, and the wings are evenly distributed around the fixed part.

[0012] Preferably, the angle θ between the magnetization direction of the wing and the axial direction of the magnetic soft body satisfies: 45°≤θ≤75°.

[0013] Preferably, the shape of the wing is trapezoidal.

[0014] Preferably, it also includes: a micro power supply for providing electrical energy to the electromagnetic coil.

[0015] Preferably, it also includes: a protective cavity for placing the electromagnetic coil and isolating the electromagnetic coil from the external environment; a bracket for connecting the protective cavity, the magnetic soft body and the density adjustment cavity together; and a clip for fixing part of the magnetic soft body on the bracket.

[0016] In a second aspect, the present application provides a control method for a self-supplied magnetic field type magnetic soft jellyfish robot, the control method comprising:

[0017] Controlling the density adjusts the gas-liquid ratio within the cavity, allowing the jellyfish robot to remain suspended in the external fluid;

[0018] An alternating current of a preset waveform is passed through the electromagnetic coil to generate an axial alternating magnetic field in the electromagnetic coil;

[0019] The magnetic soft body in the electromagnetic coil deforms under the action of the alternating magnetic field, swings up and down in the fluid, generates reverse thrust, and drives the jellyfish robot to rise or fall.

[0020] In a third aspect, the present application provides a method for preparing a magnetic soft body of a jellyfish robot, wherein the control method comprises:

[0021] mixing magnetic particles with a flexible material matrix;

[0022] Pour the uniformly mixed mixture into a magnetic soft mold and let the mixture stand until it solidifies;

[0023] Demolding the solidified mixture to obtain a magnetic soft body including a fixed portion and a plurality of fins;

[0024] Place the magnetic soft body into the magnetizing film mold and fix it, and make the angle between the wings of the magnetic soft body and the direction of the magnetizing magnetic field be a preset value;

[0025] The magnetic film is placed in a magnetizing magnetic field to magnetize the magnetic soft body therein.

[0026] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the existing technologies:

[0027] (1) This application utilizes the property of magnetic soft bodies that can produce deformation according to changes in the external magnetic field, and uses magnetic soft bodies to imitate the moving parts of jellyfish. Driven by the external magnetic field, the magnetic soft bodies swing like jellyfish, converting electromagnetic energy into kinetic energy to drive the jellyfish robot to move, thereby solving the defects of traditional jellyfish robots such as overly complex rigid transmission structures, high working noise, and easy damage to fragile seabed creatures.

[0028] (2) Compared with the rigid transmission structure, the driving voltage required by the magnetic soft body in this application is lower. Therefore, this application also integrates the power supply and electromagnetic coil into the jellyfish robot, achieving integration under the premise of miniaturization, getting rid of the huge magnetic source required by the traditional magnetically controlled jellyfish robot, expanding the range of activities of the jellyfish robot, and providing a basis for the wireless control of the jellyfish robot.

[0029] (3) The magnetic soft body in the jellyfish robot of the present application adopts a planar structure, which is smaller in size than a rigid transmission structure and can generate greater thrust in a smaller size structure.

[0030] (4) Compared with traditional magnetically controlled jellyfish robots and jellyfish robots driven by material properties, the preparation process of the magnetic software of the jellyfish robot in this application is simple and low-cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is an exploded view of the structure of a jellyfish robot provided in Example 1 of the present application;

[0032] Figure 2 This is a side view of the structure of a jellyfish robot provided in Example 1 of the present application;

[0033] Figure 3 This is an exploded view of the structure of a jellyfish robot provided in Example 2 of the present application;

[0034] Figure 4 This is a structural perspective view of a jellyfish robot provided in Example 2 of the present application;

[0035] Figure 5 This is a schematic diagram of the appearance of a magnetic soft body provided in an embodiment of the present application;

[0036] Figure 6 This is a schematic diagram of the preparation process of a magnetic soft body provided in an embodiment of the present application;

[0037] Figure 7 Schematic diagram of a magnetizing mold provided in an embodiment of the present application;

[0038] Figure 8 This is a schematic diagram of the deformation principle of the magnetic soft body provided in an embodiment of the present application;

[0039] Figure 9This is a test schematic diagram of a jellyfish robot provided in an embodiment of the present application.

[0040] In all the drawings, the same reference numerals are used to represent the same elements or structures, wherein: 1 is a bracket, 2 is a rubber plug, 3 is an air chamber hole, 4 is a semicircular air chamber, 5 is a circular coil sealing plate, 6 is a clamp, 7 is a magnetized magnetic soft body, 8 is a coil shell, 9 is an electromagnetic coil, 10 is a lead hole, 11 is a semicircular air chamber, 12 is a circular coil sealing plate, 13 is a connecting shaft socket, 14 is a connecting shaft, 15 is a connecting hole in the middle of the magnetic soft jellyfish, 16 is a magnetizing mold, 17 is silica gel, 18 is a beaker, 19 is a glass rod, 20 is a mixed and degassed magnetic gel, 21 is an uncured magnetic soft jellyfish, 22 is a jellyfish mold, 23 is tweezers, 24 is a cured magnetic soft jellyfish, 25 is a magnetizing coil, 26 is NdFeB particles, 27 is a lead, 28 is a water tank, 29 is a fixing clamp, 30 is a jellyfish robot, 31 is a built-in power supply waterproof shell, and 32 is a built-in power supply. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0042] The main components of the jellyfish robot in this application include:

[0043] The electromagnetic coil is used to convert electrical energy into magnetic energy and generate an axial magnetic field inside the electromagnetic coil;

[0044] The magnetic soft body is a flexible structure with magnetic properties and is located in the electromagnetic coil. Part of the magnetic soft body is fixed in the electromagnetic coil, and the non-fixed part of the magnetic soft body is driven by the magnetic field generated by the electromagnetic coil to deflect upward or downward in the fluid, generating reverse thrust to drive the jellyfish robot to float up or sink.

[0045] The density adjustment chamber is used to adjust the overall density of the jellyfish robot by controlling the gas-liquid ratio in the chamber.

[0046] The jellyfish robot of the present application is now further described through examples:

[0047] Example 1:

[0048] like Figure 1 、 2The structure of a jellyfish robot according to Example 1 of the present application is shown. The electromagnetic coil 9 is sealed between a coil housing 8 and a circular coil sealing plate 5. A magnetic element 7 is secured to a bracket 1 by a clamp 6. A semi-circular air chamber 4 is attached to the coil housing 8. The semi-circular air chamber 4 and the bracket 1 are connected and secured, with the magnetic element 7 positioned exactly in the center of the electromagnetic coil 9. The semi-circular air chamber 4 has an air chamber hole 3 with a rubber plug 2 in place. This hole 3 adjusts the gas-liquid ratio in the circular air chamber 4, thereby varying the overall density of the jellyfish robot. A wire hole 10 is located at the bottom of the coil housing 8, through which the power cord of the electromagnetic coil 9 is passed.

[0049] The radius of the magnetic soft body 7 is 15mm and the thickness is 1.5mm. The wings of the magnetic soft body 7 are trapezoidal in structure, the height of the trapezoid is 10mm, the upper base of the trapezoid is connected, and the lower base of the trapezoid is a straight line of 11.76mm. Figure 3 .

[0050] Those skilled in the art will appreciate that, in addition to the trapezoidal shape, the shape of the wing may also be rectangular, triangular, fan-shaped, circular, semicircular, bionic fin-shaped, bionic wing-shaped, blade-shaped, or petal-shaped.

[0051] A 4mm diameter circular hole is left in the center of the magnetic soft body 7. The circular hole is used to facilitate the connection of the magnetic soft body 7 with other components. In this embodiment, the bracket 1 passes through the circular hole, and the clamp 6 clamps the circular hole up and down, thereby fixing the soft magnetic body to the bracket 1.

[0052] To further ensure that the jellyfish robot can stably float in water when not in use, a semi-circular air chamber 4 is selected as the jellyfish robot's density adjustment unit. The semi-circular air chamber 4 has an internal diameter of 35mm, an external diameter of 57mm, and a shell thickness of 1mm. The semi-circular air chamber 4 is provided with an air chamber hole 3 with a diameter of 1mm. The function of the air chamber hole 3 is to inject water into the semi-circular air chamber 4 through the hole to achieve the purpose of density adjustment. After injecting an appropriate amount of water, the hole is sealed with a rubber plug 2. The rubber plug 2 maintains its position under the effect of the surface tension of the water and does not shift. The semi-circular air chamber 4 is connected to a bracket 1. The bracket's central axis passes through a 4mm circular hole in the center of a magnetic soft body 7 and is fixed by a fixture 6 with an internal diameter of 4mm, an external diameter of 6mm, and a thickness of 1mm.

[0053] The magnetic coil 9 that drives the soft magnetic element is a copper wire coil with an inner diameter of 38mm, an outer diameter of 54mm, and a thickness of 11mm. The coil wire is 0.2mm diameter enameled copper wire. The magnetic coil 9 is sealed in a coil housing 8 to maintain insulation, ensuring the safety of the jellyfish robot during underwater operations. A half-meter lead is left at each end of the coil for connection to the power supply. The power supply supplies asymmetrical alternating current with a current bias, allowing the magnetic coil 9 to generate an alternating magnetic field that drives the soft magnetic element. A reasonable alternating current is passed through the magnetic coil 9 to ensure stable temperature during operation, preventing burnout due to overcurrent.

[0054] To further ensure the proper operation of magnetic coil 9, it is placed in the cavity of coil housing 8, which has an inner diameter of 35 mm, an outer diameter of 57 mm, and a thickness of 13 mm. This cavity is sealed with a 57 mm diameter annular coil sealing plate 5. A circular lead-through hole 10 with a diameter of 1 mm is provided at the bottom of coil housing 8 for leading the coil wire out. After the wire is led out, the hole is sealed, ensuring that magnetic coil 9 operates in a sealed structure that is completely isolated from water.

[0055] When an alternating current is passed through the magnetic coil 9, an alternating magnetic field is generated inside the magnetic coil 9. The magnetic soft body is deformed under the action of the magnetic moment, thereby driving the entire jellyfish robot to float up and dive down.

[0056] Example 2:

[0057] like Figure 4 、 5 The structure of a jellyfish robot according to Example 2 of the present application is shown; wherein, the magnetic coil 9 is placed in the coil shell 8, and the coil shell 8 is sealed by a circular coil sealing plate 12. A semicircular air chamber 11 is fixedly connected to the circular coil sealing plate 12. A connecting shaft 12 is fixed under the circular coil sealing plate 12, and the circular hole 15 in the middle of the soft magnetic body 7 passes through the connecting shaft 12 and is fixed to the connecting shaft 6 by a clamp 6. After being fixed, the soft magnetic body 7 is located exactly in the center of the magnetic coil 9. A built-in power supply waterproof shell 31 is accommodated below the semicircular air chamber 11, and a built-in power supply 32 is placed in the built-in power supply waterproof shell 31. The built-in power supply 32 is used to power the magnetic coil 9. An air chamber hole 3 is opened on the semicircular air chamber 11, and a rubber plug 2 is placed on the air chamber hole 3.

[0058] In this embodiment, to ensure the jellyfish robot remains stably suspended in the water when not in use, a semicircular air chamber 11 is used as the robot's density adjustment unit. This chamber, with a diameter of 64 mm, allows the robot to float on the water surface. A 1 mm diameter air hole 3 is defined within this chamber, allowing water to be injected into the cavity to adjust the robot's density. After the appropriate amount of water is injected, the hole 3 is sealed with a rubber plug 2, which maintains its position due to the surface tension of the water.

[0059] The magnetic coil 9 is a copper wire coil with an inner diameter of 44mm, an outer diameter of 64mm, and a thickness of 10mm. The coil wire is 0.2mm in diameter, and the enameled copper wire is insulated in the area covered with insulating varnish, ensuring the safety of the jellyfish robot during underwater operations. A half-meter lead is left at each end of the magnetic coil 9 for connection to the built-in power supply 32. The built-in power supply 32 supplies asymmetric alternating current with a current bias, allowing the magnetic coil 9 to generate an alternating magnetic field that drives the magnetic soft body 7. An alternating current with an amplitude of 400mA and a frequency of 4Hz is passed through the magnetic coil 9, ensuring that the temperature of the magnetic coil 9 is stable during current flow and preventing burns due to overcurrent.

[0060] To further ensure the proper operation of magnetic coil 9, it is placed in a coil housing 8 with an inner diameter of 41 mm, an outer diameter of 67 mm, and a height of 12 mm. This is sealed with a circular coil sealing plate 12 with a diameter of 67 mm. A circular lead hole 10 with a diameter of 1 mm is provided below coil housing 8 for leading the wires from magnetic coil 9. After leading the wires, the housing is sealed, ensuring that magnetic coil 9 operates in a sealed structure that is completely isolated from water.

[0061] When an alternating current is passed through the magnetic coil 9, an alternating magnetic field is generated inside the magnetic coil 9. The magnetic soft body 7 is deformed under the action of the magnetic moment, driving the entire jellyfish robot to float up. When the jellyfish robot reaches the water surface, it can remain stably suspended on the water surface. After the power is turned off, the jellyfish robot naturally sinks to its original position.

[0062] Experimental process: The jellyfish robot is referenced Figure 4 Assemble the robot and inject water into its air chamber to bring its density close to that of water, causing it to slowly sink in the water without external energy input. Internal power supply 32 supplies alternating current to electromagnetic coil 9, causing the magnetic element to float upwards due to the magnetic torque generated by electromagnetic coil 9.

[0063] Example 3:

[0064] Based on Example 2, a micropower supply is integrated into the waterproof housing of the self-powered magnetic field jellyfish robot. The micropower supply is used to power the coil that drives the magnetic soft jellyfish. After the micropower supply and the coil are connected, the coil is encapsulated and waterproofed. The micropower supply can be remotely triggered. The self-powered magnetic field capsule robot can float and sink under the power of the micropower supply.

[0065] In this application, the preparation process of the magnetic soft body in the jellyfish robot is as follows: Figure 6 As shown, the specific steps include:

[0066] The first step is to mix the magnetic particles with the soft material matrix, inject the evenly mixed magnetic mixture into a pre-printed mold, and let it stand and wait for solidification.

[0067] The magnetic particles may be NdFeB magnetic particles, and the soft material matrix may be silica gel or PDMS.

[0068] In the second step, the solidified magnetic mixture is demolded to obtain a magnetic soft body with six fins.

[0069] The third step is to magnetize the magnetic soft body with six wings obtained in the second step. Figure 7 The 3D-printed magnetization mold shown here constrains a six-winged magnetic soft object, aligning each wing with a 60° angle to the pulsed magnetic field required for magnetization. The mold is then placed in a pulsed magnetic field generator to magnetize the soft object, causing it to bend downward under the influence of an axial magnetic field along the direction of gravity. The direction of the pulsed magnetic field is aligned with the axis of the soft magnetic object.

[0070] Step 4. After magnetization, the wings of the magnetic soft body can be bent upward or downward in the axial magnetic field. The bending direction and angle of the wings are related to the size and direction of the applied magnetic field. When a vertical upward magnetic field is applied, the wings of the magnetic soft body rise; when a vertical downward magnetic field is applied, the wings of the magnetic soft body bend downward.

[0071] In another embodiment of a soft magnetic body preparation process, a 3D-printed magnetization mold constrains a magnetic soft body having six fins so that the angle between each fin of the magnetic soft body and the pulsed magnetic field required for magnetization is 45°.

[0072] In another embodiment of a soft magnetic body preparation process, a 3D-printed magnetization mold constrains a magnetic soft body having six fins so that the angle between each fin of the magnetic soft body and the pulsed magnetic field required for magnetization is 75°.

[0073] Through verification of the above multiple embodiments, it has been found that when the angle θ between the magnetization direction of the magnetic body and the axial direction of the magnetic body satisfies 45°≤θ≤75°, the magnetic body can be driven by the magnetic field generated by the electromagnetic coil to swing upward or downward in the fluid, generating reverse thrust to drive the jellyfish robot to float or sink.

[0074] like Figure 8 The figure below shows the principle of deformation of a magnetic soft body under the action of a magnetic field:

[0075] When the coil generates a vertically upward magnetic field, the magnetic body is pulled upward by the magnetic moment. When the coil generates a vertically downward magnetic field, the magnetic body is bent downward by the magnetic moment. The deformation effect of the magnetic body is related to the strength of the magnetic field provided by the coil. Figure 8The figure in the middle shows the deformation effect under a uniform field in a single direction. Without considering the edge effect, the magnetic field in the electromagnetic coil can be approximately regarded as a single direction. The magnitude of the magnetic field generated by the electromagnetic coil increases with the radial direction, and the magnitude of the magnetic field generated by the electromagnetic coil is equal at the same radius.

[0076] The control process of the jellyfish robot in this application is as follows:

[0077] The first step is to place the electromagnetic coil in a waterproof coil housing. The electromagnetic coil serves as the system's magnetic source. The magnetic soft body deforms under the influence of the magnetic source. When the electromagnetic coil is de-energized, the magnetic soft body naturally droops in the liquid environment, and the entire jellyfish robot, with its own magnetic field, remains suspended in the liquid.

[0078] In the second step, an alternating current with a specific waveform is passed through the electromagnetic coil, and an alternating magnetic field is generated around the electromagnetic coil.

[0079] In the third step, the magnetic soft body is deformed under the action of the alternating magnetic field.

[0080] The fourth step is to control the frequency and magnitude of the alternating current. When the alternating current is passed into the electromagnetic coil, an alternating magnetic field is generated. The magnetic soft jellyfish robot with its own magnetic field flaps the water under the action of the alternating magnetic field to float up.

[0081] like Figure 9 The following is a schematic diagram of a jellyfish robot experiment:

[0082] The figure shows three states of the jellyfish robot 30 in the water tank 28, namely sinking, floating and rising.

[0083] The lead wire 27 that provides electrical energy to the electromagnetic coil is fixed to the wall of the water tank 28 via a fixing clamp 29. The pulling force of the lead wire 27 on the jellyfish robot 30 during the test is extremely small and can be ignored.

[0084] Before the experiment begins, the density is adjusted to adjust the gas-liquid ratio in the cavity so that the overall density of the jellyfish robot is consistent with the density of the liquid in the tank, and the jellyfish robot 30 will be in a suspended state in the liquid.

[0085] After the electromagnetic coil 9 in the jellyfish robot 30 is powered by the lead 27, a magnetic moment is generated in the electromagnetic coil 9, driving the magnetic soft body 7 to deform and slap the liquid, thereby generating a reverse thrust to push the jellyfish robot 30 up or down.

[0086] It should be understood that expressions such as "include" and "may include" used in this application indicate the existence of the disclosed functions, operations, or constituent elements, and do not limit one or more additional functions, operations, and constituent elements. In this application, terms such as "include" and / or "have" may be interpreted as indicating specific characteristics, numbers, operations, constituent elements, components, or combinations thereof, but may not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.

[0087] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. Among them, "fixed connection" means that the two are connected to each other and the relative position relationship after the connection remains unchanged. "Rotational connection" means that the two are connected to each other and can rotate relative to each other after the connection. "Sliding connection" means that the two are connected to each other and can slide relative to each other after the connection. The directional terms mentioned in the embodiments of the present application, such as "top", "bottom", "inside", "outside", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of the present application, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0088] In addition, in the embodiments of the present application, the mathematical concepts mentioned include symmetry, equality, parallelism, and perpendicularity. These limitations are all for the current state of the art, rather than being absolutely strict definitions in a mathematical sense. A small amount of deviation is allowed, and it is possible to be approximately symmetric, approximately equal, approximately parallel, or approximately perpendicular. For example, A and B are parallel, which means that A and B are parallel or approximately parallel, and the angle between A and B can be between 0 and 10 degrees. A and B are perpendicular, which means that A and B are perpendicular or approximately perpendicular, and the angle between A and B can be between 80 and 100 degrees.

[0089] It will be understood that the various numerical numbers involved in the embodiments of the present application are merely distinctions for the convenience of description and are not intended to limit the scope of the embodiments of the present application.

[0090] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A self-supplied magnetic field type magnetic soft jellyfish robot, characterized in that: include: The electromagnetic coil is used to convert electrical energy into magnetic energy and generate an axial magnetic field inside the electromagnetic coil; The magnetic soft body is a flexible structure with magnetic properties and is located in the electromagnetic coil. Part of the magnetic soft body is fixed in the electromagnetic coil, and the non-fixed part of the magnetic soft body is driven by the magnetic field generated by the electromagnetic coil to deflect upward or downward in the fluid, generating reverse thrust to drive the jellyfish robot to float up or sink. The magnetic soft body includes a fixing portion and a plurality of fins; the fixing portion is used to fix the soft magnetic body in the center of the electromagnetic coil and make the soft magnetic body perpendicular to the axial direction of the electromagnetic coil, and the fins are evenly distributed around the fixing portion; The density adjustment chamber is used to adjust the overall density of the jellyfish robot by controlling the gas-liquid ratio in the chamber; A protective cavity is used to place the electromagnetic coil and isolate the electromagnetic coil from the external environment; The bracket is used to connect the protective cavity, the magnetic soft body and the density adjustment cavity together.

2. The self-supplied magnetic field type magnetic soft jellyfish robot according to claim 1, characterized in that: The magnetic soft body is a planar central symmetrical structure.

3. The self-supplied magnetic field type magnetic soft jellyfish robot according to claim 1, characterized in that: The angle between the magnetization direction of the magnetic soft body and the axial direction of the magnetic soft body satisfy: .

4. The self-supplied magnetic field type magnetic soft jellyfish robot according to claim 1, characterized in that: The angle between the magnetization direction of the wing and the axial direction of the magnetic soft body satisfy: .

5. The self-supplied magnetic field type magnetic soft jellyfish robot according to claim 1, characterized in that: The shape of the wing is trapezoidal.

6. The self-supplied magnetic field type magnetic soft jellyfish robot according to claim 1, characterized in that: Also includes: A micro power supply used to provide electrical energy to the electromagnetic coil.

7. The self-supplied magnetic field type magnetic soft jellyfish robot according to claim 1, characterized in that: Also includes: The clip is used to fix the magnetic soft part on the bracket.

8. A control method for a self-supplied magnetic field type magnetic soft jellyfish robot, characterized in that: The control method is used to control the self-supplied magnetic field type magnetic soft jellyfish robot according to any one of claims 1 to 7, comprising: Controlling the density adjusts the gas-liquid ratio within the cavity, allowing the jellyfish robot to remain suspended in the external fluid; An alternating current of a preset waveform is passed through the electromagnetic coil to generate an axial alternating magnetic field in the electromagnetic coil; The magnetic soft body in the electromagnetic coil deforms under the action of the alternating magnetic field, swings up and down in the fluid, generates reverse thrust, and drives the jellyfish robot to rise or fall.

9. A method for preparing a magnetic soft body of a jellyfish robot, characterized in that: The preparation method is used to prepare the self-supplied magnetic field type magnetic soft jellyfish robot according to any one of claims 1 to 7, comprising: mixing magnetic particles with a flexible material matrix; Pour the uniformly mixed mixture into a magnetic soft mold and let the mixture stand until it solidifies; Demolding the solidified mixture to obtain a magnetic soft body including a fixed portion and a plurality of fins; Place the magnetic soft body into the magnetizing film mold and fix it, and make the angle between the wings of the magnetic soft body and the direction of the magnetizing magnetic field be a preset value; The magnetic film is placed in a magnetizing magnetic field to magnetize the magnetic soft body therein.

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