Bionic jellyfish and use method thereof

Abstract

The invention discloses a bionic jellyfish and a use method thereof. Comprising a sealed cabin, an electric control unit and a floating assembly which are arranged in the sealed cabin, swinging elastic pieces circumferentially arranged on the side portion of the sealed cabin, a middle shaft assembly arranged on the lower end face of the sealed cabin, a plurality of Y-shaped connecting rods in one-to-one correspondence with the swinging elastic pieces, and a plurality of memory alloy elastic pieces in one-to-one correspondence with the Y-shaped connecting rods. The memory alloy elastic piece is used for driving the Y-shaped connecting rod to open and close so as to change the radial distance between the swing elastic piece and the center shaft assembly, and the memory alloy elastic piece is electrically connected with the electric control unit. The bionic jellyfish has the advantages that through cooperation of the Y-shaped connecting rod and the memory alloy elastic piece, rapid swinging of the swinging elastic piece can be achieved, the moving stability and the moving speed of the bionic jellyfish in water are improved, and the whole bionic jellyfish is simple and compact in structure and low in cost.

Description

Technical Field

[0001] The invention relates to the field of bionic jellyfish, in particular to a bionic jellyfish and a use method thereof. Background Art

[0002] Bionic jellyfish is a robot that imitates the appearance and movement of jellyfish in nature. Bionic jellyfish are widely used in underwater detection, underwater data collection and other fields. Traditional bionic jellyfish are generally driven by setting radial memory alloy and axial memory alloy. This method simply relies on the memory alloy and water to provide power, which will lead to complex structure and high cost.

[0003] In view of this, it is necessary to provide a bionic jellyfish and a method for using the same. Summary of the invention

[0004] The bionic jellyfish provided by the present invention effectively solves the problems of complex structure and high cost of existing jellyfish.

[0005] The technical solution adopted by the present invention is:

[0006] The bionic jellyfish comprises a sealed cabin, an electric control unit and a floating assembly arranged in the sealed cabin, a swing spring piece circumferentially arranged on the side of the sealed cabin, a central axis assembly arranged on the lower end surface of the sealed cabin, a plurality of Y-shaped connecting rods corresponding to the swing spring pieces one by one, and a plurality of memory alloy spring pieces corresponding to the Y-shaped connecting rods one by one, wherein the memory alloy spring pieces are used to drive the Y-shaped connecting rods to open and close so as to change the radial distance between the swing spring piece and the central axis assembly, and the memory alloy spring pieces are electrically connected to the electric control unit.

[0007] Furthermore, the Y-shaped connecting rod includes a rod No. 1, a rod No. 2, and a rod No. 3, one end of the rod No. 1 is connected to the spring, one end of the rod No. 2 and one end of the rod No. 3 are hinged to the other end of the rod No. 1, the other end of the rod No. 2 is hinged to the middle axis assembly, and the other end of the rod No. 3 is hinged to the middle axis assembly, and both ends of the memory alloy spring are respectively connected to the rod No. 2 and the rod No. 3.

[0008] Furthermore, two ends of the memory alloy spring are respectively connected to opposite sides of the second rod and the third rod, and the memory alloy spring contracts toward one side of the central axis component when deformed.

[0009] Furthermore, the central axis assembly includes a connecting shaft arranged on the lower end surface of the sealed cabin, a No. 1 slide and a No. 2 slide sleeved on the connecting shaft, the other end of the No. 2 rod is hinged to the No. 1 slide, and the other end of the No. 3 rod is hinged to the No. 2 slide.

[0010] Furthermore, the central shaft assembly also includes an elastic member arranged between the first slide seat and the second slide seat.

[0011] Furthermore, the elastic member is a compression spring, which is sleeved on the connecting shaft, and two ends of the compression spring respectively abut against the lower end surface of the No. 1 slide seat and the upper end surface of the No. 2 slide seat.

[0012] Furthermore, the No. 1 slide seat and the No. 2 slide seat have the same structure, the No. 1 slide seat comprises a sliding block sleeved on the connecting shaft and a plurality of No. 1 blocks circumferentially arranged on the side of the connecting block, and the No. 2 rod is hinged to the No. 1 block.

[0013] Furthermore, the swinging spring piece includes a connecting portion fixedly connected to the side of the sealed cabin, a sheet-like strip fixedly connected to the connecting portion, and a tail connected to the lower end of the sheet-like strip. Under the same length, the area of ​​the tail portion used to beat the water flow is larger than the area of ​​the sheet-like strip used to beat the water flow, and the number of the swinging spring pieces is at least three.

[0014] Furthermore, the sealed cabin includes a cabin body and a hatch cover, the upper end surface of the cabin body is provided with a hatch, the hatch cover is arranged on the hatch, the side of the cabin body is provided with a flat portion for installing a swinging spring, and the upper end of the cabin body and the hatch cover form a hemispherical arc portion when they are in a closed state.

[0015] The method of using the bionic jellyfish is to control the memory alloy spring to be powered on and off continuously through the electronic control unit, so that the memory alloy spring is continuously bent and reset, driving the Y-shaped connecting rod to open and close, changing the radial distance between the swing spring and the central axis assembly to realize the swing of the swing spring, thereby realizing movement.

[0016] Beneficial effects of the invention:

[0017] 1. Through the cooperation of the Y-type connecting rod and the memory alloy spring, the swing spring can be swung quickly, thereby improving the stability and movement speed of the bionic jellyfish in the water, making the entire bionic jellyfish structure simple, compact and low-cost.

[0018] 2. By arranging a compression spring on the connecting shaft, the elastic force of the compression spring is used to assist the No. 1 sliding seat and the No. 2 sliding seat to move away from each other, which helps to increase the speed at which the swinging spring piece swings inward.

[0019] 3. The structural design of the middle axis assembly adopts the mode of matching the connecting shaft with the No. 1 sliding seat and the No. 2 sliding seat, which can realize the stable opening and closing drive of the No. 2 rod and the No. 3 rod, and ensure the frequency, speed and stability of the swinging spring.

[0020] 4. The tail design of the swinging spring can ensure that there is enough contact area between the end of the swinging spring and the water flow, ensuring that the bionic jellyfish has enough power to move. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is an overall schematic diagram of the bionic jellyfish provided in an embodiment of the present application.

[0022] Figure 2 A schematic diagram of a swinging spring, a memory alloy spring, a Y-shaped connecting rod and a central axis assembly of a bionic jellyfish provided in an embodiment of the present application.

[0023] The markings in the figure are: 1, sealed cabin; 2, swing spring; 3, middle axis assembly; 4, memory alloy spring; 5, Y-type connecting rod; 51, rod No. 1; 52, rod No. 2; 53, rod No. 3; 31, connecting shaft; 32, slide No. 1; 33, slide No. 2; 34, elastic member; 321, sliding block; 322, block No. 1; 21, connecting part; 22, sheet strip; 23, tail; 11, hatch; 12, cabin body; DETAILED DESCRIPTION

[0024] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0025] like Figure 1 and Figure 2 As shown, the first embodiment provided by the present application is a bionic jellyfish, and its structure includes a sealed cabin 1, an electric control unit and a floating assembly arranged in the sealed cabin 1, a swing spring piece 2 circumferentially arranged on the side of the sealed cabin 1, a central axis assembly 3 arranged on the lower end surface of the sealed cabin 1, a plurality of Y-shaped connecting rods 5 corresponding to the swing spring piece 2, and a plurality of memory alloy spring pieces 4 corresponding to the Y-shaped connecting rods 5, wherein the memory alloy spring piece 4 is used to drive the Y-shaped connecting rod 5 to open and close so as to change the radial distance between the spring piece and the central axis assembly 3. The memory alloy spring piece 4 is electrically connected to the electric control unit.

[0026] It should be noted that a steering gear can be arranged under the middle axis assembly to control the moving direction. In actual use, the electronic control unit controls the memory alloy spring 4 to be continuously powered on and off, so that the memory alloy spring 4 is continuously bent and reset, driving the Y-shaped connecting rod 5 to open and close, changing the radial distance between the swing spring 2 and the middle axis assembly 3 to realize the swing of the swing spring 2, thereby realizing movement.

[0027] In the above design, the structural design and specific implementation of the bionic jellyfish can effectively realize stable movement in water, making the entire bionic jellyfish structure simple, compact and low-cost.

[0028] Specifically: Figure 1 and Figure 2 As shown, the Y-shaped connecting rod 5 includes a rod 1 51, a rod 2 52, and a rod 3 53. One end of the rod 1 51 is connected to the spring, one end of the rod 2 52 and one end of the rod 3 53 are hinged to the other end of the rod 1 51, the other end of the rod 2 52 is hinged to the middle axis assembly 3, and the other end of the rod 3 53 is hinged to the middle axis assembly 3. Both ends of the memory alloy spring 4 are respectively connected to the rod 2 52 and the rod 3 53.

[0029] In actual use, when the memory alloy spring 4 contracts, the angle between the second rod 52 and the third rod 53 becomes smaller. Since the other ends of the second rod 52 and the third rod 53 are both connected to the middle shaft assembly 3, when the angle between the second rod 52 and the third rod 53 becomes smaller, the first rod 51 will move along the outside of the middle shaft assembly 3, driving the swing spring 2 to swing outward. When the memory alloy is reset from the contracted state, the angle between the second rod 52 and the third rod 53 becomes larger, driving the first rod 51 to move to one side of the middle shaft assembly 3, causing the swing spring 2 to swing inward.

[0030] In the above design, the structural design and specific implementation method of the Y-shaped connecting rod 5 can effectively realize the rapid swing of the swing spring piece 2.

[0031] Specifically: Figure 1 and Figure 2 As shown, two ends of the memory alloy spring piece 4 are respectively connected to the opposite sides of the second rod 52 and the third rod 53 , and the memory alloy spring piece 4 contracts toward one side of the middle shaft assembly 3 when deformed.

[0032] In actual use, the angle between the second rod 52 and the third rod 53 is reduced by the contraction of the memory alloy spring 4 .

[0033] In the above design, the second rod 52 and the third rod 53 are on the same vertical plane. By arranging the memory alloy spring piece 4 on the opposite side of the second rod 52 and the third rod 53, it can be ensured that when the number of swinging spring pieces 2 is too large, the deformation of the memory alloy spring piece 4 will not interfere with the adjacent Y-shaped connecting rods 5.

[0034] Specifically: Figure 1 and Figure 2 As shown, the middle axis assembly 3 includes a connecting shaft 31 arranged on the lower end surface of the sealed cabin 1, a No. 1 slide 32 and a No. 2 slide 33 sleeved on the connecting shaft 31, the other end of the No. 2 rod 52 is hinged to the No. 1 slide 32, and the other end of the No. 3 rod 53 is hinged to the No. 2 slide 33.

[0035] In actual use, when the angle between the second rod 52 and the third rod 53 becomes smaller, the first slide 32 and the second slide 33 move toward each other along the connecting shaft 31 driven by the second rod 52 and the third rod 53 respectively; when the angle between the second rod 52 and the third rod 53 becomes larger, the first slide 32 and the second slide 33 move away from each other along the connecting shaft 31 driven by the second rod 52 and the third rod 53 respectively.

[0036] In the above design, the structural design and specific implementation of the middle shaft assembly 3 facilitate the connection and follow-up of the second rod 52 and the third rod 53.

[0037] Specifically: Figure 1 and Figure 2 As shown, the middle shaft assembly 3 further includes an elastic member 34 disposed between the first slide seat 32 and the second slide seat 33 .

[0038] In actual use, when the No. 1 slide 32 and the No. 2 slide 33 move toward each other driven by the No. 2 rod 52 and the No. 3 rod 53, the two ends of the elastic member 34 are squeezed by the No. 1 slide 32 and the No. 2 slide 33, respectively, so that the elastic member 34 is compressed. When the memory alloy spring 4 is reset, the elastic force of the elastic member 34 can apply a pushing force to the No. 1 slide 32 and the No. 2 slide 33.

[0039] In the above design, the elastic member 34 is provided between the first slide 32 and the second slide 33 to effectively help the first slide 32 and the second slide 33 to move away from each other, which helps the second rod 52 and the third rod 53 to open.

[0040] Specifically: Figure 1 and Figure 2 As shown, the elastic member 34 is a compression spring, which is sleeved on the connecting shaft 31 , and the two ends of the compression spring are respectively against the lower end surface of the No. 1 slide seat 32 and the upper end surface of the No. 2 slide seat 33 .

[0041] In actual use, the compression spring is compressed by the first slide 32 and the second slide 33, and the compression spring is reset when the first slide 32 and the second slide 33 move away from each other driven by the second rod 52 and the third rod 53. The compression spring is always sleeved on the connecting shaft 31 during the deformation process.

[0042] In the above design, the elastic member 34 is configured as a compression spring, and the compression spring is sleeved on the connecting shaft 31, so that the compression spring can be easily assembled.

[0043] Specifically: Figure 1 and Figure 2 As shown, the No. 1 slide 32 and the No. 2 slide 33 have the same structure. The No. 1 slide 32 includes a sliding block 321 sleeved on the connecting shaft 31 and a plurality of No. 1 blocks 322 circumferentially arranged on the side of the connecting block. The No. 2 rod 52 is hinged to the No. 1 block 322.

[0044] In actual use, the sliding block 321 slides along the connecting shaft 31 , and the second rod 52 rotates relative to the first block 322 .

[0045] In the above design, the structural design and specific implementation of the No. 1 slide 32 and the No. 2 slide 33 can facilitate sliding on the connecting shaft 31 .

[0046] Specifically: Figure 1 and Figure 2As shown, the swing spring piece 2 includes a connecting portion 21 fixedly connected to the side of the sealed cabin 1, a sheet strip 22 fixedly connected to the connecting portion 21, and a tail portion 23 connected to the lower end of the sheet strip 22. The area of ​​the tail portion 23 used to beat the water flow is larger than the area of ​​the sheet strip 22 used to beat the water flow under the same length. The number of the swing spring pieces 2 is at least three. In the embodiment of the present application, the number of the swing spring pieces 2 is six, and the number of the Y-shaped connecting rod 5 and the memory alloy spring pieces 4 is also six.

[0047] In actual use, when the swinging spring piece 2 is driven by the Y-shaped connecting rod 5 to swing, the flapping force of the tail 23 in the water is greater than the flapping force of the sheet-like strip 22 .

[0048] In the above design, the structural design and specific implementation of the swing spring piece 2 can effectively generate a force between the swing spring piece 2 and the water, so as to facilitate the movement of the entire bionic jellyfish in the water.

[0049] Specifically: Figure 1 and Figure 2 As shown, the sealed cabin 1 includes a cabin body 12 and a hatch cover 11, the upper end surface of the cabin body 12 is provided with a hatch, the hatch cover 11 is arranged on the hatch, the side of the cabin body 12 is provided with a flat portion for installing a swing spring 2, and the upper end of the cabin body 12 and the hatch cover 11 form a hemispherical arc portion when they are in a closed state.

[0050] In actual use, when the sealed cabin 1 moves in the water, it is in the forward direction of the entire bionic jellyfish movement.

[0051] In the above design, the structural design and specific implementation of the sealed cabin 1 can utilize the hemispherical arc portion to reduce the resistance during the movement process.

[0052] The second embodiment provided by the present application is a bionic jellyfish, comprising a sealed cabin 1, an electric control unit and a floating assembly arranged in the sealed cabin 1, a swinging spring piece 2 circumferentially arranged on the side of the sealed cabin 1, a central axis assembly 3 arranged on the lower end surface of the sealed cabin 1, a plurality of Y-shaped connecting rods 5 corresponding one-to-one to the swinging spring piece 2, and a plurality of memory alloy spring pieces 4 corresponding one-to-one to the Y-shaped connecting rods 5, wherein the memory alloy spring piece 4 is used to drive the Y-shaped connecting rod 5 to open and close so as to change the radial distance between the swinging spring piece 2 and the central axis assembly 3, and the memory alloy spring piece 4 is electrically connected to the electric control unit. The Y-shaped connecting rod 5 includes a first rod 51, a second rod 52, and a third rod 53. One end of the first rod 51 is connected to a spring sheet, one end of the second rod 52 and one end of the third rod 53 are both hinged to the other end of the first rod 51, the other end of the second rod 52 is hinged to the middle shaft assembly 3, and the other end of the third rod 53 is hinged to the middle shaft assembly 3. The two ends of the memory alloy spring sheet 4 are respectively connected to the second rod 52 and the third rod 53. The two ends of the memory alloy spring sheet 4 are respectively connected to the opposite side of the second rod 52 and the third rod 53, and the memory alloy spring sheet 4 shrinks toward one side of the middle shaft assembly 3 when deformed. The middle shaft assembly 3 includes a connecting shaft 31 arranged on the lower end surface of the sealed cabin 1, a first slide seat 32 and a second slide seat 33 sleeved on the connecting shaft 31, the other end of the second rod 52 is hinged to the first slide seat 32, and the other end of the third rod 53 is hinged to the second slide seat 33. The central axis assembly 3 also includes an elastic member 34 disposed between the No. 1 slide 32 and the No. 2 slide 33. The elastic member 34 is a compression spring, which is sleeved on the connecting shaft 31, and the two ends of the compression spring are respectively against the lower end surface of the No. 1 slide 32 and the upper end surface of the No. 2 slide 33. The No. 1 slide 32 and the No. 2 slide 33 have the same structure. The No. 1 slide 32 includes a sliding block 321 sleeved on the connecting shaft 31 and a plurality of No. 1 blocks 322 circumferentially arranged on the side of the connecting block, and the No. 2 rod 52 is hinged to the No. 1 block 322. The swinging spring 2 includes a connecting portion 21 fixedly connected to the side of the sealed cabin 1, a sheet strip 22 fixedly connected to the connecting portion 21, and a tail portion 23 connected to the lower end of the sheet strip 22. Under the same length, the area of ​​the tail portion 23 used to beat the water flow is larger than the area of ​​the sheet strip 22 used to beat the water flow, and the number of the swinging springs 2 is at least three. The sealed cabin 1 includes a cabin body 12 and a hatch cover 11. The upper end surface of the cabin body 12 is provided with a hatch, and the hatch cover 11 is arranged on the hatch. The side of the cabin body 12 is provided with a flat portion for installing a swing spring 2. The upper end of the cabin body 12 and the hatch cover 11 form a hemispherical arc portion in a closed state.

[0053] In actual use, the memory alloy spring piece 4 is continuously powered on and off by the electronic control unit, so that the memory alloy spring piece 4 is continuously bent and reset. During the continuous bending and reset process of the memory alloy spring piece 4, the second rod 52 and the third rod 53 are opened and closed reciprocatingly. During the reciprocating opening and closing process of the second rod 52 and the third rod 53, the first rod 51 is driven to move in the radial direction, so that the swing spring piece 2 is pulled by the first rod 51. Since one end of the swing spring piece 2 is fixed on the sealed cabin 1 and the other end is a suspension end, the swing spring piece 2 will swing back and forth under the push and pull action of the first rod 51, and the swing spring piece 2 is used as one end of the suspension end to slap in the water to act as a driving force. During the reciprocating motion of the second rod 52 and the third rod 53, the second rod 52 and the third rod 53 will respectively drive the first slide 32 and the second slide 33 to move toward each other, so that the compression spring is continuously compressed and reset.

[0054] In the above design, the structural design and specific implementation method of the bionic jellyfish can effectively realize the stable driving of the bionic jellyfish and save costs.

[0055] The third embodiment provided by the present application is a method for using the bionic jellyfish, in which the electronic control unit controls the memory alloy spring 4 to be continuously powered on and off, so that the memory alloy spring 4 is continuously bent and reset, driving the Y-shaped connecting rod 5 to open and close, changing the radial distance between the swing spring 2 and the central axis assembly 3 to realize the swing of the swing spring 2, thereby realizing movement.

[0056] In the above design, the method of using the bionic jellyfish can ensure the long-lasting and stable movement of the bionic jellyfish.

[0057] To further explain in detail, it should be understood that the above is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. Bionic jellyfish, characterized by: The invention comprises a sealed cabin (1), an electric control unit and a floating assembly arranged in the sealed cabin (1), a swing spring piece (2) circumferentially arranged on the side of the sealed cabin (1), a central axis assembly (3) arranged on the lower end surface of the sealed cabin (1), a plurality of Y-shaped connecting rods (5) corresponding one-to-one to the swing spring piece (2), and a plurality of memory alloy spring pieces (4) corresponding one-to-one to the Y-shaped connecting rods (5), wherein the memory alloy spring piece (4) is used to drive the Y-shaped connecting rod (5) to open and close so as to change the radial distance between the swing spring piece (2) and the central axis assembly (3), and the memory alloy spring piece (4) is electrically connected to the electric control unit.

2. The bionic jellyfish according to claim 1, characterized in that: The Y-shaped connecting rod (5) comprises a first rod (51), a second rod (52) and a third rod (53); one end of the first rod (51) is connected to a spring sheet; one end of the second rod (52) and one end of the third rod (53) are both hinged to the other end of the first rod (51); the other end of the second rod (52) is hinged to a middle shaft assembly (3); the other end of the third rod (53) is hinged to the middle shaft assembly (3); and two ends of the memory alloy spring sheet (4) are respectively connected to the second rod (52) and the third rod (53).

3. The bionic jellyfish according to claim 2, characterized in that: The two ends of the memory alloy spring sheet (4) are respectively connected to the opposite sides of the second rod (52) and the third rod (53), and the memory alloy spring sheet (4) contracts toward one side of the central axis component (3) when deformed.

4. The bionic jellyfish according to claim 2, characterized in that: The central axis assembly (3) comprises a connecting shaft (31) arranged on the lower end surface of the sealed cabin (1), a first slide seat (32) and a second slide seat (33) sleeved on the connecting shaft (31), the other end of the second rod (52) being hinged to the first slide seat (32), and the other end of the third rod (53) being hinged to the second slide seat (33).

5. The bionic jellyfish according to claim 4, characterized in that: The middle shaft assembly (3) further comprises an elastic member (34) arranged between the first slide seat (32) and the second slide seat (33).

6. The bionic jellyfish according to claim 5, characterized in that: The elastic member (34) is a compression spring, which is sleeved on the connecting shaft (31), and the two ends of the compression spring respectively abut against the lower end surface of the first slide seat (32) and the upper end surface of the second slide seat (33).

7. The bionic jellyfish according to claim 4, characterized in that: The No. 1 slide seat (32) and the No. 2 slide seat (33) have the same structure. The No. 1 slide seat (32) comprises a sliding block (321) sleeved on the connecting shaft (31) and a plurality of No. 1 blocks (322) circumferentially arranged on the side of the connecting block. The No. 2 rod (52) is hinged to the No. 1 block (322).

8. The bionic jellyfish according to claim 1, characterized in that: The swing spring piece (2) comprises a connecting portion (21) fixedly connected to the side of the sealed cabin (1), a sheet-shaped strip (22) fixedly connected to the connecting portion (21), and a tail portion (23) connected to the lower end of the sheet-shaped strip (22); the area of ​​the tail portion (23) used for beating the water flow is larger than the area of ​​the sheet-shaped strip (22) used for beating the water flow when the length is the same, and the number of the swing spring pieces (2) is at least three.

9. The bionic jellyfish according to claim 8, characterized in that: The sealed cabin (1) comprises a cabin body (12) and a hatch cover (11); the upper end surface of the cabin body (12) is provided with a hatch opening; the hatch cover (11) is arranged on the hatch opening; the side surface of the cabin body (12) is provided with a flat surface portion for mounting a swing spring (2); the upper end of the cabin body (12) and the hatch cover (11) form a hemispherical arc portion in a sealed state.

10. The method for using the bionic jellyfish is characterized by: The memory alloy spring (4) is continuously powered on and off by the electronic control unit, so that the memory alloy spring (4) is continuously bent and reset, driving the Y-shaped connecting rod (5) to open and close, changing the radial distance between the swing spring (2) and the central axis component (3) to realize the swing of the swing spring (2), thereby realizing movement.

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