Bionic jellyfish robot

Abstract

The invention provides a bionic jellyfish robot, and relates to the field of bionic robots, the bionic jellyfish robot comprises a main body, a pushing mechanism and a spraying mechanism, the main body is composed of a bottom plate and a hemispherical cover body, and a streamline shell is formed. The boosting mechanism comprises a mounting column, a rotating column, a sliding block and a connecting rod assembly, the rotating column is driven by the driving assembly to rotate, the sliding block reciprocates along the guiding sliding groove, and then the flexible fins are driven by the connecting rod mechanism to be opened and closed periodically to simulate jellyfish swimming. The spraying mechanism comprises an elastic bag body, a pre-tightening rope and a pre-tightening disc, the pre-tightening disc is controlled to rotate intermittently through an intermittent transmission device, and compressed water inlet and elastic springback water spraying of the bag body are achieved. The robot adopts mechanical transmission to replace traditional pneumatic driving, so that the energy utilization efficiency is remarkably improved; the dual-mode propulsion system works cooperatively and has the characteristics of high propulsion efficiency and low noise; the overall structure is compact, and environmental adaptability is high.

Description

Technical Field

[0001] The present application relates to the technical field of bionic robots, and in particular to a bionic jellyfish robot. Background Art

[0002] In the field of marine development and research, underwater robots are widely used in biological monitoring and resource exploration tasks. Biological monitoring requires robots to have high concealment and long-term continuous operation capabilities to ensure the integrity of data collection; while deep-sea resource exploration requires robots to move efficiently in complex ocean current environments to reduce energy consumption and adapt to the difficulties of ocean energy supply. Traditional underwater robots are mostly propeller-driven, which has defects such as high noise, low efficiency, and disturbed environment, making it difficult to meet the above requirements.

[0003] Bionics provides a new idea to solve these problems. Jellyfish in nature achieve efficient water jet propulsion through the periodic contraction and relaxation of their umbrella-shaped bodies. Their movement mode has the characteristics of low noise and high propulsion efficiency. In recent years, the technology of bionic jellyfish robots has gradually developed. Its driving system usually uses a micro air pump to drive flexible fins: by delivering high-pressure air to the air chamber structure in the fins, the expansion and reset of the fins are controlled by charging and discharging air, and the contraction and relaxation of the jellyfish umbrella-shaped body are simulated by alternately controlling the charging and discharging rhythm of multiple groups of fins to generate wave-shaped propulsion. However, this method has significant defects: 1. Low energy conversion efficiency. The conversion efficiency of electric energy to compressed air of the micro air pump is only 60%-70%, resulting in a large amount of energy loss; 2. Insufficient propulsion efficiency. There is leakage and friction loss in the transmission and driving process of high-pressure air. The actual propulsion efficiency is less than 22%, which is far lower than the biomechanical properties of real jellyfish.

[0004] Application Contents

[0005] In view of this, the present application proposes a bionic jellyfish robot, which significantly improves the propulsion efficiency by optimizing the driving structure and energy transfer method, and solves the problems of large energy conversion loss and low movement efficiency of existing bionic jellyfish robots.

[0006] The technical solution of this application is implemented as follows:

[0007] The present application provides a bionic jellyfish robot, comprising:

[0008] A main body, the main body comprising a bottom plate and a hemispherical cover fixedly arranged on the bottom plate;

[0009] The boosting mechanism includes flexible fins, mounting posts, a drive assembly, sliders, and a link assembly. The mounting posts are vertically and fixedly arranged at the bottom of the base plate, and a plurality of mounting grooves are evenly formed in the circumferential direction thereof. The rotating posts are rotatably arranged in the mounting grooves, and guide chutes are arranged on the outer sides thereof. The sliders are slidably arranged in the guide chutes. The upper ends of the flexible fins are hinged to the base plate. The link assembly is respectively hinged to the base plate, the middle part of the flexible fins, and the sliders. The drive assembly is installed between the base plate and the cover body and is used to drive each rotating post to rotate, so that the sliders make axial reciprocating motions along the guide chutes, and then drive the flexible fins to open and close periodically through the link assembly.

[0010] The spraying mechanism includes an elastic bladder, pre-tightening ropes, a pre-tightening disc, and an intermittent transmission device. The elastic bladder is coaxially fixed to the bottom end of the mounting post, and the bottom of the elastic bladder is open. The intermittent transmission device is arranged on the bottom surface of the mounting post and is connected to the pre-tightening disc. A plurality of pre-tightening ropes are provided. One ends of the plurality of pre-tightening ropes are respectively fixedly connected to the pre-tightening disc, and the other ends are fixedly connected to the open end of the elastic bladder. The drive assembly is used to drive the pre-tightening disc to rotate intermittently through the intermittent transmission device. When the pre-tightening ropes are tightened, the elastic bladder is axially compressed to let water in, and when the pre-tightening ropes are released, the elastic bladder rebounds by its own elasticity to spray water.

[0011] Based on the above technical solution, preferably, the drive assembly includes a rotating motor, a drive shaft, and a differential control device. The rotating motor is fixedly arranged on the top of the base plate. The rotating motor has a first output shaft and a second output shaft arranged coaxially. The first output shaft is respectively connected to each drive shaft through the differential control device. The lower end of the drive shaft passes through the base plate movably and is fixedly connected to the rotating post coaxially. The second output shaft passes through the base plate and the mounting post movably and is connected to the intermittent transmission device.

[0012] Based on the above technical solution, preferably, the differential control device includes:

[0013] An input component, the input component includes a first main gear and a second main gear fixedly arranged on the first output shaft. The two are arranged at intervals along the axial direction and have different numbers of teeth.

[0014] A transmission component, including a first driven gear and a second driven gear. The first driven gear is rotatably arranged on the drive shaft and meshes with the first main gear. The second driven gear meshes with the second main gear and is fixedly connected with a linkage shaft rotatably connected to the drive shaft coaxially.

[0015] A linkage component, including a coupling and a translation device. The coupling is sleeved between the linkage shaft and the drive shaft and can slide axially along the drive shaft. The translation device is arranged on the base plate and is used to control the axial position of the coupling to selectively realize the fixed connection between the drive shaft and the first driven gear through the coupling; or the fixed connection between the drive shaft and the linkage shaft.

[0016] Based on the above technical solution, preferably, the coupling includes a linkage sleeve and a rotating sleeve;

[0017] The linkage sleeve has a movable hole for the driving shaft and the linkage shaft to pass through. A guiding protrusion is arranged on the side wall of the driving shaft along its axial direction, and a guiding groove matching with the guiding protrusion is arranged in the movable hole. Both ends of the linkage sleeve are respectively provided with teeth facing the first internal gear ring and the second internal gear ring;

[0018] A first external gear ring is coaxially and fixedly arranged on the end face of the first secondary gear for meshing connection with the first internal gear ring. A second external gear ring is coaxially and fixedly arranged on the end face of the second secondary gear for meshing connection with the second internal gear ring;

[0019] The rotating sleeve is sleeved outside the linkage sleeve and can rotate relative to the axis of the linkage sleeve, and the rotating sleeve is connected to the translation device.

[0020] Based on the above technical solution, preferably, the intermittent transmission device includes a sleeve, a first transmission gear, a second transmission gear, a first linkage gear, a second linkage gear and a rotating shaft;

[0021] The upper end of the sleeve is rotatably connected to the bottom of the mounting column, and the lower end of the sleeve is rotatably connected to the pre-tightening disc. Third and fourth internal gear rings are fixedly arranged at intervals along the axial direction of the inner wall of the sleeve;

[0022] The lower end of the second output shaft extends into the sleeve and is coaxially and fixedly connected to the first transmission gear. The first transmission gear and the third internal gear ring are meshed and connected through the first linkage gear;

[0023] The second transmission gear is coaxially and fixedly arranged on the top surface of the pre-tightening disc. The fourth internal gear ring is a semi-circular tooth structure, and it is meshed with the second transmission gear through the second linkage gear;

[0024] The rotating shaft is coaxially fixed with the first linkage gear and the second linkage secondary gear and is rotatably connected to the bottom surface of the mounting column.

[0025] Based on the above technical solution, preferably, the elastic capsule body includes a support part and a capsule surface structure. The support part is a disc-shaped structure. The capsule surface structure is composed of a plurality of compressible origami bodies spliced together, and the capsule surface structure is ellipsoidal. One end of the capsule surface structure is fixedly connected to the edge of the support part, and the other end is open. The lower end of the mounting column passes through the support part and extends into the interior of the capsule surface structure, and the mounting column is fixedly connected to the support part.

[0026] Based on the above technical solution, preferably, a shape memory alloy wire is embedded at the splicing part of the origami bodies for controlling the unfolding and contraction movements of the capsule surface structure.

[0027] On the basis of the above technical solution, preferably, the length of the pre-tightening rope satisfies the following condition: L ≤ H0, where: L is the length of the pre-tightening rope in the natural stretching state; H0 is the projection distance in the vertical direction from the bottom surface of the pre-tightening disc to the bottom surface of the capsule body when the capsule body is in the free unfolding state.

[0028] On the basis of the above technical solution, preferably, the guiding chute includes two V-shaped grooves that are mirror-symmetric with the axis of the rotating column as the symmetry center. The two V-shaped grooves are smoothly connected at both ends in the axial direction of the rotating column to form a continuous closed-loop chute structure. There are two sliders, which are respectively slidably arranged in the two V-shaped grooves. When the rotating column rotates around its axis, the chute contour of the guiding chute pushes the two sliders to reciprocate synchronously along the axial direction of the rotating column.

[0029] On the basis of the above technical solution, preferably, the connecting rod assembly includes a first connecting rod, a second connecting rod and a third connecting rod. One end of the first connecting rod is hinged to the middle of the flexible fin, one end of the second connecting rod is hinged to the bottom plate, one end of the third connecting rod is hinged to the slider, and the other ends of the first connecting rod, the second connecting rod and the third connecting rod are hinged to each other to form a linkage node.

[0030] The present application has the following beneficial effects compared with the prior art:

[0031] (1) The bionic jellyfish robot proposed in the present application realizes efficient propulsion through an integrated drive design. Its technical effects are mainly reflected in: using a single drive component to simultaneously control the boosting mechanism and the jetting mechanism. Among them, the boosting mechanism converts the rotational motion into the periodic opening and closing motion of the flexible fin through the mechanical linkage of the mounting column, the rotating column and the guiding chute, simulating the water-paddling propulsion of the jellyfish; the jetting mechanism drives the pre-tightening disc to periodically tighten the pre-tightening rope through the intermittent transmission device, so that the elastic capsule alternately completes the processes of water absorption compression and elastic rebound water spraying. This dual-mode collaborative propulsion system not only perfectly reproduces the biological motion characteristics of the jellyfish, but also significantly reduces the energy loss of its mechanical transmission structure compared with the traditional pneumatic drive, reduces the mechanical noise, and the overall design has the advantages of high propulsion efficiency, low energy consumption and good environmental adaptability.

[0032] (2) Through the design of mirror-symmetric double V-shaped grooves + closed-loop chute + double-slider synchronous drive, one rotating column can drive two flexible fins to unfold or contract synchronously, significantly improving the propulsion efficiency and motion coordination of the robot. This structure has the advantages of high motion symmetry, high energy conversion efficiency, compact structure and strong stability, and is suitable for the efficient underwater propulsion system of bionic jellyfish robots. Compared with the traditional single-slider drive scheme, this design can achieve double thrust output under the same power input, while ensuring stable and reliable motion and extending the mechanical life.

[0033] (3) Through the innovative design of an integrated power motor + intelligent differential control + multi-axis drive system, the omnidirectional and precise motion control of the bionic jellyfish robot is achieved. This structure has outstanding advantages such as diverse motion modes (vertical lifting / horizontal translation), high control precision, excellent energy utilization efficiency, and strong system reliability. Compared with traditional multi-motor drive solutions, this design not only significantly reduces energy consumption but also realizes flexible and maneuverable performance similar to real jellyfish through differential control, providing an efficient and reliable motion solution for underwater bionic robots.

[0034] (4) The intermittent transmission device achieves precise and controllable intermittent jet propulsion through a gear linkage structure. Its technical effects are mainly reflected in: adopting a double-layer internal gear ring structure (the third internal gear ring is a full tooth, and the fourth internal gear ring is a half tooth) arranged in a sleeve. By continuously meshing the first transmission gear with the third internal gear ring to drive the sleeve to rotate, while the half-tooth-designed fourth internal gear ring forms intermittent meshing with the second linkage gear, enabling the pre-tightening disc to tighten the pre-tightening rope only at specific rotation phases to compress the elastic capsule, and the capsule relies on elasticity to automatically rebound and spray water at other times. This mechanical intermittent control mechanism not only realizes the precise synchronization of the jet action and the boosting motion, but its half-tooth limit structure can also effectively prevent the rope from overloading, significantly improving the energy utilization efficiency while ensuring reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0036] Figure 1 It is a schematic perspective view of the first perspective of the bionic jellyfish robot disclosed in the present application;

[0037] Figure 2 It is a schematic perspective view of the bionic jellyfish robot disclosed in the present application with the elastic capsule removed;

[0038] Figure 3 It is a schematic perspective view of the second perspective of the bionic jellyfish robot disclosed in the present application;

[0039] Figure 4 It is a schematic perspective view of the bionic jellyfish robot disclosed in the present application with the cover removed;

[0040] Figure 5 It is a schematic view of the guiding chute on the rotating column disclosed in the present application;

[0041] Figure 6 It is a schematic perspective view of the drive assembly disclosed in the present application;

[0042] Figure 7 Schematic exploded view of the differential control device disclosed in the present application from the first perspective;

[0043] Figure 8 Schematic exploded view of the differential control device disclosed in the present application from the second perspective;

[0044] Figure 9 Schematic three - dimensional structure view of the intermittent transmission device disclosed in the present application;

[0045] Reference numerals:

[0046] 1. Main body; 11. Base plate; 12. Cover body;

[0047] 2. Boosting mechanism; 21. Flexible fin; 22. Mounting post; 23. Rotating post; 24. Driving assembly; 25. Slide block; 26. Linkage assembly; 261. First link; 262. Second link; 263. Third link; 221. Mounting groove; 231. Guide chute; 2311. V - shaped groove; 27. Rotating motor; 271. First output shaft; 272. Second output shaft; 28. Driving shaft; 281. Guide projection; 29. Differential control device; 291. Input assembly; 2911. First main gear; 2912. Second main gear; 292. Transmission assembly; 2921. First driven gear; 2922. Second driven gear; 293. Linkage assembly; 2931. Coupling; 2932. Translation device; 2933. Linkage sleeve; 2934. Rotating sleeve; 2933a. Activity hole; 2933b. Guide groove; 2933c. First internal gear ring; 2933d. Second internal gear ring; 2921a. First external gear ring; 2922a. Linkage shaft; 2922b. Second external gear ring;

[0048] 3. Injection mechanism; 31. Elastic bladder; 32. Pre - tensioning rope; 33. Pre - tensioning disc; 34. Intermittent transmission device; 341. Sleeve; 3411. Third internal gear ring; 3412. Fourth internal gear ring; 342. First transmission gear; 343. Second transmission gear; 344. First linkage gear; 345. Second linkage gear; 346. Rotating shaft; 311. Support part; 312. Bladder surface structure; 3121. Origami body. Detailed implementation manners

[0049] Next, in combination with the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0050] As shown Figure 1 in the figure, in combination with Figures 2 - 4 , an embodiment of the present application discloses a bionic jellyfish robot, including a main body 1, a boosting mechanism 2, and a jetting mechanism 3.

[0051] Among them, the main body 1 serves as the installation foundation of the jellyfish robot. Specifically, the main body 1 includes a bottom plate 11 and a hemispherical cover 12 fixedly arranged on the bottom plate 11. The bottom plate 11 provides a stable installation foundation, and the hemispherical cover 12 forms a streamlined outer shell, reducing the underwater movement resistance and effectively protecting each component of the robot to ensure its normal operation in a complex underwater environment.

[0052] The boosting mechanism 2 is used to imitate the contraction and relaxation actions of the umbrella-shaped body of the jellyfish. Specifically, the boosting mechanism 2 includes a flexible fin 21, a mounting post 22, a rotating post 23, a driving component 24, a slider 25, and a link component 26.

[0053] The mounting post 22 is vertically and fixedly arranged at the bottom of the bottom plate 11, and a plurality of mounting grooves 221 are evenly opened in its circumferential direction. The mounting post 22 bears the supporting structure of the rotating post 23 and can be specifically realized by an aluminum alloy hollow cylinder. The mounting grooves 221 evenly opened in its circumferential direction are used to accommodate the rotational movement of the rotating post 23. In this embodiment, the number of mounting grooves 221 is at least set to 3, so that at least 3 flexible fins 21 can be evenly distributed around the mounting post 22. By appropriately increasing the number of flexible fins 21, the movement efficiency of the periodic opening and closing of the flexible fins 21 can be improved.

[0054] The rotating post 23 is rotatably arranged in the mounting groove 221, and a guiding sliding groove 231 is arranged on its outer side. The slider 25 is slidably arranged in the guiding sliding groove 231. The guiding sliding groove 231 can guide the slider 25 to perform a linear reciprocating motion when the rotating post 23 rotates.

[0055] The upper end of the flexible fin 21 is hinged to the bottom plate 11, and the link component 26 is respectively hinged to the bottom plate 11, the middle part of the flexible fin 21, and the slider 25. The link component 26 is a linkage mechanism composed of multiple rods and can be specifically realized by a titanium alloy hinge rod. By changing the positions of different hinge points, the linear motion is converted into the flapping trajectory of the flexible fin 21.

[0056] In this embodiment, the flexible fin 21 is spoon-shaped, with the upper part being slender and the lower part being wide and approximately triangular. The upper part of the flexible fin 21 is provided with a double-layer structure to improve a certain stiffness and avoid deformation of the upper and middle parts. The spoon-shaped part of the lower part of the flexible fin 21 only retains a single-layer structure, so as to realize a large swing at the tail end when using a softer panel. The entire flexible fin 21 can be made of aluminum alloy material, or can also be made of plastic material or carbon fiber.

[0057] The driving assembly 24 is installed between the bottom plate 11 and the cover 12 and is used to drive the rotation of each rotating column 23. The rotating shaft 346 drives the slider 25 to perform axial reciprocating motion through the guiding chute 231, and the slider 25 drives the flexible fin 21 to open and close periodically through the connecting rod assembly 26.

[0058] Specifically, when the driving assembly 24 drives the rotating column 23 to rotate around its axis, the guiding chute 231 provided on the outer surface of the rotating column 23 converts the circular motion into an axial reciprocating linear motion through contact with the slider 25. When the slider 25 slides along the guiding chute 231, the displacement of the hinge point in the middle of the flexible fin 21 changes through the connecting rod assembly 26, thereby driving the flexible fin 21 to perform periodic opening and closing motions with the hinge point on the bottom plate 11 as the fulcrum. During this motion process, the specific contour track of the guiding chute 231 can precisely control the moving speed and displacement of the slider 25, enabling the flexible fin 21 to continuously contract and expand, completing the water-paddling boosting drive.

[0059] The jetting mechanism 3 is used to simulate the process of a jellyfish jetting and propelling through water pressure. Specifically, the jetting mechanism 3 includes an elastic bladder 31, a pre-tightening rope 32, a pre-tightening disc 33, and an intermittent transmission device 34.

[0060] The elastic bladder 31 is coaxially fixed to the bottom end of the mounting post 22, and the bottom of the elastic bladder 31 is open. In this embodiment, the elastic bladder 31 has elastic deformation characteristics, that is, it generates compressive deformation when compressed and can restore its own shape when the external force is released. The open bottom of the elastic bladder 31 forms a water flow channel, facilitating the entry of water into the interior of the elastic bladder 31 and the ejection from the opening.

[0061] In this embodiment, the elastic bladder 31 is fixed to the bottom end of the mounting post 22, which can avoid causing motion interference to the rotating column 23. Preferably, the lower end of the mounting post 22 extends into the interior of the elastic bladder 31 for connection with the intermittent transmission device 34.

[0062] The pre-tightening disc 33 is installed at the bottom of the intermittent transmission device 34. A plurality of pre-tightening ropes 32 are provided. One ends of the plurality of pre-tightening ropes 32 are respectively fixedly connected to the pre-tightening disc 33, and the other ends are fixedly connected to the open end of the elastic bladder 31. By rotating the pre-tightening disc 33, the pre-tightening ropes 32 can be driven to tighten, thereby driving the elastic bladder 31 to undergo compressive deformation.

[0063] In this embodiment, the rotational driving end of the driving assembly 24 passes through the mounting post 22 and is connected to the intermittent transmission device 34. The driving assembly 24 is used to drive the pre-tightening disc 33 to rotate intermittently through the intermittent transmission device 34. When the pre-tightening ropes 32 are tightened, the elastic bladder 31 is axially compressed to intake water, and when the pre-tightening ropes 32 are released, the elastic bladder 31 rebounds by its own elasticity to spray water.

[0064] Specifically, the driving component 24 continuously provides rotational power, which is intermittently transmitted to the pre-tightening disc 33 through the intermittent transmission device 34, causing the pre-tightening disc 33 to rotate intermittently. In this way, when the pre-tightening disc 33 is subjected to the rotational driving force, the elastic capsule 31 is axially compressed through the pre-tightening rope 32. At this time, water flows into the elastic capsule 31 from the bottom opening. When the rotational driving force acting on the pre-tightening disc 33 disappears, the elastic capsule 31 rebounds under the action of its own elastic deformation, and the water is ejected downward from the bottom opening inside the elastic capsule 31, thereby further generating a propulsion force. The rotational movement of the pre-tightening disc 33 is periodic, so that the ejection driving process of the elastic capsule 31 contracting and relaxing can be cycled. The whole process can truly simulate the propulsion mode of jellyfish and can greatly reduce mechanical noise.

[0065] It should be noted that the power sources of both the ejection mechanism 3 and the boosting mechanism 2 in this application are the driving component 24. Therefore, through one power source, the periodic opening and closing of the flexible fins 21 for water propulsion can be realized, and at the same time, the contraction and relaxation ejection driving of the elastic capsule 31 can be realized. While saving energy consumption, the propulsion efficiency of the jellyfish robot is greatly improved.

[0066] The bionic jellyfish robot proposed in this application realizes efficient propulsion through an integrated driving design. Its technical effects are mainly reflected in: using a single driving component 24 to control both the boosting mechanism 2 and the ejection mechanism 3 at the same time. Among them, the boosting mechanism 2 converts the rotational movement into the periodic opening and closing movement of the flexible fins 21 through the mechanical linkage of the mounting post 22, the rotating post 23 and the guiding chute 231 to simulate the jellyfish's water propulsion; the ejection mechanism 3 drives the pre-tightening disc 33 to periodically tighten the pre-tightening rope 32 through the intermittent transmission device 34, so that the elastic capsule 31 alternately completes the processes of water absorption compression and elastic rebound water spraying. This dual-mode cooperative propulsion system not only perfectly reproduces the biological motion characteristics of jellyfish, but also significantly reduces energy loss and mechanical noise compared with the traditional pneumatic drive in its mechanical transmission structure. The overall design has the advantages of high propulsion efficiency, low energy consumption and good environmental adaptability.

[0067] As some embodiments, referring to the attached Figure 5 As shown, the guiding chute 231 disclosed in this embodiment includes two V-shaped grooves 2311 that are mirror-symmetrical with the axis of the rotating post 23 as the symmetry center, ensuring that the movement trajectories of the two sliders 25 are exactly the same, and avoiding movement deviation caused by structural asymmetry. The inclined surface design of the V-shaped groove 2311 can efficiently convert the rotational movement into axial thrust, reduce friction loss, and the V-shaped structure has self-centering property, which can automatically compensate for assembly errors and improve movement accuracy.

[0068] The two V-shaped grooves 2311 are smoothly connected at both axial ends of the rotating column 23 to form a continuous closed-loop chute structure, which avoids jamming or impact when the slider 25 switches the moving direction, ensuring continuous and stable movement.

[0069] There are two sliders 25, which are respectively slidably arranged in the two V-shaped grooves 2311, and the two sliders 25 are axisymmetric with respect to the axis of the rotating shaft 346. When the rotating column 23 rotates around its axis, the chute contour of the guiding chute 231 pushes the two sliders 25 to reciprocate synchronously along the axial direction of the rotating column 23. When the rotating column 23 rotates, the two sliders 25 move up and down reciprocally along the V-shaped grooves 2311 synchronously, ensuring that the two flexible fins 21 are deployed or contracted synchronously. Due to the symmetry of the chute, the movement trajectories of the two sliders 25 are exactly the same, without a phase difference. One rotating column 23 can drive the two flexible fins 21 simultaneously, improving the propulsion efficiency. In addition, by setting the double-slider 25 structure on one rotating column 23, the space can be fully utilized, making the robot structure compact while improving the propulsion efficiency.

[0070] Through the design of mirror-symmetrical double V-shaped grooves + closed-loop chute + double-slider synchronous drive, one rotating column 23 can drive the two flexible fins 21 to deploy or contract synchronously, significantly improving the propulsion efficiency and motion coordination of the robot. This structure has the advantages of high motion symmetry, high energy conversion efficiency, compact structure, and strong stability, and is suitable for the efficient underwater propulsion system of bionic jellyfish robots. Compared with the traditional single-slider 25 drive scheme, this design can achieve double thrust output under the same power input, while ensuring smooth and reliable movement and extending the mechanical life.

[0071] In this embodiment, referring to the attached Figure 2 As shown, the connecting rod assembly 26 includes a first connecting rod 261, a second connecting rod 262, and a third connecting rod 263. One end of the first connecting rod 261 is hinged to the middle of the flexible fin 21, one end of the second connecting rod 262 is hinged to the bottom plate 11, one end of the third connecting rod 263 is hinged to the slider 25, and the other ends of the first connecting rod 261, the second connecting rod 262, and the third connecting rod 263 are hinged to each other to form a linkage node.

[0072] Through the linkage structure of the first connecting rod 261, the second connecting rod 262, and the third connecting rod 263, the movement of the flexible fin 21 can be ensured to be smoother and more orderly. This precise control improves the propulsion efficiency of the robot and makes the propulsion force more uniform. The linkage node of the three connecting rods enables the actions of each connecting rod to cooperate with each other, thereby reducing the instability caused by the imbalance of a single connecting rod and improving the stability and efficiency of the movement.

[0073] In order to realize the rotational movement of multiple rotating shafts 346, a structural mode of the driving assembly 24 is shown in this application. Specifically, referring to the attached Figure 4, 6 As shown in FIGS. 7, 8, the driving assembly 24 includes a rotating motor 27, a driving shaft 28 and a differential control device 29.

[0074] The rotating motor 27 is fixedly arranged on the top of the bottom plate 11. The rotating motor 27 has a first output shaft 271 and a second output shaft 272 arranged coaxially. The first output shaft 271 is connected to each driving shaft 28 through the differential control device 29 respectively. The lower end of the driving shaft 28 movably passes through the bottom plate 11 and is fixedly connected to the rotating column 23 coaxially. The second output shaft 272 movably passes through the bottom plate 11 and the mounting column 22 and is connected to the intermittent transmission device 34.

[0075] With such a setting, the power motor outputs speed and torque. The differential control device 29 can synchronously transmit the torque and speed output by the first output shaft 271 to each driving shaft 28, so as to drive the corresponding rotating column 23 to rotate by each driving shaft 28. At the same time, the speed and torque output by the power motor are also transmitted to the intermittent transmission device 34 through the second output shaft 272, so as to drive the pre-tightening disc 33 to rotate intermittently. The double propulsion operation of the whole jellyfish robot can be realized by one power motor, saving energy consumption and improving the propulsion movement efficiency of the jellyfish robot.

[0076] The jellyfish robot needs to move up and down or horizontally underwater. When the flexible fins 21 contract, the water body does not act on the flexible fins 21. At this time, the whole jellyfish robot will sink in the water body due to its own weight. When the flexible fins 21 open and close periodically and flutter, plus the elastic capsule 31 sprays water periodically for propulsion, the jellyfish robot can move upward horizontally.

[0077] When the differential control device 29 controls the speeds of all driving shafts 28 to be the same, the speeds of all rotating columns 23 are the same. In this way, all flexible fins 21 can be unfolded or contracted synchronously, and the jellyfish robot can rise in the water and achieve propulsion.

[0078] When the jellyfish needs to move horizontally, only need to control the speed of one or more driving shafts 28 by the differential control device 29 to be inconsistent with the speeds of other driving shafts 28. In this way, the unfolding or contraction of multiple flexible fins 21 will be out of sync, and the jellyfish robot can be translated to one side.

[0079] For example, in this embodiment, three rotating columns 23 are shown. If the driving shaft 28 corresponding to one rotating column 23 and the driving shafts 28 corresponding to the other two rotating columns 23 have inconsistent speeds, that is, the speed of this rotating column 23 is less than the sum of the speeds of the other two rotating columns 23, the jellyfish robot will move horizontally in the direction with the lower speed of the rotating column 23.

[0080] Through the innovative design of an integrated power motor + intelligent differential control + multi-axis drive system, the omnidirectional and precise motion control of the bionic jellyfish robot is achieved. This structure has outstanding advantages such as diverse motion modes (vertical lifting / horizontal translation), high control accuracy, excellent energy utilization rate, and strong system reliability. Compared with the traditional multi-motor drive scheme, this design not only significantly reduces energy consumption but also realizes the flexible and maneuverable performance similar to that of real jellyfish through differential control, providing an efficient and reliable motion solution for underwater bionic robots.

[0081] Furthermore, an embodiment of the present application discloses a structural form of the differential control device 29. Specifically, referring to the attached Figure 7 and 8 As shown, the differential control device 29 includes an input component 291, a transmission component 292, and a linkage component 293.

[0082] Among them, the input component 291 includes a first main gear 2911 and a second main gear 2912 fixedly arranged on the first output shaft 271. The two are arranged at intervals along the axial direction and have different numbers of teeth. Two transmission ratios are achieved through different numbers of teeth, and the axial interval saves radial space to realize the dual-channel output of a single power source.

[0083] The transmission component 292 includes a first driven gear 2921 and a second driven gear 2922. The first driven gear 2921 is rotatably arranged on the drive shaft 28 and meshes with the first main gear 2911. The second driven gear 2922 meshes with the second main gear 2912 and is fixedly connected with a linkage shaft 2922a that is coaxially and rotationally connected to the drive shaft 28. In this instance, only when the first driven gear 2921 and the drive shaft 28 maintain circumferential restraint, the rotational force transmitted from the first main gear 2911 to the first driven gear 2921 will drive the drive shaft 28 to rotate synchronously. Additionally, when the linkage shaft 2922a and the drive shaft 28 are not coupled in the axial direction, there is only a coaxial rotational connection relationship between the linkage shaft 2922a and the drive shaft 28, and the rotational force transmitted from the second main gear 2912 to the second driven gear 2922 will not be transmitted to the drive shaft 28 through the linkage shaft 2922a.

[0084] By meshing the first main gear 2911 with the first driven gear 2921 and the second main gear 2912 with the second driven gear 2922, different rotational speeds can be obtained for the first driven gear 2921 and the second driven gear 2922. After selecting to establish a fixed connection between the drive shaft 28 and the first driven gear 2921 or the second driven gear 2922, different rotational speeds can be output from the drive shaft 28, thereby adjusting the flapping speed of the flexible fin 21.

[0085] To selectively establish a fixed connection between the drive shaft 28 and the first driven gear 2921 or the second driven gear 2922, this embodiment is implemented through the linkage assembly 293. Specifically, the linkage assembly 293 includes a coupling 2931 and a translation device 2932. The coupling 2931 is sleeved between the linkage shaft 2922a and the drive shaft 28 and can axially slide along the drive shaft 28. The translation device 2932 is arranged on the bottom plate 11 and is used to control the axial position of the coupling 2931 to selectively establish a fixed connection between the drive shaft 28 and the first driven gear 2921 through the coupling 2931; or a fixed connection between the drive shaft 28 and the linkage shaft 2922a.

[0086] During the specific working process, when the jellyfish robot needs to vertically advance in the water body, the rotational speeds of all the drive shafts 28 need to be the same. At this time, the translation device 2932 drives the coupling 2931 to move, so that all the drive shafts 28 are fixedly connected to the first driven gear 2921, or all the drive shafts 28 are fixedly connected to the linkage shaft 2922a. Ensure that all the drive shafts 28 are only fixedly connected to the first driven gear 2921 or the second driven gear 2922, so that all the drive shafts 28 can output the same rotational speed, ensuring that all the flexible fins 21 open and contract synchronously and move in unison.

[0087] For example, when all the drive shafts 28 are fixedly connected to the first driven gear 2921, there is no axial linkage between the linkage shaft 2922a and the drive shaft 28, and the linkage shaft 2922a idles relative to the drive shaft 28. The first main gear 2911 drives the first driven gear 2921 to rotate, and the first driven gear 2921 drives the drive shaft 28 to rotate through the coupling 2931. In this way, all the rotating columns 23 output the same rotational speed.

[0088] Since the number of teeth of the first main gear 2911 and the second main gear 2912 is different, the transmission ratios transmitted to the first driven gear 2921 and the second driven gear 2922 are different, and thus the rotational speeds obtained by the drive shaft 28 are also different. The first main gear 2911 or the second main gear 2912 can be selectively switched to transmit power to the drive shaft 28 according to the actual propulsion requirements.

[0089] When multiple drive shafts 28 need to rotate differentially, only the couplings 2931 corresponding to the drive shafts 28 with different rotational speeds need to be axially moved in opposite directions, so that the drive shafts 28 can be connected to different transmission ratios, thereby making the rotational speeds of the drive shafts 28 different from those of other drive shafts 28, and further realizing the horizontal movement of the jellyfish robot.

[0090] Through the innovative design of double main gears input + switchable coupling + coaxial drive, the efficient, reliable and intelligent control of the transmission system of the bionic jellyfish robot is achieved. This structure has outstanding advantages such as adjustable transmission ratio, fast mode switching, low energy loss, and high space utilization. Compared with traditional speed-changing mechanisms, this design not only realizes high-speed transmission mode switching but also reduces the structural volume through a clever coaxial layout while improving the transmission efficiency. It is particularly suitable for underwater detection tasks that require frequent changes in motion modes, providing an effective power transmission solution for bionic robots.

[0091] In the above embodiment, the translation device 2932 can be an electric push rod or some linear motion modules, which can change the axial position of the coupling 2931.

[0092] This application shows a structural form of the coupling 2931. Specifically, the coupling 2931 includes a linkage sleeve 2933 and a rotating sleeve 2934.

[0093] The linkage sleeve 2933 has a movable hole 2933a for the driving shaft 28 and the linkage shaft 2922a to pass through. A guiding protrusion 281 is arranged on the side wall of the driving shaft 28 along its axial direction, and a guiding groove 2933b matching the guiding protrusion 281 is arranged in the movable hole 2933a. With this setting, the linkage sleeve 2933 can only move axially relative to the driving shaft 28 but cannot rotate circumferentially relative to the driving shaft 28, and the two can only rotate circumferentially synchronously.

[0094] Both ends of the linkage sleeve 2933 are respectively provided with a first internal gear ring 2933c and a second internal gear ring 2933d facing. A first external gear ring 2921a is coaxially fixedly arranged on the end face of the first secondary gear 2921 for meshing connection with the first internal gear ring 2933c, and a second external gear ring 2922b is coaxially fixedly arranged on the end face of the second secondary gear 2922 for meshing connection with the second internal gear ring 2933d. The rotating sleeve 2934 is sleeved outside the linkage sleeve 2933 and can rotate relative to the axis of the linkage sleeve 2933, and the rotating sleeve 2934 is connected to the translation device 2932.

[0095] When the end face of the linkage sleeve 2933 approaches the first secondary gear 2921, the first internal gear ring 2933c on the linkage sleeve 2933 is sleeved on and meshes with the first external gear ring 2921a. At this time, the second internal gear ring 2933d and the second external gear ring 2922b are disengaged from meshing. Since the linkage sleeve 2933 and the driving shaft 28 are circumferentially locked, at this time, the first main gear 2911 transmits torque to the first secondary gear 2921, and the first secondary gear 2921 drives the driving shaft 28 to rotate synchronously through the linkage sleeve 2933.

[0096] When the end face of the linkage sleeve 2933 approaches the second driven gear 2922, the second internal gear ring 2933d on the linkage sleeve 2933 is sleeved on and meshes with the second external gear ring 2922b. At this time, the first internal gear ring 2933c and the first external gear ring 2921a are disengaged from meshing. Since the guiding groove 2933b on the linkage sleeve 2933 cooperates with the guiding protrusion 281 on the driving shaft 28, the linkage sleeve 2933 and the driving shaft 28 maintain circumferential position locking at this time. At the same time, the second internal gear ring 2933d and the second external gear ring 2922b are meshed and connected, and circumferential locking between the driving shaft 28 and the linkage shaft 2922a can be established. At this time, the second main gear 2912 transmits torque to the second driven gear 2922, and the second driven gear 2922 drives the driving shaft 28 to rotate synchronously through the linkage sleeve 2933.

[0097] In this embodiment, the linkage sleeve 2933 moves up and down along the driving shaft 28, and the linkage sleeve 2933 can only achieve the fixed connection between the driving shaft 28 and the first driven gear 2921, or the fixed connection between the driving shaft 28 and the linkage shaft 2922a. In this embodiment, two split linkage sleeves 2933 can be provided and connected by a connecting rod in the middle. Of course, it can also be provided as a whole.

[0098] The coupling 2931 disclosed in this application realizes the rapid switching between two transmission modes and reliable power transmission through the axial sliding of the linkage sleeve 2933 and the meshing mechanism of internal and external gear rings. Its technical effects are mainly reflected in: the linkage sleeve 2933 realizes axial free sliding while maintaining circumferential synchronous rotation with the driving shaft 28 through the cooperative design of the guiding protrusion 281 and the guiding groove 2933b; the delicate meshing structure of the internal and external gear rings ensures the accuracy and reliability of power transmission; the driving mechanism of the rotating sleeve 2934 enables the linkage sleeve 2933 to quickly and accurately switch to the target transmission position; the design of the integral or split linkage sleeve 2933 provides structural flexibility. This design effectively solves the core requirements of the bionic jellyfish robot for the response speed, synchronous accuracy, and operation stability of the transmission system during rapid switching between different motion modes, and at the same time has the characteristics of compact structure and simple maintenance.

[0099] This embodiment shows a structural form of the intermittent transmission device 34. Specifically, refer to the attached Figure 9 As shown, the intermittent transmission device 34 includes a sleeve 341, a first transmission gear 342, a second transmission gear 343, a first linkage gear 344, a second linkage gear 345, and a rotating shaft 346.

[0100] The upper end of the sleeve 341 is coaxially and rotatably connected to the bottom of the mounting post 22, and the lower end of the sleeve 341 is coaxially and rotatably connected to the pre-tightening disc 33. The structural setting of the sleeve 341 facilitates accommodating the gear structure.

[0101] The inner wall of the sleeve 341 is fixedly provided with a third internal gear ring 3411 and a fourth internal gear ring 3412 at intervals along its axial direction. The lower end of the second output shaft 272 extends into the sleeve 341 and is fixedly connected to the first transmission gear 342 coaxially. The first transmission gear 342 is meshed and connected with the third internal gear ring 3411 through a first linkage gear 344;

[0102] The second transmission gear 343 is coaxially and fixedly arranged on the top surface of the pre-tightening disc 33. The fourth internal gear ring 3412 is a semi-circular tooth structure, and it is meshed with the second transmission gear 343 through a second linkage gear 345; The rotating shaft 346 coaxially passes through the first linkage gear 344 and the second linkage slave gear, and is fixedly connected to the bottom surface of the mounting column 22. The first linkage gear 344 and the second linkage slave gear can rotate relative to the rotating shaft 346.

[0103] With the above technical solution, the rotating motor 27 drives the first transmission gear 342 to rotate through the second output shaft 272. The first transmission gear 342 is meshed and transmitted with the third internal gear ring 3411 through the first linkage gear 344. Since the first linkage gear 344 and the second linkage gear 345 are kept in the same position as the bottom of the mounting column 22 through the rotating shaft 346, the first linkage gear 344 and the second linkage gear 345 can only rotate relative to the rotating shaft 346. Thus, the first linkage gear 344 is driven by the first transmission gear 342 to engage and transmit with the third internal gear ring 3411, realizing the rotation of the sleeve 341 relative to the first transmission gear 342. During the rotation of the sleeve 341, the fourth internal gear ring 3412 at the lower part of the inner wall of the sleeve 341 engages and transmits with the second linkage gear 345, realizing the second linkage gear 345 driving the second transmission gear 343 to rotate. Since the second transmission gear 343 and the pre-tightening disc 33 are coaxially and fixedly connected, thus, the second transmission gear 343 can drive the pre-tightening disc 33 to rotate circumferentially relative to the sleeve 341. During the rotation of the pre-tightening disc 33, the pre-tightening rope 32 can be rotationally tightened, and the elastic capsule 31 is compressed through the tightening of the pre-tightening rope 32.

[0104] In order to prevent the pre-tightening rope 32 from being overly tightened and broken, in this embodiment, the fourth internal gear ring 3412 is set as a semi-circular tooth structure. When the sleeve 341 rotates, when the fourth internal gear ring 3412 engages with the second linkage gear 345, the pre-tightening disc 33 starts to rotate. When the fourth internal gear ring 3412 passes over the second linkage gear 345, the fourth internal gear ring 3412 does not engage with the second linkage gear 345. At this time, the elastic capsule 31 rebounds under its own elastic deformation, and this process can realize jet propulsion.

[0105] The intermittent drive device 34 disclosed in this embodiment achieves precise and controllable intermittent jet propulsion through an innovative gear linkage structure. Its technical effects are mainly reflected in: adopting a double-layer internal gear ring structure (the third internal gear ring 3411 is a full tooth, and the fourth internal gear ring 3412 is a half tooth) arranged inside the sleeve 341. The sleeve 341 is driven to rotate by the continuous meshing of the first transmission gear 342 and the third internal gear ring 3411. The half-tooth-designed fourth internal gear ring 3412 forms intermittent meshing with the second linkage gear 345, enabling the pre-tightening disc 33 to tighten the pre-tightening rope 32 and compress the elastic bladder 31 only at specific rotation phases, and the bladder rebounds automatically by elasticity to spray water at other times. This mechanical intermittent control mechanism not only realizes the precise synchronization of the jet action and the boosting movement, but also its half-tooth limit structure can effectively prevent the rope from overloading, significantly improving the energy utilization efficiency while ensuring reliability.

[0106] This embodiment shows a structural form of the elastic bladder 31. Specifically, referring to the attached Figure 4 As shown, the elastic bladder 31 includes a support portion 311 and a bladder surface structure 312. The support portion 311 is a disc-shaped structure, and the bladder surface structure 312 is composed of a plurality of compressible origami bodies 3121 spliced together, and the bladder surface structure 312 is an ellipsoidal shape. One end of the bladder surface structure 312 is fixedly connected to the edge of the support portion 311, and the other end is open. The lower end of the mounting post 22 passes through the support portion 311 and extends into the interior of the bladder surface structure 312, and the mounting post 22 is fixedly connected to the support portion 311.

[0107] The unit splicing structure of the origami body 3121 endows the bladder surface structure 312 with anisotropic compression characteristics, ensuring directional deformation when compressed. The disc-shaped support portion 311 provides a stable installation interface, avoiding the influence of bladder deformation on the positioning accuracy of the mounting post 22. The ellipsoidal shape optimizes the fluid performance, reduces the water inlet resistance and enhances the concentration of the jet flow field.

[0108] In this embodiment, the bladder surface structure 312 can be made of PET (polyethylene terephthalate) film with a thickness of 0.1 - 0.5 mm.

[0109] As some embodiments, shape memory alloy wires are embedded at the splicing joints of the origami bodies 3121 for controlling the expansion and contraction movements of the bladder surface structure 312.

[0110] The active driving function of the shape memory alloy wires realizes the controllable deformation of the bladder surface structure 312, improving the accuracy and response speed of the jet action. The layout along the folding ridge line maximizes the deformation efficiency, ensuring that the bladder surface structure 312 can quickly complete the expansion / contraction action. The synergistic effect with the origami body 3121 structure enhances the controllability and repeatability of the bladder deformation. The combination of active driving and passive elastic rebound optimizes the energy utilization efficiency.

[0111] As some optional embodiments, the length of the pre-tightening rope 32 satisfies the following condition: L ≤ H0, where: L is the length of the pre-tightening rope 32 in the natural stretching state; H0 is the projected distance in the vertical direction from the bottom surface of the pre-tightening disc 33 to the bottom surface of the capsule body when the capsule body is in the free unfolding state.

[0112] By precisely defining the geometric relationship between the length of the pre-tightening rope 32 and the unfolding height of the capsule body (L ≤ H0), the efficient and stable operation of the spraying mechanism 3 is ensured: this constraint condition enables the pre-tightening rope 32 to always maintain the optimal working tension, avoiding control failure caused by slack and preventing overload damage; at the same time, it ensures that the capsule body can be fully unfolded to achieve the maximum water intake, and cooperates with the intermittent transmission device 34 to precisely control the spraying rhythm, thereby significantly improving the propulsion efficiency and system reliability. This geometric optimization design also solves the problem of rope winding and extends the service life of key components.

[0113] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A bionic jellyfish robot, characterized in that, Comprising: A main body, the main body includes a bottom plate and a hemispherical cover fixedly arranged on the bottom plate; A boosting mechanism, including flexible fins, mounting columns, rotating columns, drive components, sliders and link components. The mounting columns are vertically and fixedly arranged at the bottom of the bottom plate, and a plurality of mounting grooves are evenly formed in the circumferential direction thereof. The rotating columns are rotatably arranged in the mounting grooves, and guiding chutes are arranged on the outer sides thereof. The sliders are slidably arranged in the guiding chutes. The upper ends of the flexible fins are hinged to the bottom plate, and the link components are respectively hinged to the bottom plate, the middle parts of the flexible fins and the sliders. The drive components are installed between the bottom plate and the cover and are used to drive each rotating column to rotate, so that the sliders make axial reciprocating motions along the guiding chutes, and further drive the flexible fins to open and close periodically through the link components; A spraying mechanism, including an elastic capsule, a pre-tightening rope, a pre-tightening disc and an intermittent transmission device. The elastic capsule is coaxially fixed to the bottom end of the mounting column, and the bottom of the elastic capsule is open. The intermittent transmission device is arranged on the bottom surface of the mounting column and is connected to the pre-tightening disc. A plurality of pre-tightening ropes are provided. One ends of the plurality of pre-tightening ropes are respectively fixedly connected to the pre-tightening disc, and the other ends are fixedly connected to the open end of the elastic capsule. The drive components are used to drive the pre-tightening disc to rotate intermittently through the intermittent transmission device. When the pre-tightening ropes are tightened, the elastic capsule is axially compressed to let water in, and when the pre-tightening ropes are released, the elastic capsule rebounds by its own elasticity to spray water.

2. The bionic jellyfish robot according to claim 1, characterized in that: The drive components include a rotating motor, a drive shaft and a differential control device. The rotating motor is fixedly arranged on the top of the bottom plate. The rotating motor has a first output shaft and a second output shaft arranged coaxially. The first output shaft is respectively connected to each drive shaft through the differential control device. The lower end of the drive shaft passes through the bottom plate movably and is fixedly connected to the rotating column coaxially. The second output shaft passes through the bottom plate and the mounting column movably and is connected to the intermittent transmission device.

3. The biomimetic jellyfish robot according to claim 2, characterized in that: The differential control device includes: An input component, the input component includes a first main gear and a second main gear fixedly arranged on the first output shaft. The two are arranged at intervals along the axial direction and have different numbers of teeth; A transmission component, including a first driven gear and a second driven gear. The first driven gear is rotatably arranged on the drive shaft and meshes with the first main gear. The second driven gear meshes with the second main gear and is fixedly connected with a linkage shaft rotatably connected to the drive shaft coaxially; A linkage component, including a coupling and a translation device. The coupling is sleeved between the linkage shaft and the drive shaft and can slide axially along the drive shaft. The translation device is arranged on the bottom plate and is used to control the axial position of the coupling to selectively realize the fixed connection between the drive shaft and the first driven gear through the coupling; or the fixed connection between the drive shaft and the linkage shaft.

4. The bionic jellyfish robot according to claim 3, wherein: The coupling includes a linkage sleeve and a rotating sleeve; The linkage sleeve has an activity hole for the drive shaft and the linkage shaft to pass through. A guiding protrusion is arranged on the side wall of the drive shaft along its axial direction. A guiding groove matched with the guiding protrusion is arranged in the activity hole. Both ends of the linkage sleeve are respectively provided with a first internal tooth ring and a second internal tooth ring facing; A first external tooth ring is coaxially fixedly arranged on the end face of the first driven gear and is used for meshing and connecting with the first internal tooth ring. A second external tooth ring is coaxially fixedly arranged on the end face of the second driven gear and is used for meshing and connecting with the second internal tooth ring; The rotating sleeve is sleeved outside the linkage sleeve, can rotate relative to the axis of the linkage sleeve, and the rotating sleeve is connected to the translation device.

5. The biomimetic jellyfish robot according to claim 2, wherein: The intermittent transmission device includes a sleeve, a first transmission gear, a second transmission gear, a first linkage gear, a second linkage gear and a rotating shaft; The upper end of the sleeve is rotatably connected to the bottom of the mounting column, the lower end of the sleeve is rotatably connected to the pre-tightening disc, and third internal gear rings and fourth internal gear rings are fixedly arranged at intervals along the axial direction of the inner wall of the sleeve; The lower end of the second output shaft extends into the sleeve and is coaxially and fixedly connected to the first transmission gear, and the first transmission gear is meshed and connected to the third internal gear ring through the first linkage gear; The second transmission gear is coaxially and fixedly arranged on the top surface of the pre-tightening disc, the fourth internal gear ring is a semi-circular tooth structure, and it is meshed with the second transmission gear through the second linkage gear; The rotating shaft coaxially passes through the first linkage gear and the second linkage slave gear, and is fixedly connected to the bottom surface of the mounting column, and the first linkage gear and the second linkage slave gear can rotate relative to the rotating shaft.

6. The biomimetic jellyfish robot according to claim 1, wherein: The elastic capsule body includes a support part and a capsule surface structure, the support part is a disc-shaped structure, the capsule surface structure is composed of a plurality of compressible origami bodies spliced together, and the capsule surface structure is ellipsoidal, one end of the capsule surface structure is fixedly connected to the edge of the support part, the other end is open, the lower end of the mounting column passes through the support part and extends into the interior of the capsule surface structure, and the mounting column is fixedly connected to the support part.

7. The biomimetic jellyfish robot according to claim 6, characterized in that: Shape memory alloy wires are embedded at the splicing joints of the origami bodies to control the unfolding and shrinking movements of the capsule surface structure.

8. The bionic jellyfish robot according to claim 6 or 7, characterized in that: The length of the pre-tightening rope satisfies the following condition: L ≤ H0, where: L is the length of the pre-tightening rope in the natural stretching state; H0 is the projection distance in the vertical direction from the bottom surface of the pre-tightening disc to the bottom surface of the capsule body when the capsule body is in the free unfolding state.

9. The biomimetic jellyfish robot according to claim 1, characterized in that: The guiding chute includes two V-shaped grooves that are mirror-symmetrical with the axis of the rotating column as the symmetry center. The two V-shaped grooves are smoothly transitionally connected at both axial ends of the rotating column to form a continuous closed-loop chute structure. There are two sliders, which are respectively slidably arranged in the two V-shaped grooves. When the rotating column rotates around its axis, the chute contour of the guiding chute pushes the two sliders to reciprocate synchronously along the axial direction of the rotating column.

10. The bionic jellyfish robot according to claim 1, wherein: The connecting rod assembly includes a first connecting rod, a second connecting rod and a third connecting rod. One end of the first connecting rod is hinged to the middle part of the flexible fin, one end of the second connecting rod is hinged to the bottom plate, one end of the third connecting rod is hinged to the slider, and the other ends of the first connecting rod, the second connecting rod and the third connecting rod are hinged to each other to form a linkage node.

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