Self-generating bionic jellyfish robot

Abstract

The invention provides a self-power-generation type bionic jellyfish robot, and relates to the field of bionic robots, and the self-power-generation type bionic jellyfish robot comprises a rack, a wave energy conversion mechanism and a propelling mechanism; the wave energy conversion mechanism comprises an annular fixing support and a plurality of rotating-barrel-shaped generator sets which are evenly distributed in the circumferential direction. Each generator set comprises a shell, a double-interface rotating body and an internal and external field induction stator. The surface of the rotating body is provided with a friction power generation material which generates power through a friction electrification effect when moving relative to the stator electrode. And the propelling mechanism adopts a driving assembly to drive a plurality of flexible fin rays to realize flapping. The wave kinetic energy is captured through the rotating-barrel-shaped generator set, so that friction power generation is achieved, a transmission structure is not needed, the structural complexity is reduced, and the jellyfish robot is small in size. Besides, the robot realizes the function fusion of bionic motion and energy collection, and can synchronously capture wave energy when executing the propelling action, and the self-powered mode effectively solves the problem of difficulty in energy supply in the deep sea environment.

Description

Technical Field

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

[0002] In recent years, bionic jellyfish-inspired robots have shown great potential in fields such as ocean monitoring and resource exploration due to their efficient and low-noise propulsion. Jellyfish in nature generate propulsion through the periodic contraction and relaxation of their umbrella-shaped bodies. This high-efficiency, low-energy consumption, and high stealth make them ideal for long-term underwater operations. Inspired by this, researchers have developed a variety of bionic jellyfish-inspired robots, primarily employing flexible materials, pneumatic actuation, or shape memory alloys to mimic jellyfish motion. However, existing bionic jellyfish-inspired robots still face significant challenges in energy supply.

[0003] Currently, most bionic jellyfish robots rely on internal batteries for power, but these batteries have limited capacity and are unable to meet the demands of long-term operations in deep-sea and offshore environments. Frequent battery replacement or charging is almost impossible due to the remoteness of deep-sea environments and the distance from resupply points. Furthermore, the size and weight of the batteries limit the robot's payload, making it difficult to simultaneously address propulsion, detection, and energy storage. While some research has attempted to utilize solar or wave energy for auxiliary power supply, these solutions are difficult to integrate with the compact structure of bionic jellyfish robots due to the lack of sunlight in the deep sea or the large size of traditional wave power generation devices.

[0004] Application Contents

[0005] In view of this, the present application proposes a self-powered bionic jellyfish robot to solve the technical problems of unsustainable energy supply and difficult replenishment of existing bionic jellyfish robots in deep-sea and open-ocean environments.

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

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

[0008] frame;

[0009] A wave energy conversion mechanism includes an annular fixed support and multiple rotating barrel-shaped generator sets, the annular fixed support is mounted on a frame, and the multiple rotating barrel-shaped generator sets are uniformly fixed to the annular fixed support in a circumferential direction; the rotating barrel-shaped generator set includes a shell, a double-interface rotating body, an external field induction stator, and an internal field induction stator, the external field induction stator and the internal field induction stator being fixedly arranged in the shell, the double-interface rotating body being located between the external field induction stator and the internal field induction stator and being rotatably connected to the shell, the inner and outer surfaces of the double-interface rotating body being provided with a friction material layer, and the outer and inner field induction stators being provided with electrode layers. The double-interface rotating body can generate relative motion with the external field induction stator and the inner field induction stator under the action of waves, and output electrical energy through the frictional electrification effect;

[0010] The propulsion mechanism is installed on the frame and includes a driving assembly and a plurality of flexible fins. The flexible fins are driven by the driving assembly to achieve flapping motion.

[0011] Based on the above technical solution, preferably, the inner and outer surfaces of the double-interface rotating body are provided with a plurality of first rectangular ridges, and each first rectangular ridge is covered with a friction material layer; the inner surface of the external field induction stator and the outer surface of the internal field induction stator are both provided with a plurality of second rectangular ridges, and each second rectangular ridge is attached with an electrode layer; inwardly protruding soft friction material is provided in the gap between the electrode layers, and the soft friction material is in contact with the friction material layer.

[0012] On the basis of the above technical solution, preferably, a first magnet group is provided on the double-interface rotating body; a second magnet group corresponding to the first magnet group is provided on the external field induction stator; wherein, the first magnet group and the second magnet group are arranged with the same poles facing each other to form a magnetic repulsion structure.

[0013] Based on the above technical solution, preferably, the annular fixed bracket includes an outer rotating ring and an inner rotating bracket, the outer rotating ring is fixedly set on the top surface of the frame, the inner rotating bracket is rotatably set on the outer rotating bracket, and multiple barrel-shaped generator sets are evenly fixed on the inner rotating bracket in the circumferential direction.

[0014] On the basis of the above technical solution, preferably, the driving assembly includes a mounting column, a rotating column, a slider, a power device and a connecting rod assembly;

[0015] The mounting post is fixedly arranged at the bottom of the frame, and a plurality of mounting slots are evenly arranged around the circumference;

[0016] The rotating column is rotatably arranged in the installation groove, and a guide groove is provided on the outer side of the rotating column, and the slider is slidably arranged in the guide groove;

[0017] The upper part of the flexible fin is hinged to the frame, and the connecting rod assembly is hinged to the frame, the middle part of the flexible fin and the slider respectively;

[0018] The power device assembly is set on the frame and is used to drive each rotating column to rotate. The rotating column drives the slider to perform axial reciprocating motion through the guide slot, and the slider drives the flexible fins to open and close periodically through the connecting rod assembly.

[0019] On the basis of the above technical solution, preferably, the frame includes a base plate and a cover body, the cover body is fixedly arranged on the base plate, the wave energy conversion mechanism is arranged between the base plate and the cover body, the mounting column is fixedly arranged below the base plate, the upper end of the flexible fin is hinged to the edge of the cover body, 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 edge of the base 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.

[0020] On the basis of the above technical solution, preferably, the guide groove includes two V-shaped grooves that are mirror-symmetrical with the axis of the rotating column as the center of symmetry. The two V-shaped grooves are smoothly connected at both ends of the axial direction of the rotating column to form a continuous closed-loop groove structure. Two sliders are provided, which are respectively slidably arranged in the two V-shaped grooves. When the rotating column rotates around its axis, the groove profile of the guide groove pushes the two sliders to synchronously reciprocate along the axial direction of the rotating column.

[0021] On the basis of the above technical solution, preferably, the power device includes a power motor, a drive shaft and a differential control device. The power motor is fixedly arranged on the top of the frame, and the output shaft of the power motor is respectively connected to each drive shaft through the differential control device. The lower end of the drive shaft is movable through the frame and is coaxially fixedly connected to the rotating column.

[0022] On the basis of the above technical solution, preferably, the differential control device includes:

[0023] An input assembly, the input assembly comprising a first main gear and a second main gear fixedly mounted on an output shaft of the power motor, the first main gear and the second main gear being spaced apart in the axial direction and having different numbers of teeth;

[0024] The transmission assembly includes a first slave gear, a second slave gear and a coupling. The first slave gear is rotatably disposed on the drive shaft and meshes with the first master gear. The second slave gear meshes with the second master gear and is fixedly connected to a linkage shaft coaxial with the drive shaft. The coupling is sleeved between the linkage shaft and the drive shaft and can slide axially along the drive shaft.

[0025] The control assembly is used to control the axial position of the coupling to selectively achieve a fixed connection between the drive shaft and the first slave gear; or a fixed connection between the drive shaft and the linkage shaft.

[0026] On the basis of the above technical solution, preferably, the coupling includes:

[0027] The linkage sleeve has a movable hole for the drive shaft and the linkage shaft to pass through, the side wall of the drive shaft is provided with a guide protrusion along its axial direction, the first movable hole is provided with a guide groove that matches the guide protrusion, and the two ends of the linkage sleeve are respectively provided with a first inner gear ring and a second inner gear ring;

[0028] A first outer gear ring is coaxially fixedly disposed on the end surface of the first slave gear and is used for meshing connection with the first inner gear ring;

[0029] A second outer gear ring is coaxially fixedly disposed on the end surface of the second slave gear and is used for meshing connection with the second inner gear ring;

[0030] The rotating sleeve is sleeved on the outside of the linkage sleeve and can rotate relative to the axis of the linkage sleeve. The rotating sleeve is connected to the control component.

[0031] By driving the rotating sleeve through the control component to drive the linkage sleeve to move axially, the first inner gear ring can be selectively engaged with the first outer gear ring to achieve a fixed connection between the drive shaft and the first slave gear; or the second inner gear ring can be engaged with the second outer gear ring to achieve a fixed connection between the drive shaft and the linkage shaft.

[0032] Compared with the prior art, this application has the following beneficial effects:

[0033] (1) By placing the wave energy conversion mechanism on the frame, only wave energy is needed to drive the entire jellyfish robot to swing its posture. The kinetic energy of the wave can be captured by the rotating barrel-shaped generator set, thereby achieving frictional power generation. No transmission structure is required, which reduces the structural complexity and makes the jellyfish robot lightweight. In addition, this application realizes the functional integration of bionic motion and energy harvesting, enabling the robot to capture wave energy while performing propulsion movements. This self-powered mode effectively solves the problem of energy replenishment difficulties in deep-sea environments. At the same time, the compact structural design avoids the negative impact of traditional wave energy devices on the robot's maneuverability, providing a feasible energy solution for long-term autonomous underwater operations.

[0034] (2) The three-dimensional friction interface design improves the power generation efficiency per unit volume. The soft friction material effectively reduces mechanical wear and extends the service life of the device. The complementary ridge structure ensures that stable contact pressure can be maintained under different wave conditions, avoiding power generation interruptions caused by excessive gaps. The physical isolation design of the electrode layer and the friction layer prevents charge leakage and ensures long-term operational reliability.

[0035] (3) By providing an annular fixed bracket, the present application achieves dynamic tracking of wave direction by the rotating barrel-shaped generator set, adapting to the changing wave direction, capturing wave energy with maximum efficiency, and increasing the number of contact and separation times of the friction power generation layer per unit time, while avoiding the problem of increased robot motion resistance caused by the excessive size of the equipment. The mechanical structure of the rotating bracket also converts the lateral impact force of the waves into rotational kinetic energy, effectively reducing the peak load borne by the power generation unit.

[0036] (4) Through the design of mirror-symmetrical double V-grooves + closed-loop slides + dual slider synchronous drive, a rotating column is used to simultaneously drive two flexible fins to expand or retract synchronously, significantly improving the robot's propulsion efficiency and motion coordination. This structure has the advantages of high motion symmetry, high energy conversion efficiency, compact structure, and strong stability, making it suitable for the efficient underwater propulsion system of bionic jellyfish robots. Compared with the traditional single-slider drive solution, this design can achieve double thrust output with the same power input, while ensuring smooth and reliable motion and extending the mechanical life.

[0037] (5) Through the innovative design of dual main gear input + switchable coupling + coaxial transmission, efficient, reliable and intelligent control of the bionic jellyfish robot transmission system 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 change mechanisms, this design not only achieves high-speed transmission mode switching, but also reduces the structural volume through a clever coaxial layout, while improving transmission efficiency. It is particularly suitable for underwater exploration missions that require frequent changes in movement modes.

[0038] (6) The coupling structure disclosed in this application realizes rapid switching and reliable power transmission between two transmission modes through the axial sliding of the linkage sleeve and the meshing mechanism of the inner and outer gear rings. Its technical effects are mainly reflected in: the linkage sleeve realizes axial free sliding while maintaining circumferential synchronous rotation with the drive shaft through the design of the matching guide protrusion and groove; the exquisite meshing structure of the inner and outer gear rings ensures the accuracy and reliability of power transmission; the driving mechanism of the rotating sleeve enables the linkage sleeve to switch to the target transmission position quickly and accurately; the integral or split linkage sleeve design provides structural flexibility. This design effectively solves the core requirements of the bionic jellyfish robot for the transmission system response speed, synchronization accuracy and operation stability when rapidly switching between different motion modes, and at the same time has the characteristics of compact structure and easy maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0040] Figure 1 This is a first-person perspective schematic diagram of the three-dimensional structure of the self-generating bionic jellyfish robot disclosed in this application;

[0041] Figure 2 This is a schematic diagram of the second-perspective three-dimensional structure of the self-generating bionic jellyfish robot disclosed in this application;

[0042] Figure 3 A schematic diagram of the three-dimensional structure of the propulsion mechanism disclosed in this application;

[0043] Figure 4 This is a top view of the self-generating bionic jellyfish robot disclosed in this application with the cover removed;

[0044] Figure 5 This is a schematic structural diagram of the rotary barrel-shaped generator set disclosed in this application;

[0045] Figure 6 A planar cross-sectional view of the rotary barrel-shaped generator set disclosed in this application;

[0046] Figure 7 A schematic diagram of the three-dimensional structure of the drive assembly disclosed in this application;

[0047] Figure 8 A schematic diagram of the structure of the guide chute on the rotating column disclosed in this application;

[0048] Figure 9 A schematic diagram of the three-dimensional structure of the power device disclosed in this application;

[0049] Figure 10 A first-perspective exploded diagram of the transmission assembly disclosed in the application;

[0050] Figure 11 A second perspective exploded schematic diagram of the transmission assembly disclosed in this application;

[0051] Figure 12 A schematic diagram of the coupling disclosed in the present application in a state where the second slave gear and the drive shaft are fixedly connected;

[0052] Figure 13 A schematic diagram of a state in which the coupling disclosed in the present application securely connects the first slave gear and the drive shaft;

[0053] Reference numerals:

[0054] 1. Frame; 11. Bottom plate; 12. Cover; 2. Wave energy conversion mechanism; 21. Annular fixing bracket; 211. Outer rotating ring; 212. Inner rotating bracket; 22. Rotating barrel-shaped generator set; 221. Housing; 222. Double-interface rotating body; 223. External field induction stator; 224. Internal field induction stator; 2221. First rectangular ridge; 2222. Friction material layer; 2210. Second rectangular ridge; 2211. Electrode layer; 2212. Soft friction material; 225. First magnet group; 226. Second magnet group; 3. Propulsion mechanism; 31. Drive assembly; 32. Flexible fins; 311. Mounting column; 3111. Mounting groove; 312. Rotating column; 3121. Guide groove; 3121a. V-shaped groove; 313. Slider; 31 5. Connecting rod assembly; 3151. First connecting rod; 3152. Second connecting rod; 3153. Third connecting rod; 314. Power unit; 310. Power motor; 316. Drive shaft; 3161. Guide protrusion; 317. Differential control device; 318. Input assembly; 3181. First main gear; 3182. Second main gear; 319. Transmission assembly; 320. Control assembly; 3191. First slave gear; 3192. Second slave gear; 3192a. Linkage shaft; 3193. Coupling; 3194. Linkage sleeve; 3194a. Movable hole; 3194a1. Guide groove; 3194b. First inner ring gear; 3194c. Second inner ring gear; 3195. First outer ring gear; 3196. Second outer ring gear; 3197. Rotating sleeve. DETAILED DESCRIPTION

[0055] The following will be combined with the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0056] Refer to the attached Figure 1 As shown, combined Figure 2-6 This application proposes a self-generating bionic jellyfish robot, including a frame 1, a wave energy conversion mechanism 2 and a propulsion mechanism 3.

[0057] The frame 1 is the mounting base of the entire jellyfish robot, and serves to mount and protect other components.

[0058] In this embodiment, the wave energy conversion mechanism 2 converts wave kinetic energy into electrical energy. It comprises an annular fixed support 21 and multiple rotating barrel-shaped generator sets 22. The annular fixed support 21 is mounted on the frame 1, and the multiple rotating barrel-shaped generator sets 22 are uniformly fixed to the annular fixed support 21 along its circumference. Each rotating barrel-shaped generator set 22 comprises a housing 221, a dual-interface rotating body 222, and internal and external field induction stators 223. The external and internal field induction stators 223 and 224 are fixedly mounted within the housing 221. The dual-interface rotating body 222 is positioned between the external and internal field induction stators 223 and 224 and is rotatably connected to the housing 221. Friction material layers 2222 are provided on its inner and outer surfaces, and electrode layers 2211 are provided on the surfaces of the internal and external field induction stators 223. Under the action of waves, the dual-interface rotating body 222 can generate relative motion with the external and internal field induction stators 223 and 224, outputting electrical energy through the triboelectric effect.

[0059] The propulsion mechanism 3 includes a driving component 31 and a plurality of flexible fins 32 . The driving component 31 drives the flexible fins 32 to flap periodically.

[0060] The rotating barrel-shaped generator set 22 is configured as an independent power generation unit with a cylindrical shell 221. Specifically, the dual-interface rotating body 222 and the dual contact surface design with the inner and outer stators can increase the frictional power generation area. The dual-interface rotating body 222 is a rotating component with two inner and outer friction surfaces. Specifically, it can adopt a hollow cylindrical structure, with the inner and outer surfaces respectively covered with friction material layers 2222, which generates bidirectional rotation through wave action. The external field sensing stator 223 and the internal field sensing stator 224 are fixed to the electrode assembly on the inner wall of the shell 221. The surfaces of the external field sensing stator 223 and the internal field sensing stator 224 are provided with electrode layers 2211, which form a contact-separation power generation mode with the friction material layer 2222 on the surface of the rotating body. The flexible fins 32 are moving components that simulate the umbrella-shaped body of a jellyfish. Specifically, they can be made of elastic material into a strip structure and connected to the drive assembly 31 via an articulated connection to achieve bionic propulsion.

[0061] Specifically, the robot carries multiple rotating barrel-shaped generator sets 22 via an annular fixed bracket 21. When waves act on the shell 221, the dual-interface rotating body 222 rotates around the axis, and its surface friction material layer 2222 alternately contacts and separates with the electrode layer 2211 of the inner and outer stators, generating periodic charge transfer to form an electric current. At the same time, the drive component 31 drives the flexible fins 32 to open and close, simulating the contraction of the jellyfish umbrella to generate propulsion. During the power generation process, the relative movement of the rotating body and the stator can be triggered by only a small wave disturbance, without the need for additional power input. In addition, the annular distribution of the rotating barrel-shaped generator sets 22 does not occupy the core space inside the robot, allowing the power generation module and the propulsion mechanism 3 to be spatially integrated.

[0062] Traditional wave energy power generation solutions require the connection between the power generation device and the transmission structure, so that the wave energy first acts on the transmission structure, and then drives the power generation device through the transmission structure to generate electricity. This structural method will occupy a large space inside the jellyfish robot, resulting in a bloated overall structure and low energy conversion efficiency.

[0063] This application places a wave energy conversion mechanism 2 on the frame 1. Only wave energy is required to drive the entire jellyfish robot into oscillation. The rotating barrel-shaped generator set 22 captures wave kinetic energy, thereby achieving triboelectric power generation. This eliminates the need for a transmission structure, reduces structural complexity, and makes the jellyfish robot lightweight. Furthermore, triboelectric generators have higher low-frequency wave energy conversion efficiency than electromagnetic generation and do not require a precision mechanical transmission structure, significantly reducing device complexity and maintenance costs.

[0064] By adopting the above technical solution, this application realizes the functional integration of bionic motion and energy harvesting, enabling the robot to synchronously capture wave energy while performing propulsion movements. This self-powered mode effectively solves the problem of energy replenishment difficulties in deep-sea environments. At the same time, the compact structural design avoids the negative impact of traditional wave energy devices on the robot's maneuverability, and provides a feasible energy solution for long-term autonomous underwater operations.

[0065] As some embodiments, see the attached Figure 5 and 6 As shown, the inner and outer surfaces of the double-interface rotating body 222 are provided with a plurality of first rectangular ridges 2221, and each first rectangular ridge 2221 is covered with a friction material layer 2222; the inner surface of the external field induction stator 223 and the outer surface of the internal field induction stator 224 are both provided with a plurality of second rectangular ridges 2210, and each second rectangular ridge 2210 is attached with an electrode layer 2211; inwardly protruding soft friction material 2212 is provided in the gap between the electrode layers 2211, and the soft friction material 2212 is in contact with the friction material layer 2222.

[0066] The first rectangular ridge 2221 is a strip-shaped protrusion structure extending axially along the surface of the dual-interface rotating body 222 . Specifically, it can be formed by a molding process using polytetrafluoroethylene or silicone rubber material, and the friction contact area is increased by the regularly arranged protrusion structure.

[0067] The friction material layer 2222 is a dielectric material layer with high electron affinity. Specifically, it can be a fluorinated ethylene propylene copolymer film sprayed onto the surface of the rectangular ridges to generate charge transfer during relative motion. The second rectangular ridges 2210 are parallel ridges distributed across the stator surface. They can be formed by etching an aluminum alloy substrate. Their height complements that of the first rectangular ridges 2221.

[0068] Electrode layer 2211 can be made of copper foil attached to the surface of second rectangular ridge 2210 via electroplating to collect static charge generated by friction. Soft friction material 2212 is a dielectric material with elastic deformation capabilities, specifically wool, embedded in the gap between the electrodes to compensate for the gap between the contact surfaces and maintain continuous frictional contact.

[0069] Specifically, when waves push the dual-interface rotor 222 to rotate relative to the stator, the first rectangular ridge 2221 forms staggered contact with the second rectangular ridge 2210. The friction material layer 2222 and the soft friction material 2212 repeatedly come into contact and separate during relative sliding, causing interfacial charge separation and the formation of a potential difference across the conductive electrode layer 2211. The soft friction material 2212 continuously fills the gap due to elastic deformation, ensuring effective contact under varying wave intensities. The electrode layer 2211 aggregates and outputs the charges of each friction unit through parallel wiring, forming a stable current.

[0070] This solution increases the effective contact area through a complementary rectangular ridge structure, and uses soft materials to buffer impact and protect the electrode layer 2211, thereby solving the problems of unstable interface contact and fragile electrode.

[0071] Through the above technical solution, this application achieves efficient conversion of wave energy into electrical energy. The three-dimensional friction interface design improves power generation efficiency per unit volume. The soft friction material 2212 effectively reduces mechanical wear and extends the device's service life. The complementary ridge structure ensures stable contact pressure under varying wave conditions, avoiding power generation interruptions caused by excessive gaps. The physical isolation of the electrode layer 2211 from the friction layer prevents charge leakage, ensuring long-term operational reliability.

[0072] Furthermore, the dual-interface rotating body 222 of this embodiment is provided with a first magnet group 225, and the external field induction stator 223 is provided with a second magnet group 226 corresponding to the first magnet group 225. The first magnet group 225 and the second magnet group 226 are arranged with the same poles facing each other to form a magnetic repulsion structure.

[0073] The first magnet group 225 is a magnetic component mounted on the dual-interface rotating body 222. Specifically, it can be implemented using a ring-shaped array of neodymium iron boron permanent magnets. Its function is to reduce the contact friction resistance between the dual-interface rotating body 222 and the stator through magnetic field repulsion. The second magnet group 226 is a magnetic component fixed to the external field induction stator 223. Specifically, it can be implemented using a permanent magnet array with polarity matching that of the first magnet group 225. Its function is to form a directional magnetic field force with the first magnet group 225.

[0074] The magnetic repulsion structure refers to a non-contact support system constructed by the repulsive effect between magnets of the same polarity, which can be achieved by adjusting the magnet spacing and magnetic field strength. Its function is to maintain the relative motion gap between the dual-interface rotating body 222 and the stator without relying on mechanical contact.

[0075] Specifically, when waves propel the barrel-shaped generator set 22, the dual-interface rotor 222 rotates under the influence of the fluid. At this point, the same-pole repulsive force generated between the first magnet group 225 and the second magnet group 226 creates a stable spacing between the dual-interface rotor 222 and the inner and outer stators. During this process, the contact pressure between the friction material layer 2222 and the electrode layer 2211 is partially offset by the magnetic field repulsion, preventing wear of the soft friction material 2212 caused by long-term contact. Furthermore, the presence of the magnetic field repulsion allows the dual-interface rotor 222 to quickly reset when it stops, reducing the impact of motion hysteresis on power generation efficiency.

[0076] This application replaces the traditional mechanical limiting mechanism with a magnetic repulsion structure, which significantly reduces the mechanical wear between the rotating body and the stator while maintaining the power generation efficiency. The adjustability of the magnetic field force provides an adaptive control means for stable power generation under different wave intensities.

[0077] Through the above technical solution, this application solves the problem of shortened life of friction materials in traditional wave energy power generation devices due to continuous contact. At the same time, it improves the dynamic response speed of the energy conversion process through non-contact magnetic field support, ensuring long-term and stable operation of the generator set in a complex marine environment.

[0078] The present application shows a structural method of an annular fixed bracket 21. Specifically, the annular fixed bracket 21 includes an outer rotating ring 211 and an inner rotating bracket 212. The outer rotating ring 211 is fixedly set on the top surface of the frame 1, and the inner rotating bracket 212 is rotatably set on the outer rotating ring 211. Multiple barrel-shaped generator sets 22 are evenly fixed on the inner rotating bracket 212 in the circumferential direction.

[0079] The outer rotating ring 211 is an annular support structure fixed to the top of the frame 1. It can be implemented by an aluminum alloy annular frame combined with bolt connections to provide a stable basic load-bearing platform. The inner rotating bracket 212 refers to the annular component that forms a rotational fit with the outer rotating ring 211. Specifically, relative rotation can be achieved by arranging ball bearings between the inner and outer rings. Its function is to support the generator set and adjust the angle as the wave direction changes. Multiple generator sets are distributed at equal intervals on the circumference of the inner rotating bracket 212, for example, with installation angles of 45 degrees or 60 degrees. This layout ensures that wave energy acts evenly on the power generation unit from any direction.

[0080] When waves hit the entire jellyfish robot, the robot's posture changes. For example, the robot tilts at a certain angle toward the direction of the wave impact. When the jellyfish robot tilts, it drives the inner rotating bracket 212 to rotate relative to the outer rotating ring 211. This rotational motion ensures that all generator sets are always facing the direction of the strongest wave force. For example, when the wave direction forms a 30-degree angle with the axis of a generator set, the inner rotating bracket 212 will automatically rotate to this angle to optimize energy capture. During the rotation process, the relative motion between the generator set and the waves is enhanced, and the friction contact frequency between the dual-interface rotating body 222 and the inner and outer stators is increased, thereby increasing the output of electrical energy from the triboelectric effect.

[0081] Through the above-mentioned technical solution, the present application achieves dynamic tracking of wave direction by the rotating barrel-shaped generator set 22, adapting to changing wave directions and capturing wave energy with maximum efficiency. This increases the number of contact and separation times of the triboelectric layer per unit time, while also avoiding the increased resistance to robot motion caused by excessive device size. The mechanical structure of the rotating bracket also converts the lateral impact force of waves into rotational kinetic energy, effectively reducing the peak load borne by the power generation unit.

[0082] In order to realize the periodic opening and closing of the flexible fin 32, the present application shows a structural mode of the drive component 31. Figure 2 、 3 As shown in , 7 and 8 , the driving assembly 31 includes a mounting column 311 , a rotating column 312 , a slider 313 , a power device 314 and a connecting rod assembly 315 .

[0083] The mounting post 311 is fixed to the bottom of the frame 1 and has multiple mounting slots 3111 uniformly arranged around the circumference. The mounting post 311 is a support structure that supports the drive assembly 31 and can be implemented as a hollow aluminum alloy cylinder. The mounting slots 3111 arranged around the circumference are used to accommodate the rotational movement of the rotating post 312.

[0084] The rotating column 312 is rotatably arranged in the installation groove 3111, and a guide groove 3121 is provided on the outside. The slider 313 is slidably arranged in the guide groove 3121; the guide groove 3121 can guide the slider 313 to perform linear reciprocating motion when the rotating column 312 rotates.

[0085] The upper portion of the flexible fin ray 32 is hinged to the frame 1, and the connecting rod assembly 315 is hinged to the frame 1, the middle portion of the flexible fin ray 32, and the slider 313 respectively. The connecting rod assembly 315 is a linkage mechanism composed of multiple rods, specifically titanium alloy hinged rods. The position changes of different hinge points convert linear motion into the flapping trajectory of the flexible fin ray 32. The power unit 314 component is mounted on the frame 1 and is used to drive the rotation of each rotating column 312. The rotating column 312 drives the slider 313 to perform axial reciprocating motion through the guide slot 3121. The slider 313 drives the flexible fin ray 32 to open and close periodically through the connecting rod assembly 315.

[0086] Specifically, when the power unit 314 drives the rotating column 312 to rotate about its axis, the guide groove 3121 provided on the outer surface of the rotating column 312, through contact with the slider 313, converts the circular motion into axial reciprocating linear motion. As the slider 313 slides along the guide groove 3121, a displacement change occurs through the hinge point of the connecting rod assembly 315 and the middle part of the flexible fin 32, thereby driving the flexible fin 32 to perform a periodic opening and closing motion with the hinge point of the frame 1 as the fulcrum. During this motion, the specific contour trajectory of the guide groove 3121 can accurately control the movement speed and displacement of the slider 313, so that the flapping amplitude and frequency of the flexible fin 32 adapt to the water flow environment.

[0087] Compared to existing technologies, traditional bionic jellyfish-inspired drive mechanisms often use a single motor to directly drive the fin ray's movement, resulting in low transmission efficiency and an unadjustable motion trajectory. This solution, through the coordination of the guide chute 3121 and the slider 313, achieves combined forward and reverse motion of the fin ray while maintaining the unidirectional continuous rotation of the rotating column 312, avoiding the energy loss associated with traditional reversing mechanisms. The closed-loop chute design further eliminates the dead angles present in traditional cam mechanisms, effectively improving the motion continuity of the flexible fin ray 32.

[0088] Through the above-described technical solution, this application achieves efficient energy conversion in the bionic jellyfish robot's propulsion mechanism 3. The unidirectional rotation of the rotating column 312 drives multiple sets of flexible fins 32 to produce biomimetic flapping motions. This structure significantly reduces mechanical complexity while ensuring motion accuracy, making it particularly suitable for long-term continuous operation in deep-sea environments. The coordinated design of the guide chute 3121 and the slider 313 further enhances the mechanism's adaptability to complex water flow environments, enabling the robot to automatically adjust its propulsion efficiency based on operating conditions.

[0089] As some embodiments, the frame 1 of this embodiment includes a base plate 11 and a cover 12, and the cover 12 is fixedly arranged on the base plate 11, wherein the base plate 11 is a flat plate structure that supports the wave energy conversion mechanism 2, and can be made of aluminum alloy or carbon fiber composite material to provide a stable support platform. The cover 12 refers to a shell 221 structure covering the top of the base plate 11, and can adopt a streamlined curved surface design to form a closed space to protect the internal mechanism. The wave energy conversion mechanism 2 is arranged between the base plate 11 and the cover 12. Specifically, the wave energy conversion mechanism 2 is arranged on the top surface of the base plate 11, and the wave energy conversion mechanism 2 can be protected by the sealed connection between the cover 12 and the base plate 11.

[0090] In this embodiment, the mounting column 311 is fixedly arranged below the base plate 11. The mounting column 311 is a cylindrical structure. The upper end of the flexible fin 32 is hinged to the edge of the cover body 12. The connecting rod assembly 315 includes a first connecting rod 3151, a second connecting rod 3152 and a third connecting rod 3153. One end of the first connecting rod 3151 is hinged to the middle part of the flexible fin 32, one end of the second connecting rod 3152 is hinged to the edge of the base plate 11, one end of the third connecting rod 3153 is ball-jointed to the slider 313, and the other ends of the first connecting rod 3151, the second connecting rod 3152 and the third connecting rod 3153 are hinged to each other to form a linkage node.

[0091] Specifically, the mounting column 311 is vertically welded to the central area of the bottom surface of the base plate 11, the top of the flexible fin 32 is connected to the outer edge of the cover body 12 through a hinge, and the middle part is connected to the linkage node through the first connecting rod 3151. One end of the second connecting rod 3152 is hinged to a fixed fulcrum on the edge of the base plate 11, and the other end is connected to the linkage node to form a motion trajectory constraint. The third connecting rod 3153 transmits the axial displacement of the slider 313 to the linkage node, driving the first connecting rod 3151 to drive the flexible fin 32 to produce periodic swing. When the rotating column 312 rotates, the guide slot 3121 pushes the slider 313 to reciprocate, and the linkage node moves along a predetermined path under the constraint of the three-link, so that the flexible fin 32 simultaneously produces an opening and closing amplitude, realizing bionic flapping motion.

[0092] By designing the frame 1 as a combination structure of a base plate 11 and a cover 12, and arranging a wave energy conversion mechanism 2 therebetween, an optimized layout of the robot's internal space and effective protection of the energy conversion device are achieved; the bottom fixed setting of the mounting column 311 enhances the stability of the overall structure; the hinged connection between the flexible fins 32 and the edge of the cover 12 and the linkage design of the three-link mechanism can efficiently convert the linear motion of the drive mechanism into a large-scale flapping of the fins, significantly improving the robot's underwater propulsion efficiency and movement flexibility, while ensuring the coordination and reliability between the various moving parts.

[0093] As some embodiments, the guide groove 3121 disclosed in this embodiment includes two V-shaped grooves 3121a that are mirror-symmetrical with the axis of the rotating column 312 as the center of symmetry, ensuring that the motion trajectories of the two sliders 313 are completely consistent, avoiding motion deviations caused by structural asymmetry. The inclined surface design of the V-shaped groove 3121a can efficiently convert rotational motion into axial thrust, reduce friction loss, and the V-shaped structure is self-centering, which can automatically compensate for assembly errors and improve motion accuracy.

[0094] The two V-shaped grooves 3121a are smoothly connected at both ends of the axial direction of the rotating column 312 to form a continuous closed-loop sliding groove structure, which prevents the slider 313 from getting stuck or impacting when switching the movement direction, ensuring continuous and smooth movement.

[0095] There are two sliders 313, which are respectively slidably arranged in two V-shaped grooves 3121a. When the rotating column 312 rotates around its axis, the groove profile of the guide groove 3121 pushes the two sliders 313 to reciprocate synchronously along the axis of the rotating column 312. When the rotating column 312 rotates, the two sliders 313 move up and down synchronously along the V-shaped groove 3121a to ensure that the two flexible fins are expanded or contracted synchronously. Due to the symmetry of the grooves, the movement trajectories of the two sliders 313 are exactly the same and there is no phase difference. One rotating column 312 can drive two flexible fins at the same time, thereby improving propulsion efficiency. In addition, a dual slider 313 structure is provided on one rotating column 312, which can make full use of space, make the robot structure compact, and improve propulsion efficiency.

[0096] Through the design of mirror-symmetrical dual V-grooves 3121a, a closed-loop slideway, and a dual slider 313 synchronous drive, a single rotating column 312 simultaneously drives the expansion and contraction of two flexible fins, significantly improving the robot's propulsion efficiency and motion coordination. This structure boasts high kinematic symmetry, high energy conversion efficiency, compactness, and strong stability, making it suitable for efficient underwater propulsion systems in bionic jellyfish-inspired robots. Compared to traditional single-slider 313 drive solutions, this design achieves double the thrust output with the same power input, while ensuring smooth and reliable motion and extending mechanical life.

[0097] In order to realize the rotation of multiple rotating shafts, the present application further discloses a power device 314. Figure 8-12 As shown, the power device 314 includes a power motor 310, a drive shaft 316 and a differential control device 317. The power motor 310 is fixedly arranged on the top of the frame 1. The output shaft of the power motor 310 is respectively connected to each drive shaft 316 through the differential control device 317. The lower end of the drive shaft 316 is movable through the frame 1 and is coaxially fixedly connected to the rotating column 312.

[0098] With this arrangement, the power motor 310 outputs the speed and torque, and the differential control device 317 can be used to synchronously transmit the torque and speed of the power motor 310 to each drive shaft 316, thereby enabling each drive shaft 316 to drive the corresponding rotating column 312 to rotate.

[0099] When the differential control device 317 controls the rotation speed of each drive shaft 316 to be consistent, the rotation speed of all the rotating columns 312 is consistent. In this way, all the flexible fins can be expanded or contracted synchronously, so as to simulate the rise or fall of jellyfish in water and achieve propulsion.

[0100] When the jellyfish needs to move horizontally, it is only necessary to control the rotation speed of one or more drive shafts 316 to be inconsistent with the rotation speed of other drive shafts 316 through the differential control device 317. In this way, the multiple flexible fins will expand or contract asynchronously, thereby enabling the jellyfish robot to move horizontally to one side.

[0101] For example, in this embodiment, three rotating columns 312 are shown. If the rotational speed of the driving shaft 316 corresponding to one of the rotating columns 312 is inconsistent with the rotational speed of the driving shafts 316 corresponding to the other two rotating columns 312, that is, the rotational speed of the rotating column 312 is less than the rotational speed of the other two rotating columns 312, the jellyfish robot will move horizontally in the direction where the rotational speed of the rotating column 312 is lower.

[0102] The innovative design of an integrated power motor 310, intelligent differential control, and a multi-axis drive system achieves precise omnidirectional motion control for a bionic jellyfish robot. This structure offers outstanding advantages, including diverse motion modes (vertical lift / horizontal translation), high control accuracy, excellent energy efficiency, and strong system reliability. Compared to traditional multi-motor drive solutions, this design not only significantly reduces energy consumption but also achieves flexible maneuverability similar to that of a real jellyfish through differential control, providing an efficient and reliable motion solution for underwater bionic robots. It is particularly suitable for applications requiring complex maneuvers, such as military reconnaissance and ocean exploration.

[0103] This application discloses a preferred embodiment of the differential control device 317. Figure 9-13 As shown, the differential control device 317 includes an input component 318 , a transmission component 319 and a control component 320 .

[0104] Among them, the input component 318 includes a first main gear 3181 and a second main gear 3182 fixedly set on the output shaft of the power motor 310. The two are arranged axially at intervals and have different numbers of teeth. Two transmission ratios are achieved through different numbers of teeth. The axial spacing saves radial space and realizes dual-path output of a single power source.

[0105] The transmission assembly 319 includes a first slave gear 3191, a second slave gear 3192 and a coupling 3193. The first slave gear 3191 is rotatably arranged on the drive shaft 316 and meshes with the first master gear 3181. The second slave gear 3192 meshes with the second master gear 3182 and is fixedly connected to a linkage shaft 3192a that is coaxially rotatably connected to the drive shaft 316. The coupling 3193 is sleeved between the linkage shaft 3192a and the drive shaft 316 and can slide axially along the drive shaft 316. The control assembly 320 is used to control the axial position of the coupling 3193 to selectively achieve a fixed connection between the drive shaft 316 and the first slave gear 3191; or a fixed connection between the drive shaft 316 and the linkage shaft 3192a.

[0106] During operation, when the jellyfish robot is required to propel itself vertically through the water, all drive shafts 316 must rotate at the same speed. In this case, the control assembly 320 drives the coupling 3193 to move, causing all drive shafts 316 to be fixedly connected to the first slave gear 3191 or to the linkage shaft 3192a. This ensures that all drive shafts 316 are fixedly connected to only the first slave gear 3191 or the second slave gear 3192, allowing the input assembly 318 to output the same speed.

[0107] For example, when all the drive shafts 316 are fixedly connected to the first slave gear 3191, there is no axial linkage between the linkage shaft 3192a and the drive shaft 316, and the linkage shaft 3192a idles relative to the drive shaft 316. The first main gear 3181 drives the first slave gear 3191 to rotate, and the first slave gear 3191 drives the drive shaft 316 to rotate through the coupling 3193. In this way, all the rotating columns 312 output the same rotation speed.

[0108] Since the number of teeth of the first main gear 3181 and the second main gear 3182 are different, the rotational speed obtained by the drive shaft 316 is also different. According to actual propulsion requirements, the first main gear 3181 or the second main gear 3182 can be selectively switched to transmit power to the drive shaft 316.

[0109] When multiple drive shafts 316 need to rotate differentially, it is only necessary to move the coupling 3193 corresponding to the drive shafts 316 with different rotational speeds axially in opposite directions. In this way, the drive shaft 316 can be connected to different transmission ratios, thereby achieving inconsistent rotational speeds of the drive shaft 316 and other drive shafts 316, thereby achieving horizontal movement of the jellyfish robot.

[0110] The innovative design of dual main gear inputs, a switchable 3193 coupling, and a coaxial transmission achieves efficient, reliable, and intelligent control of the bionic jellyfish robot's transmission system. This structure offers outstanding advantages, including adjustable transmission ratios, fast mode switching, low energy loss, and high space utilization. Compared to traditional speed change mechanisms, this design not only achieves high-speed transmission mode switching but also reduces structural volume through a clever coaxial layout, while improving transmission efficiency. It is particularly suitable for underwater exploration missions that require frequent changes in motion modes, providing an effective power transmission solution for bionic robots.

[0111] In the above embodiment, the control component 320 can be an electric push rod, or some linear motion modules, which can change the axial position of the coupling 3193.

[0112] The present application shows a structural embodiment of a coupling 3193 . Specifically, the coupling 3193 includes a linkage sleeve 3194 , a first outer gear ring 3195 , a second outer gear ring 3196 and a rotating sleeve 3197 .

[0113] Among them, the linkage sleeve 3194 has a movable hole 3194a for the driving shaft 316 and the linkage shaft 3192a to pass through, and the side wall of the driving shaft 316 is provided with a guide protrusion 3161 along its axial direction, and the first movable hole 3194a is provided with a guide groove 3194a1 that matches the guide protrusion 3161. Thus, the linkage sleeve 3194 can only move axially relative to the driving shaft 316, but cannot rotate circumferentially relative to the driving shaft 316. The two can only rotate circumferentially synchronously, and the two ends of the linkage sleeve 3194 are respectively provided with a first inner gear ring 3194b and a second inner gear ring 3194c.

[0114] The first outer gear ring 3195 is coaxially fixed on the end face of the first slave gear 3191, and is used for meshing connection with the first inner gear ring 3194b; the second outer gear ring 3196 is coaxially fixed on the end face of the second slave gear 3192, and is used for meshing connection with the second inner gear ring 3194c.

[0115] The rotating sleeve 3197 is sleeved on the outside of the linkage sleeve 3194 and can rotate relative to the axis of the linkage sleeve 3194. The rotating sleeve 3197 is connected to the control component 320. The control component 320 drives the rotating sleeve 3197 to move up and down, and the rotating sleeve 3197 drives the linkage sleeve 3194 to move up and down along the drive shaft 316. When the end face of the linkage sleeve 3194 approaches the first slave gear 3191, the first inner ring gear 3194b on the linkage sleeve 3194 is sleeved on the first outer ring gear 3195 and meshes with it. At this time, the second inner ring gear 3194c and the second outer ring gear 3196 on the end face of the second slave gear 3192 are disengaged. Since the linkage sleeve 3194 and the drive shaft 316 are circumferentially locked, at this time, the first master gear 3181 transmits torque to the first slave gear 3191, and the first slave gear 3191 drives the drive shaft 316 to rotate synchronously through the linkage sleeve 3194.

[0116] In this embodiment, the linkage sleeve 3194 moves up and down along the drive shaft 316. The linkage sleeve 3194 can only realize the fixed connection between the drive shaft 316 and the first slave gear 3191, or the fixed connection between the drive shaft 316 and the linkage shaft 3192a. In this embodiment, the linkage sleeve 3194 can be provided in two separate parts, connected by a connecting rod in the middle, or it can be provided as a whole.

[0117] The coupling 3193 disclosed in this application achieves rapid switching between two transmission modes and reliable power transmission through the axial sliding of the linkage sleeve 3194 and the meshing mechanism of the internal and external gear rings. Its technical effects are mainly reflected in the following: the linkage sleeve 3194, through the design of the matching guide protrusion 3161 and the guide groove, achieves free axial sliding while maintaining circumferential synchronous rotation with the drive shaft 316; the sophisticated meshing structure of the internal and external gear rings ensures the accuracy and reliability of power transmission; the driving mechanism of the rotating sleeve 3197 enables the linkage sleeve 3194 to quickly and accurately switch to the target transmission position; the integral or split design of the linkage sleeve 3194 provides structural flexibility. This design effectively solves the core requirements of the bionic jellyfish robot for the transmission system's response speed, synchronization accuracy, and operational stability when rapidly switching between different motion modes, while also being compact and easy to maintain.

[0118] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A self-generating bionic jellyfish robot, characterized in that: include: frame; A wave energy conversion mechanism includes an annular fixed support and multiple rotating barrel-shaped generator sets, the annular fixed support is mounted on a frame, and the multiple rotating barrel-shaped generator sets are uniformly fixed to the annular fixed support in a circumferential direction; the rotating barrel-shaped generator set includes a shell, a double-interface rotating body, an external field induction stator, and an internal field induction stator, the external field induction stator and the internal field induction stator being fixedly arranged in the shell, the double-interface rotating body being located between the external field induction stator and the internal field induction stator and being rotatably connected to the shell, the inner and outer surfaces of the double-interface rotating body being provided with a friction material layer, and the outer and inner field induction stators being provided with electrode layers. The double-interface rotating body can generate relative motion with the external field induction stator and the inner field induction stator under the action of waves, and output electrical energy through the frictional electrification effect; The propulsion mechanism is installed on the frame and includes a driving assembly and a plurality of flexible fins. The flexible fins are driven by the driving assembly to achieve flapping motion.

2. The self-generating bionic jellyfish robot according to claim 1, characterized in that: The inner and outer surfaces of the double-interface rotating body are provided with a plurality of first rectangular ridges, each of which is covered with a friction material layer; the inner surface of the external field induction stator and the outer surface of the internal field induction stator are both provided with a plurality of second rectangular ridges, each of which is attached with an electrode layer; inwardly protruding soft friction material is provided in the gap between the electrode layers, and the soft friction material is in contact with the friction material layer.

3. The self-generating bionic jellyfish robot according to claim 2, characterized in that: The double-interface rotating body is provided with a first magnet group; the external field induction stator is provided with a second magnet group corresponding to the first magnet group; wherein the first magnet group and the second magnet group are arranged with the same poles facing each other to form a magnetic repulsion structure.

4. The self-generating bionic jellyfish robot according to claim 1, characterized in that: The annular fixed bracket includes an outer rotating ring and an inner rotating bracket. The outer rotating ring is fixedly arranged on the top surface of the frame, and the inner rotating bracket is rotatably arranged on the outer rotating bracket. Multiple barrel-shaped generator sets are evenly fixed on the inner rotating bracket in the circumferential direction.

5. The self-generating bionic jellyfish robot according to claim 1, characterized in that: The driving assembly includes a mounting column, a rotating column, a slider, a power device and a connecting rod assembly; The mounting post is fixedly arranged at the bottom of the frame, and a plurality of mounting slots are evenly arranged around the circumference; The rotating column is rotatably arranged in the installation groove, and a guide groove is provided on the outer side of the rotating column, and the slider is slidably arranged in the guide groove; The upper part of the flexible fin is hinged to the frame, and the connecting rod assembly is hinged to the frame, the middle part of the flexible fin and the slider respectively; The power device assembly is set on the frame and is used to drive each rotating column to rotate. The rotating column drives the slider to perform axial reciprocating motion through the guide slot, and the slider drives the flexible fins to open and close periodically through the connecting rod assembly.

6. The self-generating bionic jellyfish robot according to claim 5, characterized in that: The frame includes a base plate and a cover body, the cover body is fixedly arranged on the base plate, the wave energy conversion mechanism is arranged between the base plate and the cover body, the mounting column is fixedly arranged below the base plate, the upper end of the flexible fin is hinged to the edge of the cover body, 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 edge of the base 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.

7. The self-generating bionic jellyfish robot according to claim 5, characterized in that: The guide slide groove includes two V-shaped grooves that are mirror-symmetrical with the axis of the rotating column as the center of symmetry. The two V-shaped grooves are smoothly connected at both ends of the axial direction of the rotating column to form a continuous closed-loop slide groove structure. Two sliders are provided, which are slidably arranged in the two V-shaped grooves respectively. When the rotating column rotates around its axis, the slide groove profile of the guide slide groove pushes the two sliders to synchronously reciprocate along the axial direction of the rotating column.

8. The self-generating bionic jellyfish robot according to claim 5, characterized in that: The power device includes a power motor, a drive shaft and a differential control device. The power motor is fixedly arranged on the top of the frame. The output shaft of the power motor is connected to each drive shaft through the differential control device. The lower end of the drive shaft moves through the frame and is coaxially fixedly connected to the rotating column.

9. The self-generating bionic jellyfish robot according to claim 8, characterized in that: The differential control device comprises: An input assembly, the input assembly comprising a first main gear and a second main gear fixedly mounted on an output shaft of the power motor, the first main gear and the second main gear being spaced apart in the axial direction and having different numbers of teeth; The transmission assembly includes a first slave gear, a second slave gear and a coupling. The first slave gear is rotatably disposed on the drive shaft and meshes with the first master gear. The second slave gear meshes with the second master gear and is fixedly connected to a linkage shaft coaxially rotatably connected to the drive shaft. The coupling is sleeved between the linkage shaft and the drive shaft and can slide axially along the drive shaft. The control assembly is used to control the axial position of the coupling to selectively achieve a fixed connection between the drive shaft and the first slave gear; or a fixed connection between the drive shaft and the linkage shaft.

10. The self-generating bionic jellyfish robot according to claim 9, characterized in that: The coupling includes: The linkage sleeve has a movable hole for the drive shaft and the linkage shaft to pass through, the side wall of the drive shaft is provided with a guide protrusion along its axial direction, the first movable hole is provided with a guide groove that matches the guide protrusion, and the two ends of the linkage sleeve are respectively provided with a first inner gear ring and a second inner gear ring; A first outer gear ring is coaxially fixedly disposed on the end surface of the first slave gear and is used for meshing connection with the first inner gear ring; A second outer gear ring is coaxially fixedly disposed on the end surface of the second slave gear and is used for meshing connection with the second inner gear ring; The rotating sleeve is sleeved on the outside of the linkage sleeve and can rotate relative to the axis of the linkage sleeve. The rotating sleeve is connected to the control component. By driving the rotating sleeve through the control component to drive the linkage sleeve to move axially, the first inner gear ring can be selectively engaged with the first outer gear ring to achieve a fixed connection between the drive shaft and the first slave gear; or the second inner gear ring can be engaged with the second outer gear ring to achieve a fixed connection between the drive shaft and the linkage shaft.

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