Anti-collision mechanism of amphibious bionic jellyfish robot

Abstract

The utility model belongs to the technical field of bionic robots, and particularly relates to an amphibious bionic jellyfish robot anti-collision mechanism which comprises a control box, a mechanical whisker and two symmetrically-arranged floating blades, the mechanical whisker is connected with the control box, the left side wall and the right side wall of each floating blade are fixedly connected with rotating shafts respectively, and the rotating shafts are rotationally connected with the control box; a partition plate is fixedly connected to the inner wall of the control box, a transmission assembly is arranged on the upper side of the partition plate, a sealing plate is movably connected between the bottom face of the partition plate and the inner wall of the control box, a pressure cavity is formed in the left side of the sealing plate, an air supply cavity is formed in the right side of the sealing plate, an air supply assembly is arranged on the top face of the partition plate, and a control assembly is arranged on the right side of the sealing plate. According to the bionic jellyfish, the tentacles and the empennage of the bionic jellyfish can be folded and protected, the occupied space during swimming is reduced, and the collision probability is reduced.

Description

Technical Field

[0001] This utility model belongs to the field of biomimetic robot technology, specifically relating to the anti-collision mechanism of an amphibious biomimetic jellyfish robot. Background Art

[0002] Bionic jellyfish robots are robots that mimic the movement and behavior of real jellyfish and are commonly used in applications such as marine research, environmental monitoring, and underwater exploration. By simulating the gentle movements and structures of jellyfish, these robots can achieve efficient and low-noise movement in underwater environments.

[0003] Most biomimetic jellyfish have multiple swimming tentacles to facilitate movement in the water. Due to the large number of tentacles and their significant range of motion during movement, collisions with rocks, cliffs, aquatic plants, or fish are common. However, most biomimetic jellyfish tentacles currently available lack anti-collision structures. If a collision occurs during movement, the tentacles, due to their relatively low mass and strength, are prone to deformation, tearing, and breakage, affecting the overall stability of the biomimetic jellyfish and failing to effectively protect the tentacles. Utility Model Content

[0004] The purpose of this invention is to provide an anti-collision mechanism for an amphibious biomimetic jellyfish robot, which can fold and protect the tentacles and tail fins of the biomimetic jellyfish, reducing the space occupied during swimming and lowering the probability of collision.

[0005] The specific technical solution adopted in this utility model is as follows:

[0006] The collision avoidance mechanism of the amphibious biomimetic jellyfish robot includes a control box, mechanical tentacles and two symmetrically arranged swimming blades. The mechanical tentacles are connected to the control box, and the left and right side walls of the swimming blades are respectively fixedly connected to the rotating shafts, which are rotatably connected to the control box.

[0007] A partition is fixedly connected to the inner wall of the control box. A transmission assembly is provided on the upper side of the partition. A sealing plate is movably connected between the bottom surface of the partition and the inner wall of the control box. The left side of the sealing plate is a pressure chamber, and the right side is an air supply chamber. An air supply assembly is provided on the top surface of the partition, and a control assembly is provided on the right side of the sealing plate.

[0008] The transmission assembly includes a transmission shaft rotatably connected to the top surface of the partition. A first bevel gear is fixedly connected to the top of the transmission shaft. Second bevel gears mesh with the left and right sides of the first bevel gear. A horizontal shaft is fixedly connected to the side wall of the second bevel gear. The other end of the horizontal shaft passes through the control box and is fixedly connected to a third bevel gear. The horizontal shaft is rotatably connected to the control box. A fourth bevel gear is fixedly connected to the side wall of the shaft. The third bevel gear meshes with the fourth bevel gear.

[0009] The control component includes a circular gear, the bottom end of the drive shaft extends to the lower side of the partition and is fixedly connected to the circular gear, a rack meshes with the rear side of the circular gear, and the rack is fixedly connected to the sealing plate.

[0010] The air supply assembly includes a miniature air pump mounted on the top surface of the partition. The input end of the miniature air pump is connected to an air supply bladder, and the output end of the miniature air pump is connected to a pressure chamber.

[0011] The mechanical tentacles are connected to a protective airbag on their sidewalls, and the protective airbag is connected to the air supply chamber.

[0012] The sidewall of the moving blade has a groove, and the fourth bevel gear is located in the groove.

[0013] The technical effects achieved by this utility model are as follows:

[0014] This practical amphibious biomimetic jellyfish robot's anti-collision mechanism works in concert with its control box, mechanical tentacles, swimming blades, transmission components, and control components. It uses a miniature water pump to control the opening and closing of the swimming blades, reducing the space occupied during swimming and lowering the probability of collisions. Furthermore, when the swimming blades are closed, the protective airbags open to protect the mechanical tentacles, preventing them from deforming or breaking upon collision, thus enhancing its anti-collision effect. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the internal structure of the control box in this utility model embodiment;

[0016] Figure 2 This is a perspective view of this utility model embodiment;

[0017] Figure 3 This is a cross-sectional view of the control box according to this utility model embodiment;

[0018] Figure 4 This is a practical embodiment. Figure 3 Enlarged view of point A in the image;

[0019] Figure 5 This is a practical embodiment. Figure 3 Enlarged view of point B in the image.

[0020] The attached diagram lists the components represented by each number as follows:

[0021] 1. Control box; 2. Mechanical contact; 3. Moving vane; 4. Rotating shaft; 5. First bevel gear; 6. Second bevel gear; 7. Horizontal shaft; 8. Third bevel gear; 9. Fourth bevel gear; 10. Partition plate; 11. Miniature air pump; 12. Air supply bag; 13. Sealing plate; 14. Protective air bag; 15. Drive shaft; 16. Circular gear; 17. Rack. Detailed Implementation

[0022] To make the purpose and advantages of this utility model clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the following text is merely used to describe one or more specific implementations of this utility model and does not strictly limit the scope of protection specifically claimed by this utility model.

[0023] like Figures 1-5 As shown, the anti-collision mechanism of the amphibious biomimetic jellyfish robot includes a control box 1, mechanical tentacles 2 and two symmetrically arranged swimming blades 3. The mechanical tentacles 2 are connected to the control box 1. The left and right side walls of the swimming blades 3 are respectively fixedly connected to rotating shafts 4, and the rotating shafts 4 are rotatably connected to the control box 1.

[0024] A partition 10 is fixedly connected to the inner wall of the control box 1. A transmission component is provided on the upper side of the partition 10. A sealing plate 13 is movably connected between the bottom surface of the partition 10 and the inner wall of the control box 1. The left side of the sealing plate 13 is a pressure chamber, and the right side is an air supply chamber. An air supply component is provided on the top surface of the partition 10, and a control component is provided on the right side of the sealing plate 13.

[0025] like Figures 3-5 As shown, the transmission assembly includes a transmission shaft 15 rotatably connected to the top surface of the partition 10. A first bevel gear 5 is fixedly connected to the top of the transmission shaft 15. Second bevel gears 6 mesh with the left and right sides of the first bevel gear 5. A horizontal shaft 7 is fixedly connected to the side wall of the second bevel gear 6. The other end of the horizontal shaft 7 passes through the control box 1 and is fixedly connected to a third bevel gear 8. The horizontal shaft 7 is rotatably connected to the control box 1. A fourth bevel gear 9 is fixedly connected to the side wall of the rotating shaft 4. The third bevel gear 8 meshes with the fourth bevel gear 9. A groove is provided on the side wall of the movable blade 3, and the fourth bevel gear 9 is located in the groove. This groove is used to house the fourth bevel gear 9 and provide a transmission space to drive the rotating shaft 4 to rotate, thereby driving the opening and closing of the movable blade 3.

[0026] The opening and closing of the two swimming blades 3 can be controlled by setting a transmission component. Since the swimming blades 3 occupy a large space when open, the probability of collision with rocks, aquatic plants and fish is high. When the bionic jellyfish swims in a more complex underwater environment, the probability of collision can be reduced by closing the swimming blades 3. In addition, the focus of this solution is on the anti-collision protection of the mechanical tentacles 2. Since the amphibious bionic jellyfish is existing technology, it will not be specifically described or illustrated in this solution.

[0027] like Figure 5 As shown, the control assembly includes a circular gear 16, the bottom end of the drive shaft 15 extends to the lower side of the partition 10 and is fixedly connected to the circular gear 16, and a rack 17 meshes with the rear side of the circular gear 16. The rack 17 is fixedly connected to the sealing plate 13.

[0028] like Figure 1As shown, the air supply assembly includes a miniature air pump 11 mounted on the top surface of the partition 10. The input end of the miniature air pump 11 is connected to an air supply bladder 12, and the output end of the miniature air pump 11 is connected to a pressure chamber.

[0029] The control component and the air supply component need to be used together. The air supply component can apply pressure to the pressure chamber to push the sealing plate 13 to move, thereby driving the control component and the transmission component to operate. The micro air pump 11 used in this solution is a KVP04 micro negative pressure vacuum pump.

[0030] like Figure 2 As shown, a protective airbag 14 is connected to the side wall of the mechanical tentacles 2, and the protective airbag 14 is connected to the air supply chamber.

[0031] Specifically, the protective airbag 14 is mainly used to protect the mechanical tentacles 2. When the swimming blade 3 is closing, the protective airbag 14 is inflated. After the swimming blade 3 is closed, the swimming speed of the bionic jellyfish slows down. At this time, it is necessary to use the mechanical tentacles 2 to swim. Therefore, it is also necessary to increase the protection of the mechanical tentacles 2.

[0032] The working principle of this utility model is as follows: When it is necessary to fold and protect the floating blade 3, the micro air pump 11 is activated. The micro air pump 11 delivers the gas in the air supply bag 12 to the pressure chamber, thereby increasing the pressure in the pressure chamber. This pressure is used to push the sealing plate 13 to move to the right. The sealing plate 13 drives the rack 17 to move. The rack 17 meshes with the circular gear 16 and drives the transmission shaft 15 to rotate. The transmission shaft 15 drives the first bevel gear 5 to rotate. The first bevel gear 5 meshes with the second bevel gears 6 on both sides and drives the horizontal shaft 7 to rotate. The horizontal shaft 7 meshes with the fourth bevel gear 9 through the third bevel gear 8 to rotate. The fourth bevel gear 9 controls the opening and closing of the floating blade 3 through the rotating shaft 4. By reducing the area occupied by the floating blade 3 when it is moving, the probability of collision is reduced.

[0033] At the same time, when the sealing plate 13 moves, it compresses the air in the air supply chamber, causing the air in the air supply chamber to enter the protective airbag 14, which inflates the protective airbag 14 to protect the mechanical tentacles 2 and prevent them from breaking or being damaged in the event of a collision, thereby improving the protective effect.

[0034] The above description is merely a preferred embodiment of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. Structures, devices, and operating methods not specifically described or explained in this utility model, unless otherwise specified or limited, shall be implemented using conventional methods in the art.

Claims

1. An anti-collision mechanism for an amphibious biomimetic jellyfish robot, characterized in that: It includes a control box (1), mechanical tentacles (2) and two symmetrically arranged movable blades (3). The mechanical tentacles (2) are connected to the control box (1). The movable blades (3) are fixedly connected to the left and right side walls of the blades (3) respectively. The movable blades (4) are rotatably connected to the control box (1). The inner wall of the control box (1) is fixedly connected to a partition (10). A transmission assembly is provided on the upper side of the partition (10). A sealing plate (13) is movably connected between the bottom surface of the partition (10) and the inner wall of the control box (1). The left side of the sealing plate (13) is a pressure chamber and the right side is an air supply chamber. An air supply assembly is provided on the top surface of the partition (10), and a control assembly is provided on the right side of the sealing plate (13).

2. The anti-collision mechanism for the amphibious biomimetic jellyfish robot according to claim 1, characterized in that: The transmission assembly includes a transmission shaft (15) rotatably connected to the top surface of the partition (10). A first bevel gear (5) is fixedly connected to the top of the transmission shaft (15). A second bevel gear (6) meshes with the left and right sides of the first bevel gear (5). A horizontal shaft (7) is fixedly connected to the side wall of the second bevel gear (6). The other end of the horizontal shaft (7) passes through the control box (1) and is fixedly connected to a third bevel gear (8). The horizontal shaft (7) is rotatably connected to the control box (1). A fourth bevel gear (9) is fixedly connected to the side wall of the rotating shaft (4). The third bevel gear (8) meshes with the fourth bevel gear (9).

3. The anti-collision mechanism for the amphibious biomimetic jellyfish robot according to claim 2, characterized in that: The control component includes a circular gear (16), the bottom end of the drive shaft (15) extends to the lower side of the partition (10) and is fixedly connected to the circular gear (16), and a rack (17) meshes with the rear side of the circular gear (16), and the rack (17) is fixedly connected to the sealing plate (13).

4. The anti-collision mechanism for the amphibious biomimetic jellyfish robot according to claim 1, characterized in that: The air supply assembly includes a miniature air pump (11) mounted on the top surface of the partition (10). The input end of the miniature air pump (11) is connected to an air supply bag (12), and the output end of the miniature air pump (11) is connected to a pressure chamber.

5. The anti-collision mechanism for the amphibious biomimetic jellyfish robot according to claim 4, characterized in that: The mechanical tentacles (2) are connected to a protective airbag (14) on their sidewalls, and the protective airbag (14) is connected to the air supply chamber.

6. The anti-collision mechanism for the amphibious biomimetic jellyfish robot according to claim 2, characterized in that: The side wall of the moving blade (3) has a groove, and the fourth bevel gear (9) is located in the groove.

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