Bionic robot based on jellyfish movement mechanism

Abstract

The utility model provides a bionic robot based on a jellyfish movement mechanism. The bionic robot comprises a driving module, M mouth tentacles and an umbrella structure composed of N umbrella tentacles. Each mouth tentacle is in transmission connection with the driving module through a tentacle swinging transmission mechanism, so that the rotation of the driving module is converted into the swinging motion of the mouth tentacles around the own axis; the umbrella tentacles are in transmission connection with the driving module through the umbrella opening and closing mechanism so that rotation of the driving module can be converted into opening and closing movement of the umbrella structure, and therefore the umbrella tentacles can swing. The bionic robot is simple in structure, cooperative movement of opening and closing of the umbrella portion and swinging of the mouth tentacle can be achieved, and movement energy consumption is effectively reduced.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a biomimetic robot based on the jellyfish movement mechanism. Background Technology

[0002] Biomimetic robotics, particularly robots that mimic the movement mechanisms of marine organisms, has made significant progress in recent years. Among them, jellyfish, with their unique, efficient, low-noise, and highly maneuverable propulsion system, as well as their elegant and graceful form, have become important biomimetic subjects.

[0003] In the field of landscape art, existing technologies have attempted to apply biomimetic jellyfish-shaped installations to water, utilizing their dynamic aesthetics and programmable light sources to create atmosphere. In marine scientific research, existing underwater robots have demonstrated considerable capabilities, such as performing tasks like seabed topography mapping, geological structure analysis, biological distribution surveys, real-time collection of water quality parameters (temperature, salinity, pH, etc.), and safety inspection of subsea pipelines by carrying various sensors (such as topographic mapping instruments, water quality monitoring probes, sonar, and cameras). Their smaller size helps improve the robot's stealth, facilitating non-intrusive observation of marine life behavior.

[0004] However, existing biomimetic jellyfish robots have the following shortcomings:

[0005] (i) Complex structure and limited driving efficiency: As described in the Chinese invention patent application "A Bionic Jellyfish Robot" (publication number CN116812120A), it uses a motor to drive a cam and uses a tension structure to transmit water-spreading motion; this design has a large number of parts and a relatively complex structure; at the same time, the robot's bell-shaped body (umbrella part) has a single motion pattern and lacks the ability to effectively control its own motion posture.

[0006] (ii) Low functional integration and insufficient utilization of mouth and arms: For example, the Chinese invention patent "A mechanical jellyfish driven by an embedded cylindrical motor" (publication number CN104149953A) uses shape memory alloy to drive the umbrella surface to retract, and the Chinese utility model patent "A mechanical bionic jellyfish" (publication number CN215358460U) uses gear transmission to drive the tentacles to swing. They focus more on the umbrella propulsion mechanism and the realization of the tentacles' undulating effect; their mouth and arm structures are usually only used as decorative parts or undertake limited functions, and have failed to achieve deep integration and functional synergy with the core drive system. Utility Model Content

[0007] The purpose of this invention is to overcome the shortcomings and deficiencies in the existing technology and provide a biomimetic robot based on the jellyfish movement mechanism. The biomimetic robot has a simple structure and can achieve coordinated movement of the umbrella opening and closing and the mouth tentacles swinging, effectively reducing the energy consumption of movement.

[0008] To achieve the above objectives, this utility model is implemented through the following technical solution: a biomimetic robot based on the jellyfish movement mechanism, comprising a drive module, M mouth tentacles, and an umbrella structure composed of N umbrella tentacles; each mouth tentacle is connected to the drive module via a tentacle swing transmission mechanism, so that the rotation of the drive module is converted into the swinging motion of the mouth tentacle around its own axis; each umbrella tentacle is connected to the drive module via an umbrella opening and closing mechanism, so that the rotation of the drive module is converted into the opening and closing motion of the umbrella structure, thereby causing each umbrella tentacle to swing.

[0009] This biomimetic robot has a drive module that drives the umbrella opening and closing mechanism to simulate the breathing-like opening and closing of a jellyfish umbrella, and drives the tentacle swinging transmission mechanism to make the mouth tentacles swing. By using a single drive module, the coordinated movement of the umbrella opening and closing and the mouth tentacles swinging is achieved, which effectively reduces the energy consumption of the movement. The structure is simple, significantly reducing the number of parts required, reducing the overall manufacturing and assembly costs, and improving production efficiency.

[0010] This bionic robot can be applied to efficient and covert underwater movement, environmental monitoring, and multi-scenario operations. It can replace humans in completing complex underwater tasks, significantly improving operational safety and efficiency. It can also be used as a dynamic decoration to simulate the swimming effect of jellyfish swarms and create an immersive underwater landscape.

[0011] Preferably, the drive module is connected to a rotating shaft; the rotating shaft is connected to the lead screw of the lead screw and nut transmission mechanism; the umbrella opening and closing mechanism is connected to the nut of the lead screw and nut transmission mechanism; and the tentacle swing transmission mechanism is connected to the rotating shaft via a coupling.

[0012] Preferably, the umbrella opening and closing mechanism includes: a movable seat, an upper positioning member, and N three-bar composite assemblies corresponding to each umbrella tentacle; the movable seat is connected to the nut of the lead screw and nut transmission mechanism; the upper positioning member is disposed at the end of the lead screw of the lead screw and nut transmission mechanism; each three-bar composite assembly includes a first link, a second link, and a third link; one end of the first link, the second link, and the third link are all hinged together, the other end of the first link is hinged to the movable seat, the other end of the second link is hinged to the umbrella tentacle, and the other end of the third link is hinged to the upper positioning member.

[0013] Preferably, the tentacle swing transmission mechanism includes a gear platform and a planetary gear set; the planetary gear set includes a large gear and M small gears rotatably mounted on the gear platform; the large gear is sleeved on a coupling to enable the drive module to drive the large gear to rotate; each small gear is located around the large gear and meshes with the large gear; each small gear is connected one-to-one with the mouth tentacle.

[0014] Preferably, the drive module is a waterproof motor; the waterproof motor is connected to the rotating shaft via a gearbox; the waterproof motor is powered by a rechargeable battery.

[0015] This invention, driven by a waterproof motor and incorporating mechanical transmission design, greatly improves the performance of the biomimetic jellyfish, giving it superior motion sensitivity and better motion stability. The umbrella-shaped tentacles achieve telescopic movement centered on a lead screw, while the mouth tentacles achieve horizontal periodic oscillation centered on a lead screw, simulating the underwater movement posture of a jellyfish.

[0016] Preferably, the oral tentacles are flexible tentacles.

[0017] Preferably, the mouth tentacles and / or umbrella tentacles are equipped with LED light sources.

[0018] Preferably, the drive module and the tentacle swing transmission mechanism are sealed by the cabin. The lead screw of the rotating shaft and lead screw nut transmission mechanism extends upward from the cabin, and the oral tentacle hangs down from the bottom of the cabin; this design keeps the overall center of gravity at the cabin; during the contraction and release of the umbrella, the overall center of gravity moves up and down, which is beneficial to the vertical movement stability. This mechanism can significantly improve the swimming distance of the bionic robot.

[0019] Preferably, the outer side of the cabin is provided with an interface for connecting functional accessories.

[0020] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0021] 1. This utility model of a bionic robot has a simple structure. The drive module drives the umbrella opening and closing mechanism to make the umbrella structure simulate the breathing opening and closing of a jellyfish umbrella, and drives the tentacle swinging transmission mechanism to make the mouth tentacles swing. By using a single drive module, the coordinated movement of umbrella opening and closing and mouth tentacle swinging is realized, effectively reducing motion energy consumption.

[0022] 2. This utility model uses a waterproof motor drive and incorporates mechanical transmission design, which greatly improves the performance of the biomimetic jellyfish, giving it better motion sensitivity and better motion stability; the umbrella tentacles achieve telescopic movement with a screw as the center, and the mouth tentacles achieve horizontal periodic oscillation with a screw as the center, simulating the underwater movement posture of the jellyfish. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the biomimetic robot based on the jellyfish movement mechanism of this utility model;

[0024] Figure 2 This is a schematic diagram of the structure of the biomimetic robot based on the jellyfish movement mechanism of this utility model after hiding the cabin;

[0025] Figure 3This is a schematic diagram of the installation of the umbrella opening and closing mechanism in the biomimetic robot based on the jellyfish movement mechanism of this utility model;

[0026] Figure 4 This is a schematic diagram of the installation of the tentacle swing transmission mechanism in the biomimetic robot based on the jellyfish movement mechanism of this utility model;

[0027] Among them, 1 is the umbrella tentacle, 2 is the mouth tentacle, 3 is the cabin, 4 is the waterproof motor, 41 is the gearbox, 42 is the coupling, 5 is the lead screw and nut transmission mechanism, 51 is the lead screw, 52 is the nut, 6 is the umbrella opening and closing mechanism, 61 is the first connecting rod, 62 is the second connecting rod, 63 is the third connecting rod, 64 is the moving seat, 65 is the upper positioning component, 7 is the tentacle swing transmission mechanism, 71 is the gear table, 72 is the large gear, and 73 is the small gear. Detailed Implementation

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0029] Example

[0030] like Figures 1 to 4 As shown, this embodiment of a biomimetic robot based on the jellyfish locomotion mechanism includes a drive module, M oral tentacles 2, and an umbrella structure composed of N umbrella tentacles 1. The drive module and the tentacle swing transmission mechanism 7 are preferably sealed by a cabin 3. M and N are both integers and are greater than or equal to 1. In this embodiment, there are five umbrella tentacles and six oral tentacles; in practical applications, the number of umbrella tentacles and oral tentacles can also be other, such as 1, 2, 3, 4, 5, 6, 7, 8, or even more.

[0031] Each mouth tentacle 2 is connected to the drive module via a tentacle swing transmission mechanism 7, so that the rotation of the drive module is converted into the swing motion of the mouth tentacle 2 around its own axis; each umbrella tentacle 1 is connected to the drive module via an umbrella opening and closing mechanism 6, so that the rotation of the drive module is converted into the opening and closing motion of the umbrella structure, thereby causing each umbrella tentacle 1 to swing.

[0032] Specifically, the drive module is a waterproof motor 4; the waterproof motor 4 is connected to a rotating shaft via a gearbox 41; the waterproof motor 4 is powered by a rechargeable battery. The rotating shaft is connected to the lead screw 51 of the lead screw and nut transmission mechanism 5; the umbrella opening and closing mechanism 6 is connected to the nut 52 of the lead screw and nut transmission mechanism 5; the tentacle swing transmission mechanism 7 is connected to the rotating shaft via a coupling 42.

[0033] The umbrella opening and closing mechanism 6 includes: a movable seat 64, an upper positioning member 65, and N three-bar composite assemblies corresponding to each umbrella contact 1; the movable seat 64 is connected to the nut of the screw-nut transmission mechanism 5; the upper positioning member 65 is located at the end of the screw of the screw-nut transmission mechanism 5; each three-bar composite assembly includes a first link 61, a second link 62, and a third link 63; one end of the first link 61, the second link 62, and the third link 63 are all hinged together, the other end of the first link 61 is hinged to the movable seat 64, the other end of the second link 62 is hinged to the umbrella contact 1, and the other end of the third link 63 is hinged to the upper positioning member 65.

[0034] The tentacle swing transmission mechanism 7 includes a gear platform 71 and a planetary gear set; the planetary gear set includes a large gear 72 and M small gears 73 rotatably mounted on the gear platform 71; the large gear 72 is sleeved on the coupling 42 to enable the drive module to drive the large gear 72 to rotate; each small gear 73 is located around the large gear 72 and meshes with the large gear 72; each small gear 73 is connected one-to-one with the mouth tentacle 2.

[0035] This invention uses a waterproof motor 4 for driving and incorporates mechanical transmission and other designs, which greatly improves the performance of the biomimetic jellyfish, giving it better motion sensitivity and stability. The umbrella-shaped tentacles 1 achieve telescopic movement with a screw as the center, and the mouth tentacles 2 achieve horizontal periodic oscillation with a screw as the center, simulating the underwater movement posture of the jellyfish.

[0036] The screw of the rotating shaft and the lead screw nut transmission mechanism 5 extends upward from the cabin 3, and the mouth tentacles 2 hang down from the bottom of the cabin 3; this design keeps the overall center of gravity at the cabin 3; during the contraction and release of the umbrella, the overall center of gravity moves up and down, which is beneficial to the vertical movement stability. This mechanism can significantly improve the swimming distance of the bionic robot.

[0037] The mouth tentacle 2 is preferably a flexible tentacle. The mouth tentacle 2 and / or the umbrella tentacle 1 are equipped with LED light sources. The outer side of the cabin 3 is preferably provided with an interface for connecting functional accessories. These functional accessories can be sensors, cameras, sonar, or other devices.

[0038] This biomimetic robot uses a drive module to activate a canopy opening and closing mechanism 6, which simulates the breathing-like opening and closing of a jellyfish's umbrella. It also activates a tentacle swinging transmission mechanism 7, which causes the mouth tentacles 2 to swing. By using a single drive module, the coordinated movement of the canopy opening and closing and the mouth tentacles 2 swinging is achieved, effectively reducing energy consumption. The structure is simple, significantly reducing the number of required parts, lowering the overall manufacturing and assembly costs, and improving production efficiency.

[0039] This novel biomimetic robot can be applied to efficient and covert underwater movement, environmental monitoring, and multi-scenario operations. It can replace manual labor in completing complex underwater tasks, significantly improving operational safety and efficiency. For example, it can help scientists understand seabed topography, geological structure, and the distribution of marine life; conduct water quality monitoring, collecting real-time data on seawater temperature, salinity, and pH, providing crucial information for marine environmental research; its small size provides excellent concealment, making it suitable for observing and recording the behavior, ecological habits, and interactions of marine organisms within the marine ecosystem; it can also inspect subsea pipelines, ensuring pipeline safety during the development of marine oil, gas, and other resources, thus providing a guarantee for marine development. This biomimetic robot can also serve as a dynamic decorative element, simulating the movement of jellyfish swarms and, combined with LED lighting programming, creating an immersive underwater landscape.

[0040] To further enhance the stability of the biomimetic robot, the mouth tentacles and umbrella-like structure adopt a biomimetic design. This design not only reduces material usage but also significantly increases the contact area with water flow, giving the jellyfish better stability. This type of design considers both mechanical principles and bionics, ensuring that the robot's performance remains efficient and stable in various environments.

[0041] This novel biomimetic robot utilizes 3D printing technology to achieve integrated molding of core structural components, and leverages SLA photopolymerization technology to achieve rapid prototyping within 72 hours, supporting a rapid closed-loop design-printing-testing process with a 5-fold increase in iteration efficiency. It precisely replicates jellyfish biological features, such as the gradient-pore umbrella membrane and sinusoidal wave-patterned tentacle surface, using nanoscale resin materials. Multi-material composite printing technology enables the functional integration of silicone-carbon fiber, TPU flexible materials, and glass fiber reinforced composite materials.

[0042] The above embodiments are preferred embodiments of the present utility model, but the embodiments of the present utility model are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present utility model shall be considered equivalent substitutions and shall be included within the protection scope of the present utility model.

Claims

1. A biomimetic robot based on the jellyfish locomotion mechanism, characterized in that: It includes a drive module, M mouth tentacles, and an umbrella structure composed of N umbrella tentacles; each mouth tentacle is connected to the drive module through a tentacle swing transmission mechanism, so that the rotation of the drive module is converted into the swing motion of the mouth tentacle around its own axis; each umbrella tentacle is connected to the drive module through an umbrella opening and closing mechanism, so that the rotation of the drive module is converted into the opening and closing motion of the umbrella structure, thereby causing each umbrella tentacle to swing.

2. The biomimetic robot based on jellyfish locomotion mechanism according to claim 1, characterized in that: The drive module is connected to a rotating shaft; the rotating shaft is connected to the lead screw of the lead screw and nut transmission mechanism; the umbrella opening and closing mechanism is connected to the nut of the lead screw and nut transmission mechanism; and the tentacle swing transmission mechanism is connected to the rotating shaft via a coupling.

3. The biomimetic robot based on jellyfish locomotion mechanism according to claim 2, characterized in that: The umbrella opening and closing mechanism includes: a movable seat, an upper positioning component, and N three-bar composite assemblies corresponding to each umbrella tentacle; the movable seat is connected to the nut of the lead screw and nut transmission mechanism; the upper positioning component is located at the end of the lead screw of the lead screw and nut transmission mechanism; each three-bar composite assembly includes a first link, a second link, and a third link; one end of the first link, the second link, and the third link are all hinged together, the other end of the first link is hinged to the movable seat, the other end of the second link is hinged to the umbrella tentacle, and the other end of the third link is hinged to the upper positioning component.

4. The biomimetic robot based on jellyfish locomotion mechanism according to claim 2, characterized in that: The tentacle swing transmission mechanism includes a gear platform and a planetary gear set; the planetary gear set includes a large gear and M small gears rotatably mounted on the gear platform; the large gear is sleeved on a coupling to enable the drive module to drive the large gear to rotate; each small gear is located around the large gear and meshes with the large gear; each small gear is connected one-to-one with the mouth tentacle.

5. The biomimetic robot based on jellyfish locomotion mechanism according to claim 2, characterized in that: The drive module is a waterproof motor; the waterproof motor is connected to the rotating shaft through a gearbox; the waterproof motor is powered by a rechargeable battery.

6. The biomimetic robot based on jellyfish locomotion mechanism according to claim 1, characterized in that: The oral tentacles are flexible tentacles.

7. The biomimetic robot based on jellyfish locomotion mechanism according to claim 1, characterized in that: The mouth tentacles and / or umbrella tentacles are equipped with LED light sources.

8. The biomimetic robot based on jellyfish locomotion mechanism according to claim 1, characterized in that: The drive module and the tentacle swing transmission mechanism are sealed by the cabin.

9. The biomimetic robot based on jellyfish locomotion mechanism according to claim 8, characterized in that: The outer side of the cabin is provided with interfaces for connecting functional accessories.

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