Hydrogel-driven soft jellyfish-like robot
The soft, biomimetic jellyfish robot driven by hydrogel utilizes shape memory alloys and temperature-sensitive hydrogels to simulate jellyfish movement, solving the problems of high energy consumption and complex structure of traditional robots, and realizing the design of a low-energy, highly flexible biomimetic jellyfish robot.
Patent Information
- Application Number
- CN202520631978.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-07
- Publication Date
- 2026-01-27
- Estimated Expiration
- 2035-04-07
AI Technical Summary
Traditional rigid robots are noisy and energy-intensive, have a single driving method and limited application scenarios. Traditional biomimetic jellyfish robots have complex structures and require driving devices, which increases their weight.
The design of a soft, biomimetic jellyfish robot driven by hydrogel utilizes shape memory alloys and temperature-sensitive hydrogel drive modules. Near-infrared lasers control the temperature changes of the drive modules to achieve the contraction and expansion of the umbrella petals, mimicking the movement of a jellyfish, reducing energy consumption and improving flexibility.
It reduces energy consumption, improves the flexibility and adaptability of robot movement, has a simple and lightweight structure, and can achieve vertical and turning movements.
Smart Images
Figure CN223835783U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of biomimetic robot technology, specifically a hydrogel-driven soft jellyfish-like robot. Background Technology
[0002] As robots increasingly replace human labor in various tasks, people are demanding more from robots in terms of application scenarios and flexibility. Traditional rigid robots, however, are noisy, energy-intensive, have limited actuation methods, and are unsuitable for diverse environments. Soft robots are thus gaining traction.
[0003] A biomimetic jellyfish robot can achieve a drainage effect by deforming its umbrella-shaped cap, generating thrust to propel the robot. Traditional biomimetic jellyfish robots require a drive mechanism for power, which not only increases the robot's weight but also complicates its structure. Therefore, an improved soft biomimetic jellyfish robot was designed.
[0004] To address the aforementioned issues, we propose a hydrogel-driven soft jellyfish-like robot. Utility Model Content
[0005] The purpose of this invention is to provide a hydrogel-driven soft jellyfish-like robot to solve the problems mentioned in the background art.
[0006] To achieve the above objectives, this utility model provides the following technical solution: a hydrogel-driven soft jellyfish-like robot, comprising a shell, a silicone skeleton, a drive module, and a drive fixing module;
[0007] The housing is disposed on the silicone frame; the bottom of the housing is connected to the drive module; the bottom of the silicone frame is connected to the drive fixing module; the drive module is placed on the drive fixing module;
[0008] The shell includes a shape memory alloy, six umbrella-shaped petals, and a skin structure; the six umbrella-shaped petals are evenly arranged circumferentially along the horizontal cross-section of the silicone skeleton; the umbrella-shaped petals are connected to the top surface of the silicone skeleton; the shape memory alloy is adhered to the bottom surface of the umbrella-shaped petals through the skin structure.
[0009] Preferably, the silicone skeleton includes a circular silicone center and a plurality of silicone strips; the plurality of silicone strips are evenly arranged circumferentially along the horizontal cross-section of the circular silicone center; the silicone strips are attached to the bottom surface of the umbrella petals.
[0010] Preferably, the driving module includes a hydrogel driving strip, a liquid metal module, and a sealing device; one end of the hydrogel driving strip is connected to the driving fixing module; the other end of the hydrogel driving strip is connected to the silicone strip; an installation port is provided on the end face of the hydrogel driving strip connected to the silicone strip; the liquid metal module is provided inside the installation port of the hydrogel driving strip; and the sealing device is provided inside the installation port of the hydrogel driving strip.
[0011] Preferably, the drive fixing module includes a drive module support rod and a drive module fixing plate; the drive module support rod is evenly arranged circumferentially along the horizontal cross-section of the bottom surface of the drive module fixing plate; the top of the drive module fixing plate is connected to the central bottom surface of the circular silicone.
[0012] Preferably, the circular silicone tube has a sealed camera compartment on its central top surface.
[0013] Preferably, the sealed chamber of the camera device is made of transparent material; the sealed chamber of the camera device is equipped with a camera device.
[0014] Compared with existing technologies, the beneficial effects of this invention are as follows: This hydrogel-driven soft jellyfish-like robot uses six umbrella-like petals to reduce forward resistance through the contraction of the jellyfish-like umbrella body, thus reducing energy consumption. Furthermore, the silicone skeleton, drive module, and drive fixing module in this invention not only provide support but also power for the structure to move. This invention allows for vertical and turning movements, greatly improving the robot's forward flexibility and providing a new direction for the technology of new material-driven soft robots. Attached Figure Description
[0015] Figure 1 This is a schematic front view of the structure of this utility model;
[0016] Figure 2 for Figure 1 Schematic diagram of the cross-section at point A;
[0017] Figure 3 This is a schematic diagram of the first isometric view of the structure of this utility model;
[0018] Figure 4 This is a schematic diagram of the second isometric view of the structure of this utility model.
[0019] In the diagram: 1-shell, 11-umbrella petals, 12-shape memory alloy, 13-skin structure, 2-silicone skeleton, 21-circular silicone center, 22-silicone strip, 3-drive module, 31-hydrogel drive strip, 32-liquid metal module, 33-sealing device, 4-drive fixing module, 41-drive module support rod, 42-drive module fixing plate, 5-camera device sealed chamber. Detailed Implementation
[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0021] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 This utility model provides a technical solution: a hydrogel-driven soft jellyfish-like robot, including a shell 1, a silicone skeleton 2, a drive module 3, and a drive fixing module 4.
[0022] The housing 1 is disposed on the silicone skeleton 2, the bottom of the housing 1 is connected to the driving module 3, the bottom of the silicone skeleton 2 is connected to the driving fixing module 4, and the driving module 3 is placed on the driving fixing module 4.
[0023] The housing 1 includes a shape memory alloy 12, six umbrella petals 11, and a skin structure 13. The six umbrella petals 11 are evenly arranged circumferentially along the horizontal cross section of the silicone skeleton 2. The umbrella petals 11 are connected to the top surface of the silicone skeleton 2, and the shape memory alloy 12 is attached to the bottom surface of the umbrella petals 11 through the skin structure 13.
[0024] The housing 1 is composed of six umbrella-shaped petals 11, each petal being a thin plate. Each petal 11 is connected to the top surface of the silicone frame 2 and is made of soft PVC material. Two shape memory alloy strips 12 are attached to the lower surface of each petal 11, and the skin structure 13 covers and adheres to the shape memory alloy strips 12. The driving module 3 is located at the bottom of the housing 1 and is mounted on the driving fixing module 4.
[0025] Furthermore, the silicone skeleton 2 includes a circular silicone center 21 and a plurality of silicone strips 22, the plurality of silicone strips 22 being uniformly arranged circumferentially along the horizontal cross section of the circular silicone center 21, and the silicone strips 22 being attached to the bottom surface of the umbrella petal 11.
[0026] The silicone skeleton 2 is made by casting silicone at 0°C into a mold and allowing it to solidify. The silicone skeleton 2 consists of six silicone strips 22 connected to a central circular silicone center 21, and the side surfaces of the silicone strips 22 are attached to the side surface of the central circular silicone center 21 using silicone adhesive.
[0027] Furthermore, the driving module 3 includes a hydrogel driving strip 31, a liquid metal module 32, and a sealing device 33. One end of the hydrogel driving strip 31 is connected to the driving fixing module 4, and the other end of the hydrogel driving strip 31 is connected to the silicone strip 22. An installation port is provided on the end face of the hydrogel driving strip 31 connected to the silicone strip 22. The liquid metal module 32 is provided in the installation port of the hydrogel driving strip 31, and the sealing device 33 is provided in the installation port of the hydrogel driving strip 31.
[0028] The driving module 3 is made of two monomers, NIPAM and AM, combined with a photoinitiator and a physical crosslinking agent to form a snowflake-like driving module. This snowflake-like driving module is a temperature-sensitive hydrogel with temperature responsiveness. Liquid metal is added during the manufacturing process to accelerate the reaction and improve the device's driving properties. Liquid metal is poured into the mounting port of the hydrogel driving strip 31 to form the liquid metal module 32. This liquid metal is incorporated during the manufacturing of the temperature-sensitive hydrogel, giving it photothermal properties. The sealing device 33 seals the hydrogel driving strip 31. One end of the hydrogel driving strip 31 is connected to the driving module fixing plate 42, and the other end is connected to the lower surface of the silicone strip 22.
[0029] Furthermore, the drive fixing module 4 includes a drive module support rod 41 and a drive module fixing plate 42. The drive module support rod 41 is evenly arranged circumferentially along the horizontal cross-section of the bottom surface of the drive module fixing plate 42, and the top of the drive module fixing plate 42 is connected to the bottom surface of the circular silicone center 21. Both the drive module support rod 41 and the drive module fixing plate 42 are made by casting silicone at 10°C into a mold and allowing it to solidify.
[0030] Furthermore, a camera device sealed chamber 5 is provided on the top surface of the circular silicone center 21.
[0031] Furthermore, the sealed camera device compartment 5 is made of transparent material, and a camera device is installed inside the sealed camera device compartment 5. The sealed camera device compartment 5 may house a camera device, or be equipped with colored lights and music playback for demonstration purposes.
[0032] A small power supply can be installed inside the sealed chamber 5 of the camera device, electrically connected to the shape memory alloy 12. This power supply controls the shape of the six umbrella-shaped petals 11, heating the shape memory alloy 12 and utilizing the Joule effect to raise its temperature, triggering the shape memory effect. By adjusting the current of the small power supply, the heating rate and temperature of the shape memory alloy 12 can be controlled, thereby precisely controlling the shape recovery process. This behavior enables the jellyfish to control its turning. When a turn is desired, the shape memory alloy 12 on the opposite side of the turn is heated. The shape memory alloy 12 undergoes a rapid deformation response, bending and expelling water from the cavity of the jellyfish-like robot. This generates a large thrust on the opposite side of the turn, propelling the jellyfish-like robot to perform the turning control.
[0033] This application utilizes the principle of volume phase transition in thermosensitive hydrogels: as temperature increases, molecular thermal motion intensifies, while forces such as hydrogen bonds weaken. To reduce the system's energy, the interactions between hydrophobic groups on the polymer chains gradually become dominant, tending to aggregate to avoid water molecules. This causes the polymer chains to coil, the hydrogel network structure to shrink, and a large number of water molecules to be squeezed out, resulting in a volume phase transition. Each thermosensitive hydrogel has a specific phase transition temperature (LCST, lower critical solution temperature). When the ambient temperature is below the LCST, the hydrophilic interaction between the hydrogel and water dominates, and the hydrogel is in a swollen state. When the temperature rises and exceeds the LCST, hydrophobic interactions begin to dominate, causing the hydrogel to shrink. It should be noted that the LCST of the thermosensitive hydrogel in this application is 40°C.
[0034] Working principle: The operator controls the near-infrared laser emitter to emit near-infrared laser light onto the drive module 3, which irradiates the lower surface of the drive module 3. When the near-infrared laser light irradiates the drive module 3, the liquid metal module 32 inside reacts and the temperature rises.
[0035] The liquid metal module 32 in the driving module 3 experiences a temperature rise in response to the near-infrared laser. This temperature rise causes a temperature increase on the lower surface of the driving module 3 (the near-infrared laser irradiation surface). Because the driving module 3 uses thermosensitive hydrogel, which exhibits rapid shrinkage upon heating (volume phase change), the lower surface of the driving module 3 is more significantly affected by the temperature rise of the liquid metal module 32, resulting in a faster temperature increase, while the upper surface of the driving module 3 experiences a slower temperature increase. Combined with the deformation of both the upper and lower surfaces of the driving module 3, the driving module 3 bends towards the light source. The driving module 3 is connected to the lower surface of the silicone strip 22, further causing the silicone strip 22 to deform downwards. All six umbrella-shaped petals 11 in the shell 1 are connected to the silicone strip 22, causing the silicone strip 22 to bend downwards. This process mimics the drainage process of a jellyfish shell.
[0036] With the near-infrared laser emitter shut off, the drive module 3, no longer irradiated by laser light, cools down in the water environment, expands due to water absorption, and then returns to its original shape. This process mimics the water absorption process within a jellyfish's cavity, thus completing one cycle of movement. The shape memory alloy 12 under the shell 1 can be equipped with a small power supply housed within the camera device's sealed compartment 5, enabling precise turning commands.
[0037] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.
[0038] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.
Claims
1. A hydrogel-driven soft jellyfish-like robot; characterized in that... ； It includes a housing (1), a silicone frame (2), a drive module (3), and a drive fixing module (4); The housing (1) is disposed on the silicone frame (2); the bottom of the housing (1) is connected to the drive module (3); the bottom of the silicone frame (2) is connected to the drive fixing module (4); the drive module (3) is placed on the drive fixing module (4); The shell (1) includes a shape memory alloy (12), six umbrella petals (11) and a skin structure (13); the six umbrella petals (11) are evenly arranged circumferentially along the horizontal cross section of the silicone skeleton (2); the umbrella petals (11) are connected to the top surface of the silicone skeleton (2); the shape memory alloy (12) is adhered to the bottom surface of the umbrella petals (11) through the skin structure (13).
2. The hydrogel-driven soft jellyfish-like robot according to claim 1, characterized in that, The silicone skeleton (2) includes a circular silicone center (21) and a plurality of silicone strips (22); the plurality of silicone strips (22) are evenly arranged circumferentially along the horizontal cross section of the circular silicone center (21); the silicone strips (22) are attached to the bottom surface of the umbrella petal (11).
3. The hydrogel-driven soft jellyfish-like robot according to claim 2, characterized in that, The driving module (3) includes a hydrogel driving strip (31), a liquid metal module (32), and a sealing device (33); one end of the hydrogel driving strip (31) is connected to the driving fixing module (4); the other end of the hydrogel driving strip (31) is connected to the silicone strip (22); an installation port is provided on the end face of the hydrogel driving strip (31) connected to the silicone strip (22); the liquid metal module (32) is provided in the installation port of the hydrogel driving strip (31); the sealing device (33) is located at the installation port of the hydrogel driving strip (31).
4. The hydrogel-driven soft jellyfish-like robot according to claim 2, characterized in that, The drive fixing module (4) includes a drive module support rod (41) and a drive module fixing plate (42); the drive module support rod (41) is evenly arranged circumferentially along the horizontal cross section of the bottom surface of the drive module fixing plate (42); the top of the drive module fixing plate (42) is connected to the bottom surface of the circular silicone center (21).
5. A hydrogel-driven soft jellyfish-like robot according to claim 2, characterized in that, The circular silicone center (21) has a sealed camera compartment (5) on its top surface.
6. A hydrogel-driven soft jellyfish-like robot according to claim 5, characterized in that, The camera device sealed chamber (5) is made of transparent material; the camera device is installed inside the camera device sealed chamber (5).