Bionic jellyfish robot, attitude control method and driving leg assembly manufacturing method

Abstract

The invention provides a bionic jellyfish robot, a posture control method and a driving leg assembly manufacturing method, relates to the technical field of underwater robots, and aims to flexibly adjust the posture of the robot and improve the adaptability to the underwater environment. The bionic jellyfish robot comprises a robot body, a driving leg assembly, a power module, a control module and the like. According to the bionic jellyfish robot and the posture control method, the robot can be selectively in the machine body linear advancing posture, the machine body steering posture or the clamping posture so as to flexibly adjust the posture of the robot, and the driving leg assembly is simple in structure, is of a quasi-soft structure, is good in overall flexibility and can bear water impact; and the adaptability to the underwater environment is good. According to the manufacturing method of the driving leg assembly of the bionic jellyfish robot, the manufacturing process is simple, the manufacturing cost is low, and the production input cost of products is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, in particular to a bionic jellyfish robot, a posture control method and a method for manufacturing a driving leg assembly. Background Art

[0002] In recent years, with the continuous development of science and technology, more and more underwater robots have emerged, and they have been widely used in underwater exploration, underwater accident rescue detection, underwater operation deployment and other fields. In the field of coal mine accident rescue, after a coal mine flooding accident occurs, water accumulates in the underground tunnels, and it is necessary to deploy several underwater robots in the water to assist in the rescue operation.

[0003] Among various types of underwater robots, many are bionic robots, for example, there are jellyfish robots that imitate jellyfish. However, current jellyfish robots generally only look like jellyfish, and their driving parts are mainly driven by motors, connecting rods, etc. This means that the robot's posture is poorly controlled during underwater travel; and the driving part composed of motors, connecting rods, etc. has a complex structure, especially during underwater accident rescue, its working environment is complex and its adaptability to the underwater environment is poor. Summary of the invention

[0004] The purpose of the present invention is to provide a bionic jellyfish robot, a posture control method and a driving leg assembly manufacturing method, which can flexibly adjust the robot's posture and improve its adaptability to underwater environments.

[0005] In order to achieve the above object, the technical solutions adopted by the present invention are as follows: A bionic jellyfish robot, comprising: Body; The driving leg assemblies are arranged at least three at equal intervals along the edge of the machine body and extend around the machine body; Each driving leg assembly includes a first film, a liquid dielectric, a second film, a flexible electrode, an elastic body and a swing block which are stacked in sequence from bottom to top; The first film and the second film encapsulate the liquid dielectric to form an electro-liquid bag, and the flexible electrode is arranged above the electro-liquid bag; A power module, wherein the positive electrode of the power module is connected to the flexible electrode, and the negative electrode of the power module is connected to the water body; The control module is connected to the power module by signal to trigger the power module to output high voltage current to the flexible electrode.

[0006] Preferably, the swing block is provided in plurality, and the plurality of swing blocks are arranged in sequence from near to far from the machine body, and gaps are left between adjacent swing blocks; The elastic body is connected to each of the swing blocks; When the flexible electrode is not supplied with high voltage current, the adjacent swing blocks remain straight due to the elastic force of the elastic body itself; An electro-liquid bag is arranged between adjacent swing blocks, a flexible electrode is arranged on each electro-liquid bag, the electro-liquid bag is connected to the elastic body, and the orthographic projections of the ends of the adjacent swing blocks that are close to each other all fall on one electro-liquid bag; When high voltage current is supplied to the flexible electrode, the electro-fluid bag moves to drive the adjacent swing blocks to swing to a set angle.

[0007] Preferably, when a high voltage current is supplied to the flexible electrode, the liquid dielectric in the electro-liquid bag gathers toward one end of the electro-liquid bag under the action of Maxwell stress, causing the one end of the electro-liquid bag to bend downward; The area where the electro-fluid bag is not bent downward is defined as the straight area, and the area where the electro-fluid bag is bent downward is defined as the bending area; The orthographic projections of the ends of the adjacent swing blocks that are close to each other fall on the straight area and the bending area respectively.

[0008] Preferably, the flexible electrode of each driving leg assembly is independently supplied with high voltage current by a power module.

[0009] Preferably, in a single driving leg assembly, the corresponding flexible electrodes on each electro-fluid bag are independently supplied with high voltage current by a power module.

[0010] Preferably, a sheet-shaped paddle is provided on the swing block farthest from the machine body.

[0011] Preferably, a buoyancy adjustment module is provided on the body, and the buoyancy adjustment module is used to adjust the buoyancy of the body.

[0012] Preferably, a communication base station is provided on the body, and the communication base station is used to realize wireless communication.

[0013] A bionic jellyfish robot posture control method, based on the above-mentioned bionic jellyfish robot, the method selectively is in the following postures: 1. The body moves in a straight line; The buoyancy adjustment module adjusts the buoyancy of the aircraft body so that the aircraft body is at a set depth underwater; The power module cyclically supplies high voltage current to the flexible electrodes of each driving leg assembly and then discharges it. In each driving leg assembly, the adjacent swing blocks switch between being straight and swinging to a set angle. The driving leg assembly paddles the water to drive the body to move in a straight line; 2. Aircraft turning posture; The buoyancy adjustment module adjusts the buoyancy of the aircraft body so that the aircraft body is at a set depth underwater; The power module cyclically supplies high voltage current to the flexible electrodes of several driving leg assemblies set on one side of the body and then discharges it. In each driving leg assembly, the adjacent swing blocks switch between being straight and swinging to a set angle. Several driving leg assemblies set on one side of the body move the water to drive the body to turn; 3. Clamping posture; The buoyancy adjustment module adjusts the buoyancy of the aircraft body so that the aircraft body is at a set depth underwater; The power module supplies high voltage current to the flexible electrodes of several driving leg assemblies that are set to be centrally symmetrical with respect to the machine body, and the adjacent swing blocks of the several driving leg assemblies that are set to be centrally symmetrical with respect to the machine body swing to a set angle, and the several driving leg assemblies that are set to be centrally symmetrical with respect to the machine body are used to clamp an object; The other driving leg components drive the body to a straight-line moving posture or a turning posture.

[0014] A method for manufacturing a driving leg assembly of a bionic jellyfish robot, used for manufacturing the driving leg assembly of the bionic jellyfish robot, the method comprising the following steps: Step 1: heat-seal the first film and the second film by a heat press, so that a plurality of cavities are formed between the first film and the second film, and adjacent cavities are connected by channels, and an injection port is left in the last cavity; Step 2, injecting liquid dielectric into the cavity through the injection port, and extracting bubbles in the cavity; Step 3: heat-seal the channels between adjacent cavities and the injection ports by a heat press, and the first film and the second film corresponding to each cavity form an electro-fluid bag; Step 4: Use a screen printer to print a layer of flexible electrodes on the upper surface of the second film of the electro-fluid bag, so that the flexible electrodes are fixedly connected to the electro-fluid bag; Step 5, fixing the elastic body to connect the second film of the electro-fluid bag and the flexible electrode; Step 6: fix multiple swing blocks to the elastic body, arrange the multiple swing blocks in sequence along the stretching direction of the elastic body, leave gaps between adjacent swing blocks, and the orthographic projections of the ends of adjacent swing blocks that are close to each other fall on the straight area and the bending area of ​​an electro-fluid bag respectively.

[0015] The beneficial technical effects of the present invention are: The bionic jellyfish robot and posture control method of the present invention can enable the robot to selectively be in a straight-line moving posture, a turning posture or a clamping posture, so as to flexibly adjust the robot's posture. Its driving leg assembly has a simple structure, a quasi-soft structure, good overall flexibility, can withstand water impact, and has good adaptability to underwater environments.

[0016] The method for manufacturing the driving leg assembly of the bionic jellyfish robot of the present invention has a simple manufacturing process and a low manufacturing cost, thereby reducing the product production input cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a front view of the bionic jellyfish robot in a straight-line moving posture according to an embodiment of the present invention; Figure 2 A top view of the bionic jellyfish robot in a straight-line moving posture according to an embodiment of the present invention; Figure 3 This is a front view of the bionic jellyfish robot in a turning posture according to an embodiment of the present invention; Figure 4 A top view of the bionic jellyfish robot in a turning posture according to an embodiment of the present invention; Figure 5 An exploded perspective view of a driving leg assembly according to an embodiment of the present invention; Figure 6 An exploded front view of a driving leg assembly according to an embodiment of the present invention; Figure 7 This is a front view of the adjacent swing blocks of the driving leg assembly in a straight state according to an embodiment of the present invention; Figure 8 It is a front view of the state where adjacent swing blocks of the driving leg assembly according to the embodiment of the present invention swing to a set angle; Fig. 9 This is a front view of the electro-fluid bag when the flexible electrode is not supplied with high voltage current (discharging) according to the embodiment of the present invention; Fig.10 This is a front view of the electro-fluid bag when supplying high voltage current to the flexible electrode according to an embodiment of the present invention; Fig.11 This is a schematic diagram of the internal structure of a machine body according to an embodiment of the present invention; Fig.12 A schematic diagram of the structure of the intermediate process of manufacturing the driving leg assembly according to an embodiment of the present invention; Reference numerals: 1. Body, 11. Camera, 12. Illumination lamp, 2. Driving leg assembly, 21. First film, 22. Liquid dielectric, 23. Second film, 24. Flexible electrode, 25. Elastomer, 26. Swing block, 27. Electro-liquid bag, 28. Paddle, 291. Cavity, 292. Channel, 293. Injection port, 3. Power module, 4. Control module, 5. Boost module, 6. Communication base station. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical scheme and beneficial effects of the present invention more clearly understood, the present invention is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. Certain embodiments of the present invention will be described more comprehensively with reference to the accompanying drawings, in which some but not all embodiments will be shown. In fact, the various embodiments of the present invention can be implemented in many different forms and should not be construed as being limited to the embodiments described herein; rather, these embodiments are provided so that the present invention meets applicable legal requirements.

[0019] In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "front", "back" and the like indicate directions or positional relationships based on directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0020] In an embodiment of the present invention, a bionic jellyfish robot, a posture control method and a driving leg assembly manufacturing method are provided. Please refer to Figures 1 to 12 shown.

[0021] A bionic jellyfish robot comprises a body 1, a driving leg assembly 2, a power module 3 and a control module 4.

[0022] The body 1 is located at the center of the entire robot, and the body 1 is similar to the head of a jellyfish.

[0023] The driving leg assembly 2 is similar to the skirt of a jellyfish. Eight driving leg assemblies 2 are arranged at equal intervals along the edge of the body 1 and extend to the surrounding areas of the body 1 .

[0024] Each driving leg assembly 2 includes a first film 21, a liquid dielectric 22, a second film 23, a flexible electrode 24, an elastomer 25 and a swing block 26 which are stacked in sequence from bottom to top.

[0025] The first film 21 and the second film 23 encapsulate the liquid dielectric 22 to form an electrolyte bag 27 , and the flexible electrode 24 is disposed above the electrolyte bag 27 .

[0026] The power module 3 is composed of multiple lithium batteries and a control circuit. The control circuit is mainly composed of a controller (MCU) and a drive circuit. The controller controls the output voltage and current, while the drive circuit realizes the regulation of voltage and current. The power module 3 is arranged inside the body 1. The power module 3 generates a 10kv high voltage current through the boost module 5 and connects the flexible electrode 24 through the positive electrode. The negative electrode of the power module 3 is connected to the water body.

[0027] The boost module 5 is composed of an inverter circuit, a boost transformer and a voltage doubler rectifier circuit. The inverter circuit converts DC power into AC power, and the voltage doubler rectifier circuit converts a lower AC voltage into a higher DC voltage. The turns ratio of the boost transformer and the design of the voltage doubler rectifier circuit determine the output voltage. In this embodiment, the voltage is boosted from 4.2V to 10kV.

[0028] The control module 4 is a single chip microcomputer, and the control module 4 is disposed inside the body 1 . The control module 4 is connected to the power module 3 by a signal to trigger the power module 3 to output a high voltage current to the flexible electrode 24 .

[0029] Specifically, there are five swing blocks 26, which are arranged in sequence from near to far from the machine body 1, with gaps between adjacent swing blocks 26, and the elastic body 25 connects the swing blocks 26. The elastic body 25 is connected between adjacent swing blocks 26, and gaps are left between adjacent swing blocks 26, so that adjacent swing blocks 26 can swing to a set angle.

[0030] When the flexible electrode 24 is not supplied with high voltage current (discharge), the Maxwell stress disappears, and the adjacent swing blocks 26 remain straight under the elastic force of the elastic body 25 itself.

[0031] An electro-fluid bag 27 is arranged between adjacent swing blocks 26, a flexible electrode 24 is arranged on each electro-fluid bag 27, the upper surface of the electro-fluid bag 27 is connected to the elastic body 25, and the orthographic projections of the ends of adjacent swing blocks 26 that are close to each other all fall on one electro-fluid bag 27. When a high voltage current is supplied to the flexible electrode 24, the electro-fluid bag 27 moves to drive the adjacent swing blocks 26 to swing to a set angle.

[0032] Among them, Fig. 9 , Fig.10 As shown in FIG. 1 , when a high voltage current is supplied to the flexible electrode 24, the liquid dielectric 22 in the electro-fluid bag 27 gathers toward one end of the electro-fluid bag 27 under the action of the Maxwell stress, causing the one end of the electro-fluid bag 27 to bend downward. The area of ​​the electro-fluid bag 27 that is not bent downward is defined as a straight area, and the area of ​​the electro-fluid bag 27 that is bent downward is defined as a bending area. Fig.10 The area after removing area b from area a, the bending area is as follows Fig.10 The orthographic projections of the ends of the adjacent swing blocks 26 that are close to each other fall on the straight area and the bending area respectively. In this way, the bending area of ​​the electro-fluid bag 27 drives the elastic body 25 and an adjacent swing block 26 to swing relative to the other swing block 26 to set an angle.

[0033] An adjacent swing block 26 swings at a set angle relative to another swing block 26 to paddle the water, thereby generating a reaction force (propulsion force) on the driving leg assembly 2 .

[0034] The flexible electrode 24 of each driving leg assembly 2 is independently supplied with high-voltage current by the power module 3, so that each driving leg assembly 2 can move independently, enabling the robot to be selectively in a variety of postures.

[0035] In a single driving leg assembly 2, the corresponding flexible electrodes 24 on each electro-fluid bag 27 are independently supplied with high-voltage current by the power module 3, so that each adjacent swing block 26 in the single driving leg assembly 2 can swing independently, thereby being able to more flexibly adjust the overall posture of the driving leg assembly 2. In this way, the driving leg assembly 2 can also be used as a mechanical finger to flexibly perform a variety of clamping actions. For example, the adjacent swing blocks 26 at the outermost ends swing independently, and the other adjacent swing blocks 26 do not swing. The adjacent swing blocks 26 at the outermost ends abut against the plane end face and corner position of the cylindrical object, and the other adjacent swing blocks 26 abut against the circumferential side of the cylindrical object, so that the driving leg assembly 2 can clamp the cylindrical object well.

[0036] The swing block 26 farthest from the body 1 is provided with a sheet-like paddle 28. The paddle 28 in this embodiment is formed by extending the first film 21 and the second film 23. By providing the sheet-like paddle 28, the paddle 28 is driven to swing together during the swinging process of the swing block 26, so as to generate a larger propulsion force for the driving leg assembly 2.

[0037] The body 1 is provided with a buoyancy adjustment module, which is an existing design and will not be described in detail in this embodiment. The buoyancy adjustment module is used to adjust the buoyancy of the body 1 so that the body 1 is at a set depth underwater.

[0038] A communication base station 6 is arranged inside the body 1 , and the control module 4 is connected to the communication base station 6 by signal, and the communication base station 6 is used to realize wireless communication.

[0039] The control module 4 is connected to the host computer via the communication base station 6 , and the host computer controls the movement of the robot via the control module 4 .

[0040] In addition to being able to communicate with the host computer, the communication base station 6 of a robot can also communicate with the communication base stations 6 of other robots to achieve relay transmission of signals.

[0041] The body 1 is also provided with a camera 11 and an illumination lamp 12. The camera 11 takes real-time photos of the underwater environment to detect the surrounding environment, and uploads the signal of detecting the surrounding environment to the control module 4, and then relays the signal through the communication base station 6. By arranging a number of robots at intervals underwater, the communication base stations 6 between adjacent robots communicate wirelessly to relay the signal of the surrounding environment detected by the cameras of each robot.

[0042] A method for controlling the posture of a bionic jellyfish robot, based on the bionic jellyfish robot described above in this embodiment, the method selectively controls the robot to be in the following postures: 1. The body 1 moves in a straight line; The buoyancy regulating module regulates the buoyancy of the body 1 so that the body 1 is at a set depth underwater; The power module 3 cyclically supplies high voltage current to the flexible electrode 24 of each driving leg assembly 2 and then discharges it. In each driving leg assembly 2, the adjacent swing blocks 26 switch between being straight and swinging to a set angle. The driving leg assembly 2 paddles the water to drive the body 1 to move along a straight line.

[0043] 2. Turning posture of body 1; The buoyancy regulating module regulates the buoyancy of the body 1 so that the body 1 is at a set depth underwater; The power module 3 cyclically supplies high voltage current to the flexible electrodes 24 of several driving leg assemblies 2 set on one side of the body 1 and then discharges the current. In each driving leg assembly 2, the adjacent swing blocks 26 switch between being straight and swinging to a set angle. Several driving leg assemblies 2 set on one side of the body 1 pry water to drive the body 1 to turn.

[0044] 3. Clamping posture; The buoyancy regulating module regulates the buoyancy of the body 1 so that the body 1 is at a set depth underwater; The power module 3 supplies high voltage current to the flexible electrodes 24 of several driving leg assemblies 2 that are set to be centrally symmetrical with respect to the machine body 1. In the several driving leg assemblies 2 that are set to be centrally symmetrical with respect to the machine body 1, the adjacent swing blocks 26 swing to a set angle, and the several driving leg assemblies 2 that are set to be centrally symmetrical with respect to the machine body 1 are used to clamp an object. The other driving leg assemblies 2 drive the body 1 to be in a straight-line moving posture or a turning posture.

[0045] In this embodiment, the four driving leg assemblies 2 arranged at intervals are used to clamp objects, and the other four driving leg assemblies 2 are used to drive the body 1 to be in a straight-line moving posture or a turning posture.

[0046] A method for manufacturing a driving leg assembly of a bionic jellyfish robot, used to manufacture the driving leg assembly 2 of the bionic jellyfish robot described above in this embodiment, the method comprising the following steps: Step 1: Heat-seal the first film 21 and the second film 23 by a hot press, and form a plurality of cavities 291 between the first film 21 and the second film 23. Adjacent cavities 291 are connected through channels 292, and an injection port 293 is left in the last cavity 291. The first film 21 and the second film 23 are made of BOPP material, which can withstand high voltage without breakdown under high voltage environment. Even if the BOPP material film is partially broken down under high voltage, it can automatically repair the breakdown point, thereby extending the service life of the first film 21 and the second film 23.

[0047] Step 2: Inject liquid dielectric (silicone oil) into the cavity 291 through the injection port 293 , and extract the bubbles in the cavity 291 .

[0048] Step 3: heat-seal the channels 292 and injection ports 293 between adjacent cavities 291 by a heat press, and the first film 21 and the second film 23 corresponding to each cavity 291 form an electro-fluid bag 27 .

[0049] Step 4: Use a screen printer to print a layer of flexible electrode 24 made of conductive carbon ink on the upper surface of the second film 23 of the electro-fluid bag 27, so that the flexible electrode 24 is fixedly connected to the electro-fluid bag 27. The flexible electrode 24 made of conductive carbon ink has good conductivity and breakdown resistance, can conduct and withstand high voltage well, and has a long service life.

[0050] Step 5: The elastic body 25 is bonded to the second film 23 of the electro-fluid bag 27 and the flexible electrode 24 by glue. Meanwhile, the elastic body 25 also serves as a waterproof layer to cover the flexible electrode 24.

[0051] Step 6, the swing blocks 26 are made of PLA material, and multiple swing blocks 26 are fixedly connected to the elastomer 25. The multiple swing blocks 26 are arranged in sequence along the stretching direction of the elastomer 25, and gaps are left between adjacent swing blocks 26. The orthographic projections of the ends of adjacent swing blocks 26 that are close to each other fall on the straight area and the bending area of ​​an electro-fluid bag 27 respectively.

[0052] So far, the present embodiment has been described in detail in conjunction with the accompanying drawings. Based on the above description, those skilled in the art should have a clear understanding of the bionic jellyfish robot, the posture control method and the driving leg assembly manufacturing method of the present invention. The bionic jellyfish robot and the posture control method of the present invention can make the robot selectively in the straight-line moving posture of the body 1, the turning posture of the body 1 or the clamping posture, so as to flexibly adjust the robot posture. The driving leg assembly 2 thereof has a simple structure and is a quasi-soft structure with good overall flexibility, can withstand water impact, and has good adaptability to the underwater environment. The driving leg assembly manufacturing method of the bionic jellyfish robot of the present invention has a simple manufacturing process and a low manufacturing cost, which reduces the product production input cost.

[0053] Of course, the specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description 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 scope of protection of the present invention.

Claims

1. A bionic jellyfish robot, characterized in that: include: Body; The driving leg assemblies are arranged at least three at equal intervals along the edge of the machine body and extend around the machine body; Each driving leg assembly includes a first film, a liquid dielectric, a second film, a flexible electrode, an elastic body and a swing block which are stacked in sequence from bottom to top; The first film and the second film encapsulate the liquid dielectric to form an electro-liquid bag, and the flexible electrode is arranged above the electro-liquid bag; A power module, wherein the positive electrode of the power module is connected to the flexible electrode, and the negative electrode of the power module is connected to the water body; The control module is connected to the power module by signal to trigger the power module to output high voltage current to the flexible electrode.

2. A bionic jellyfish robot according to claim 1, characterized in that: The swing blocks are provided in plurality, and the plurality of swing blocks are arranged in sequence from near to far from the machine body, with gaps being left between adjacent swing blocks; The elastic body is connected to each of the swing blocks; When the flexible electrode is not supplied with high voltage current, the adjacent swing blocks remain straight due to the elastic force of the elastic body itself; An electro-liquid bag is arranged between adjacent swing blocks, a flexible electrode is arranged on each electro-liquid bag, the electro-liquid bag is connected to the elastic body, and the orthographic projections of the ends of the adjacent swing blocks that are close to each other all fall on one electro-liquid bag; When high voltage current is supplied to the flexible electrode, the electro-fluid bag moves to drive the adjacent swing blocks to swing to a set angle.

3. A bionic jellyfish robot according to claim 2, characterized in that: When a high voltage current is supplied to the flexible electrode, the liquid dielectric in the electrolyte bag gathers toward one end of the electrolyte bag under the action of Maxwell stress, causing the one end of the electrolyte bag to bend downward; The area where the electro-fluid bag is not bent downward is defined as the straight area, and the area where the electro-fluid bag is bent downward is defined as the bending area; The orthographic projections of the ends of the adjacent swing blocks that are close to each other fall on the straight area and the bending area respectively.

4. The bionic jellyfish robot according to claim 3, characterized in that: The flexible electrodes of each driving leg assembly are independently supplied with high voltage current by a power module.

5. The bionic jellyfish robot according to claim 4, characterized in that: In a single driving leg assembly, the corresponding flexible electrodes on each electro-fluid bag are independently supplied with high voltage current by a power module.

6. The bionic jellyfish robot according to claim 2, characterized in that: The swing block farthest from the machine body is provided with a sheet-like paddle.

7. The bionic jellyfish robot according to claim 1, characterized in that: The machine body is provided with a buoyancy regulating module, and the buoyancy regulating module is used to adjust the buoyancy of the machine body.

8. The bionic jellyfish robot according to claim 1, characterized in that: A communication base station is arranged on the machine body, and the communication base station is used to realize wireless communication.

9. A method for controlling the posture of a bionic jellyfish robot, based on the bionic jellyfish robot according to any one of claims 1 to 8, characterized in that: The method is selectively in the following posture:

1. The body moves in a straight line; The buoyancy adjustment module adjusts the buoyancy of the aircraft body so that the aircraft body is at a set depth underwater; The power module cyclically supplies high voltage current to the flexible electrodes of each driving leg assembly and then discharges it. In each driving leg assembly, the adjacent swing blocks switch between being straight and swinging to a set angle. The driving leg assembly paddles the water to drive the body to move in a straight line; 2. Turning posture of the aircraft; The buoyancy adjustment module adjusts the buoyancy of the aircraft body so that the aircraft body is at a set depth underwater; The power module cyclically supplies high voltage current to the flexible electrodes of several driving leg assemblies set on one side of the body and then discharges it. In each driving leg assembly, the adjacent swing blocks switch between being straight and swinging to a set angle. Several driving leg assemblies set on one side of the body move the water to drive the body to turn; 3. Clamping posture; The buoyancy adjustment module adjusts the buoyancy of the aircraft body so that the aircraft body is at a set depth underwater; The power module supplies high voltage current to the flexible electrodes of several driving leg assemblies that are set to be centrally symmetrical with respect to the machine body, and the adjacent swing blocks of the several driving leg assemblies that are set to be centrally symmetrical with respect to the machine body swing to a set angle, and the several driving leg assemblies that are set to be centrally symmetrical with respect to the machine body are used to clamp an object; The other driving leg components drive the body to a straight-line moving posture or a turning posture.

10. A method for manufacturing a driving leg assembly of a bionic jellyfish robot, used for manufacturing the driving leg assembly of the bionic jellyfish robot according to any one of claims 1 to 8, characterized in that: The method comprises the following steps: Step 1: heat-seal the first film and the second film by a heat press, so that a plurality of cavities are formed between the first film and the second film, and adjacent cavities are connected by channels, and an injection port is left in the last cavity; Step 2, injecting liquid dielectric into the cavity through the injection port, and extracting bubbles in the cavity; Step 3: heat-seal the channels between adjacent cavities and the injection ports by a heat press, and the first film and the second film corresponding to each cavity form an electro-fluid bag; Step 4: Use a screen printer to print a layer of flexible electrodes on the upper surface of the second film of the electro-fluid bag, so that the flexible electrodes are fixedly connected to the electro-fluid bag; Step 5, fixing the elastic body to connect the second film of the electro-fluid bag and the flexible electrode; Step 6: fix multiple swing blocks to the elastic body, arrange the multiple swing blocks in sequence along the stretching direction of the elastic body, leave gaps between adjacent swing blocks, and the orthographic projections of the ends of adjacent swing blocks that are close to each other fall on the straight area and the bending area of ​​an electro-fluid bag respectively.

Images