Biomimetic jellyfish and methods of use thereof

Abstract

The application discloses a bionic jellyfish and a use method thereof, which comprises a sealed cabin, an electric control unit and a floating assembly arranged in the sealed cabin, swing elastic sheets arranged in the circumferences of the side portions of the sealed cabin, a central shaft assembly arranged on the lower end face of the sealed cabin, a plurality of Y-shaped connecting rods corresponding to the swing elastic sheets one by one, and a plurality of memory alloy elastic sheets corresponding to the Y-shaped connecting rods one by one, wherein the memory alloy elastic sheets are used for driving the Y-shaped connecting rods to open and close so as to change the radial distance between the swing elastic sheets and the central shaft assembly, and the memory alloy elastic sheets are electrically connected with the electric control unit. Advantages: through the cooperation of the Y-shaped connecting rods and the memory alloy elastic sheets, the swing elastic sheets can be rapidly swung, the stability and the moving speed of the bionic jellyfish in water are improved, the whole bionic jellyfish is simple and compact in structure, and is low in cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of biomimetic jellyfish, in particular to a biomimetic jellyfish and a method for using the same. BACKGROUND

[0002] The biomimetic jellyfish is a robot for imitating the shape and movement mode of jellyfish in nature. The biomimetic jellyfish is widely used in underwater detection, underwater data collection and other fields. The traditional biomimetic jellyfish is driven by setting radial memory alloy and axial memory alloy, which simply relies on the beating of memory alloy and water to provide power, resulting in complex structure and high cost.

[0003] Therefore, it is necessary to provide a biomimetic jellyfish and a method for using the same. SUMMARY

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

[0005] The technical scheme adopted by the present application is as follows:

[0006] The biomimetic jellyfish comprises a sealed cabin, an electric control unit and a floating assembly arranged in the sealed cabin, a swing spring plate arranged in the circumferential direction of the side of the sealed cabin, a central shaft assembly arranged at the lower end surface of the sealed cabin, a plurality of Y-shaped connecting rods corresponding to the swing spring plates, and a plurality of memory alloy springs corresponding to the Y-shaped connecting rods. The memory alloy springs are used to drive the Y-shaped connecting rods to open and close, so as to change the radial distance between the swing spring plates and the central shaft assembly. The memory alloy springs are electrically connected to the electric control unit.

[0007] Further, the Y-shaped connecting rod comprises a first rod, a second rod and a third rod. One end of the first rod is connected to the spring plate. One end of the second rod and one end of the third rod are hingedly connected to the other end of the first rod. The other end of the second rod is hingedly connected to the central shaft assembly. The other end of the third rod is hingedly connected to the central shaft assembly. The two ends of the memory alloy spring are respectively connected to the second rod and the third rod.

[0008] Further, the two ends of the memory alloy spring are respectively connected to the opposite sides of the second rod and the third rod. When the memory alloy spring is deformed, it is contracted to one side of the central shaft assembly.

[0009] Further, the central shaft assembly comprises a connecting shaft arranged at the lower end surface of the sealed cabin, a first sliding seat and a second sliding seat sleeved on the connecting shaft. The other end of the second rod is hingedly connected to the first sliding seat. The other end of the third rod is hingedly connected to the second sliding seat.

[0010] Further, the central shaft assembly further comprises an elastic member arranged between the first sliding seat and the second sliding seat.

[0011] Further, the elastic member is a compression spring, the compression spring is sleeved on the connecting shaft, and two ends of the compression spring are respectively abutted against a lower end surface of the first sliding seat and an upper end surface of the second sliding seat.

[0012] Further, the first sliding seat and the second sliding seat are of the same structure, the first sliding seat comprises a sliding block sleeved on the connecting shaft and a plurality of first blocks arranged in a circumferential direction on the side of the connecting block, and the second rod is hinged to the first blocks.

[0013] Further, the oscillating elastic piece comprises a connecting portion fixedly connected to the side of the sealed cabin, a sheet-shaped strip fixedly connected to the connecting portion, and a tail portion connected to the lower end of the sheet-shaped strip, the area of the tail portion for slapping water flow is greater than the area of the sheet-shaped strip for slapping water flow under the condition of the same length, and the number of the oscillating elastic pieces is at least three.

[0014] Further, the sealed cabin comprises a cabin body and a cabin cover, the upper end surface of the cabin body is provided with a hatch, the cabin cover is arranged on the hatch, the side of the cabin body is provided with a planar portion for mounting the oscillating elastic piece, and the upper end of the cabin body and the cabin cover form a hemispherical arc portion in a sealed state.

[0015] The method for using the bionic jellyfish comprises the following steps: continuously controlling the power-on and power-off of the memory alloy elastic piece through the electric control unit, continuously bending and resetting the memory alloy elastic piece, driving the Y-shaped connecting rod to open and close, changing the radial distance between the oscillating elastic piece and the central shaft assembly to realize the oscillation of the oscillating elastic piece, and realizing the movement.

[0016] Advantages of the application:

[0017] 1. Through the cooperation of the Y-shaped connecting rod and the memory alloy elastic piece, the rapid oscillation of the oscillating elastic piece can be realized, the stability and movement speed of the bionic jellyfish in water are improved, the whole bionic jellyfish has a simple and compact structure, and the cost is low.

[0018] 2. The compression spring is sleeved on the connecting shaft, the elastic force of the compression spring is used to assist the opposite movement of the first sliding seat and the second sliding seat, and the speed of the oscillating elastic piece to oscillate inward is improved.

[0019] 3. The structure design of the central shaft assembly adopts the cooperation mode of the connecting shaft, the first sliding seat and the second sliding seat, the stable opening and closing driving of the second rod and the third rod can be realized, and the frequency, speed and stability of the oscillation of the oscillating elastic piece are ensured.

[0020] 4. The tail portion of the oscillating elastic piece can ensure that the end of the oscillating elastic piece has sufficient contact area with water flow, and the movement of the bionic jellyfish has sufficient power. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 The overall schematic diagram of the bionic jellyfish provided by the embodiment of the application.

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

[0023] The following are marked in the figure: 1. Sealed cabin; 2. Swinging spring; 3. Central 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 cover; 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 this application is a bionic jellyfish, whose structure includes a sealed cabin 1, an electronic control unit and a floating assembly disposed in the sealed cabin 1, swinging springs 2 circumferentially disposed on the side of the sealed cabin 1, a central axis assembly 3 disposed 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 springs 2, and a plurality of memory alloy springs 4 corresponding one-to-one to the Y-shaped connecting rods 5. The memory alloy springs 4 are used to drive the Y-shaped connecting rods 5 to open and close, thereby changing the radial distance between the springs and the central axis assembly 3. The memory alloy springs 4 are electrically connected to the electronic control unit.

[0026] It should be noted that a servo can be installed below the central axis assembly to control the movement direction. In actual use, the electronic control unit controls the memory alloy spring 4 to be continuously powered on and off, causing the memory alloy spring 4 to continuously bend 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 achieve the swing of the swing spring 2, thereby achieving movement.

[0027] In the above design, the structural design and specific implementation of the bionic jellyfish can effectively achieve 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 No. 1 rod 51, a No. 2 rod 52, and a No. 3 rod 53. One end of the No. 1 rod 51 is connected to the spring, one end of the No. 2 rod 52 and one end of the No. 3 rod 53 are hinged to the other end of the No. 1 rod 51, the other end of the No. 2 rod 52 is hinged to the central axis assembly 3, and the other end of the No. 3 rod 53 is hinged to the central axis assembly 3. Both ends of the memory alloy spring 4 are connected to the No. 2 rod 52 and the No. 3 rod 53 respectively.

[0029] In actual use, when the memory alloy spring 4 is contracted, the included angle between the second lever 52 and the third lever 53 becomes smaller. Since the other end of the second lever 52 and the other end of the third lever 53 are both connected with the central shaft assembly 3, when the included angle between the second lever 52 and the third lever 53 becomes smaller, the first lever 51 moves along the outside of the central shaft assembly 3, and drives the swing spring 2 to swing outward. When the memory alloy is reset from the contracted state, the included angle between the second lever 52 and the third lever 53 becomes larger, and drives the first lever 51 to move to one side of the central shaft assembly 3, so that the swing spring 2 swings inward.

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

[0031] Specifically, as shown in Figure 1 and Figure 2 , the two ends of the memory alloy spring 4 are connected with the opposite sides of the second lever 52 and the third lever 53 respectively, and the memory alloy spring 4 is contracted to one side of the central shaft assembly 3 when deformed.

[0032] In actual use, the contraction of the memory alloy spring 4 drives the included angle between the second lever 52 and the third lever 53 to become smaller.

[0033] In the above design, the second lever 52 and the third lever 53 are in the same vertical plane, and the memory alloy spring 4 is arranged on the opposite sides of the second lever 52 and the third lever 53, which can ensure that when the number of swing springs 2 is too large, the deformation of the memory alloy spring 4 will not interfere with the adjacent Y-shaped connecting rod 5.

[0034] Specifically, as shown in Figure 1 and Figure 2 , the central shaft assembly 3 includes a connecting shaft 31 arranged on the lower end surface of the sealed cabin 1, a first sliding seat 32 and a second sliding seat 33 sleeved on the connecting shaft 31, the other end of the second lever 52 is hinged to the first sliding seat 32, and the other end of the third lever 53 is hinged to the second sliding seat 33.

[0035] In actual use, when the included angle between the second lever 52 and the third lever 53 becomes smaller, the first sliding seat 32 and the second sliding seat 33 are driven by the second lever 52 and the third lever 53 respectively to move towards each other along the connecting shaft 31, and when the included angle between the second lever 52 and the third lever 53 becomes larger, the first sliding seat 32 and the second sliding seat 33 are driven by the second lever 52 and the third lever 53 respectively to move away from each other along the connecting shaft 31.

[0036] In the above design, the structure design and specific implementation of the central shaft assembly 3 facilitate the connection and following movement of the second lever 52 and the third lever 53.

[0037] Specifically, as shown inFigure 1 and Figure 2 As shown in the figure, the central shaft assembly 3 further comprises an elastic member 34 arranged between the first sliding seat 32 and the second sliding seat 33.

[0038] In actual use, when the first sliding seat 32 and the second sliding seat 33 move towards each other under the driving of the second rod 52 and the third rod 53, the elastic member 34 is compressed by the extrusion of the first sliding seat 32 and the second sliding seat 33 at both ends. When the memory alloy spring 4 is reset, the elastic member 34 can apply a pushing force to the first sliding seat 32 and the second sliding seat 33 through the elastic force.

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

[0040] Specifically, as shown in the figure, Figure 1 and Figure 2 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 in abutment with the lower end face of the first sliding seat 32 and the upper end face of the second sliding seat 33.

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

[0042] In the above design, the elastic member 34 is arranged as a compression spring, and the compression spring is sleeved on the connecting shaft 31, which can facilitate the assembly of the compression spring.

[0043] Specifically, as shown in the figure, Figure 1 and Figure 2 The first sliding seat 32 and the second sliding seat 33 are structurally identical, the first sliding seat 32 comprises a sliding block 321 sleeved on the connecting shaft 31 and a plurality of first blocks 322 arranged in the circumferential direction on the side of the connecting block, and the second rod 52 is hinged to the first 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 first sliding seat 32 and the second sliding seat 33 can facilitate the sliding on the connecting shaft 31.

[0046] Specifically, as shown in the figure, Figure 1 and Figure 2As shown in the drawings, the swing elastic sheet 2 comprises a connecting part 21 fixedly connected with the side of the sealed cabin 1, a sheet-shaped strip 22 fixedly connected with the connecting part 21, and a tail part 23 connected with the lower end of the sheet-shaped strip 22, the area of the tail part 23 for slapping water flow is larger than that of the sheet-shaped strip 22, and the number of the swing elastic sheet 2 is at least three. In the embodiment of the application, the number of the swing elastic sheet 2 is six, and the number of the Y-shaped connecting rod 5 and the memory alloy elastic sheet 4 is also six.

[0047] In actual use, when the swing elastic sheet 2 is driven to swing by the Y-shaped connecting rod 5, the slapping force of the tail part 23 in water is greater than that of the sheet-shaped strip 22.

[0048] In the above design, the structure design and specific implementation of the swing elastic sheet 2 can effectively realize the action force with water, and facilitate the movement of the whole bionic jellyfish in water.

[0049] Specifically, as shown in the drawings, Figure 1 and Figure 2 As shown in the drawings, the sealed cabin 1 comprises a cabin body 12 and a cabin cover 11, the upper end surface of the cabin body 12 is provided with a hatch, the cabin cover 11 is arranged on the hatch, the side surface of the cabin body 12 is provided with a flat part for installing the swing elastic sheet 2, and the upper end of the cabin body 12 and the cabin cover 11 form a hemispherical arc part in airtight state.

[0050] In actual use, the sealed cabin 1 moves in water, and is in the forward direction of the whole bionic jellyfish.

[0051] In the above design, the structure design and specific implementation of the sealed cabin 1 can reduce the resistance in the movement process by using the hemispherical arc part.

[0052] The second embodiment provided in the 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 swing spring 2 arranged in the circumferential side of the sealed cabin 1, a central shaft assembly 3 arranged in the lower end surface of the sealed cabin 1, a plurality of Y-shaped connecting rods 5 corresponding to the swing spring 2 one by one, and a plurality of memory alloy springs 4 corresponding to the Y-shaped connecting rods 5 one by one, the memory alloy spring 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 2 and the central shaft assembly 3, and the memory alloy spring 4 is electrically connected with the electric control unit. 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 with the spring, one end of the second rod 52 and one end of the third rod 53 are hingedly connected with the other end of the first rod 51, the other end of the second rod 52 is hingedly connected with the central shaft assembly 3, the other end of the third rod 53 is hingedly connected with the central shaft assembly 3, and the two ends of the memory alloy spring 4 are respectively connected with the second rod 52 and the third rod 53. The two ends of the memory alloy spring 4 are respectively connected with the opposite sides of the second rod 52 and the third rod 53, and the memory alloy spring 4 contracts to one side of the central shaft assembly 3 when deformed. The central shaft assembly 3 comprises a connecting shaft 31 arranged in the lower end surface of the sealed cabin 1, a first sliding seat 32 and a second sliding seat 33 sleeved on the connecting shaft 31, the other end of the second rod 52 is hingedly connected with the first sliding seat 32, and the other end of the third rod 53 is hingedly connected with the second sliding seat 33. The central shaft assembly 3 further comprises a resilient member 34 arranged between the first sliding seat 32 and the second sliding seat 33. The resilient member 34 is a compression spring, the compression spring is sleeved on the connecting shaft 31, and the two ends of the compression spring are respectively abutted with the lower end surface of the first sliding seat 32 and the upper end surface of the second sliding seat 33. The first sliding seat 32 and the second sliding seat 33 are the same in structure, the first sliding seat 32 comprises a sliding block 321 sleeved on the connecting shaft 31 and a plurality of first blocks 322 arranged in the circumferential side of the connecting block, and the second rod 52 is hingedly connected with the first block 322. The swing spring 2 comprises a connecting part 21 fixedly connected with the side of the sealed cabin 1, a sheet-shaped strip 22 fixedly connected with the connecting part 21, and a tail part 23 connected with the lower end of the sheet-shaped strip 22, the area of the tail part 23 used for slapping water flow is greater than that of the sheet-shaped strip 22 used for slapping water flow under the condition that the lengths are the same, and the number of the swing spring 2 is at least three. The sealed cabin 1 comprises a cabin body 12 and a cabin cover 11, the upper end surface of the cabin body 12 is provided with a hatch, the cabin cover 11 is arranged on the hatch, the side surface of the cabin body 12 is provided with a flat part for mounting the swing spring 2, and the upper end of the cabin body 12 and the cabin cover 11 form a hemispherical arc part in a sealed state.

[0053] In actual use, the memory alloy spring 4 is continuously powered and powered off by the electric control unit, so that the memory alloy spring 4 is continuously bent and reset. In the process of continuously bending and resetting the memory alloy spring 4, the second rod 52 and the third rod 53 reciprocate, and in the process of reciprocating the second rod 52 and the third rod 53, the first rod 51 is driven to move in the radial direction, thereby pulling the swing spring 2 through the first rod 51. Since one end of the swing spring 2 is fixed on the sealed cabin 1 and the other end is a suspended end, the swing spring 2 will reciprocate under the push-pull action of the first rod 51, and the swing spring 2 will reciprocate under the push-pull action of the first rod 51. The swing spring 2 is used as a suspended end in water. In the process of reciprocating the second rod 52 and the third rod 53, the second rod 52 and the third rod 53 will drive the first slide 32 and the second slide 33 to move towards each other, so that the compression spring is continuously compressed and reset.

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

[0055] The third embodiment provided in the application is a use method of the bionic jellyfish. The memory alloy spring 4 is continuously powered and powered off by the electric control unit, so that the memory alloy spring 4 is continuously bent and reset, the Y-shaped connecting rod 5 is driven to open and close, the radial distance between the swing spring 2 and the central shaft assembly 3 is changed to realize the swing of the swing spring 2, and then the swing spring 2 is moved.

[0056] In the above design, the use method of the bionic jellyfish can realize the persistent and stable movement of the bionic jellyfish.

[0057] It should be understood that the above description is only a specific embodiment of the application and is not used to limit the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

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 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, thereby changing 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) 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 piece; 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); the other end of the third rod (53) is hinged to the middle shaft assembly (3); and the two ends of the memory alloy spring piece (4) are respectively connected to the second rod (52) and the third rod (53); The two ends of the memory alloy spring (4) are respectively connected to the opposite sides of the second rod (52) and the third rod (53), and the memory alloy spring (4) contracts toward one side of the central axis component (3) when deformed.

2. The bionic jellyfish according to claim 1, 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 (32) and a second slide (33) sleeved on the connecting shaft (31), the other end of the second rod (52) being hinged to the first slide (32), and the other end of the third rod (53) being hinged to the second slide (33).

3. The bionic jellyfish according to claim 2, characterized in that: The central axis assembly (3) further comprises an elastic member (34) arranged between the first slide seat (32) and the second slide seat (33).

4. The bionic jellyfish according to claim 3, 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 No. 1 slide seat (32) and the upper end surface of the No. 2 slide seat (33).

5. The bionic jellyfish according to claim 2, characterized in that: 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).

6. The bionic jellyfish according to claim 1, characterized in that: The swinging 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). When the tail portion (23) is of the same length and is used to flap the water flow, the area thereof is larger than the area of ​​the sheet-shaped strip (22) used to flap the water flow. The number of the swinging spring pieces (2) is at least three.

7. The bionic jellyfish according to claim 6, 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; the hatch cover (11) is provided on the hatch; a plane portion for mounting a swinging spring (2) is provided on the side surface of the cabin body (12); and the upper end of the cabin body (12) and the hatch cover (11) form a hemispherical arc portion in a sealed state.

8. A method for using a bionic jellyfish, comprising: The memory alloy spring (4) is controlled by the electronic control unit 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 component (3) to realize the swing of the swing spring (2), thereby realizing movement.

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