CN209366426U - Bionical jellyfish robot - Google Patents
Bionical jellyfish robot Download PDFInfo
- Publication number
- CN209366426U CN209366426U CN201821600799.8U CN201821600799U CN209366426U CN 209366426 U CN209366426 U CN 209366426U CN 201821600799 U CN201821600799 U CN 201821600799U CN 209366426 U CN209366426 U CN 209366426U
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- CN
- China
- Prior art keywords
- sealed compartment
- tentacle
- seat
- cover
- fixed
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The utility model is a kind of bionical jellyfish robot, can be drifted along in water, be moved by the swing of tentacle.It is light and handy flexibly, it is low-power consumption, low cost, mute.It includes power control system, propulsion system；Wherein power control system provides power and control, and propulsion system uses the coplanar circumference of more tentacles, and the movement of robot is completed by the swing of tentacle.The utility model can carry other test equipment instruments, complete underwater long-time scientific research, latent, investigation, can also be used as hitting weapon under water.
Description
Technical field
The utility model relates to a kind of bionical jellyfish robots, can carry other test equipment instruments, when completing underwater long
Between scientific research, latent, investigation, can also be used as hitting weapon under water.
Background technique
Currently, the mankind are increasingly deep to the exploitation of ocean, underwater scientific research, detection and military demand are also rapidly being increased
Add.Existing most of underwater robots, power consumption is big, noise is big, at high cost, is not suitable for application in fields such as military affairs, scientific researches.
In order to solve the above problem, the utility model provides a kind of bionical jellyfish robot, can fill up underwater robot
Blank has extensive military, research application.
Utility model content
The purpose of the utility model is to overcome above-mentioned the deficiencies in the prior art, provide a kind of bionical jellyfish robot,
Have many advantages, such as it is light and handy flexibly, it is low-power consumption, low cost, mute.
To achieve the above object, the utility model uses following technical scheme:
A kind of bionical jellyfish robot, it is characterised in that: including power control system, propulsion system；The dynamic Control
System includes: mechanical, electrical by sealed compartment, the seal cavity of sealed compartment upper cover and sealed compartment lower cover composition, and the electricity being mounted in it
Road plate, battery, watertight charging interface.The propulsion system includes: two top guide bars being fixed on sealed compartment on lid, upper fixation
Seat, head capsule, upper sliding seat.It is fixed on two lower guide rods, lower fixed seat, the lower slider seat of sealed compartment lower cover.Upper sliding seat is under
Several installation sites are provided in sliding seat circumference same position, for installing upper connecting rod and lower link, upper connecting rod and lower link
It is connected on tentacle commonly through middle connecting rod.The top of tentacle position corresponding with head capsule connects.Seat is slided up and down to pass through up and down
Hinge is connected with upper lower push rod, and upper lower push rod is connected with pumping arm action respectively.It is respectively arranged with square hole in sealed compartment upper and lower covers, supplies
Upper lower push rod passes through, and upper-lower seal part is equipped on the outside of square hole, be wrapped in upper seal respectively with emulsion tube, outside upper ejector pin and
It outside lower seal, lower push rod, and is tightly connected, makes its watertight.
Preferably, the power control system is mounted in pressure hull.
Preferably, the power control system includes battery, control circuit, headlamp, can provide the energy for propulsion system
And control signal.
Preferably, the propulsion system is multi-connecting-rod mechanism, by the rotary motion of motor, can be converted into the left and right pendulum of tentacle
It is dynamic, push robot motion.
Preferably, described to slide up and down that seat vertically guide rod slides up and down respectively.
Preferably, the upper connecting rod, lower link, middle connecting rod and tentacle form a four-bar mechanism, pass through specific angle
Degree and progressive error movement, make tentacle complete Bionic flexible movement.
Preferably, the tentacle uses thin slice flexible material.
After adopting the above technical scheme, the utility model compared with prior art, has the advantages that 1, bionical propulsion
Mode, it is small power consumption, high-efficient.2, it mute can move about.3, the utility model is light and handy flexibly, uses simplicity.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model embodiment.
Fig. 2, Fig. 3 are the power control system structural schematic diagram of the utility model embodiment.
Fig. 4 is the propulsion system structure schematic diagram of the utility model embodiment.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only to explain this
Utility model is not used to limit the utility model.
Fig. 1 is the overall structure diagram of the utility model patent embodiment, by power control system 1 and propulsion system
2 two parts composition.
Fig. 2, Fig. 3 are the structural schematic diagram of power control system (1), comprising: sealed compartment (101), sealed compartment upper cover
(102), sealed compartment lower cover (103), motor (104) are fixed under sealed compartment upper cover (102) by motor mounting rack (105)
Portion, the two sides shaft of motor (104) fix upper swing arm (106) and lower swing arm (107) respectively.Circuit board (108) passes through copper post
(109) it is fixed on the inside of sealed compartment lower cover (103), battery (110) is mounted in the circular hole (111) of circuit board (108) setting.It is close
It is provided with square hole (112) in batten down upper cover (102), upper seal (113) are installed on the outside of square hole (112).Sealed compartment lower cover
(103) it is provided with square hole (114) on, lower seal (115) are installed on the outside of square hole (114).
Fig. 4 be propulsion system (2) structural schematic diagram, two top guide bars (201) being fixed on sealed compartment upper cover (102),
Upper fixed seat (202) are installed on its top, and upper fixed seat (202) top is fixed with head capsule (203).Upper sliding seat (204) passes through upper
Guide rod (201), which is done, to be limited and slides up and down along it.Two lower guide rods (205) being fixed on sealed compartment lower cover (103), bottom end
It installs lower fixed seat (206).Lower slider seat (207) is done by lower guide rod (205) and limits and slide up and down along it.Upper sliding seat
(204) provided circumferentially about to have several installation sites, for installing upper connecting rod (208), equally it is arranged on lower slider seat (207) circumference
There are several installation sites, for installing lower link (209), upper connecting rod (208) and lower link (209) are commonly through middle connecting rod
(210) it is connected on tentacle (211).The top of tentacle (211) position corresponding with head capsule (203) connects.Upper sliding seat (204)
It is connected by upper hinge (212) and upper ejector pin (213), upper ejector pin (213) lower end and upper swing arm (106) connection.Lower slider seat
(207) it is connected by lower hinge (214) and lower push rod (215), lower push rod (215) upper end and lower swing arm (107) connection.Sealed compartment
It is provided with square hole (112) in upper cover (102) to pass through for upper ejector pin (213), upper seal is installed on the outside of square hole (112)
(113), upper seal (113) and upper ejector pin (213) are wrapped in outside with emulsion tube, and be tightly connected, make its watertight.Similarly, close
It is provided with square hole (114) on batten down lower cover (103) to pass through for lower push rod (215), lower seal is installed on the outside of square hole (114)
(115), lower seal (115) and lower push rod (215) are wrapped in outside with emulsion tube, and be tightly connected, make its watertight.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in
Change or replacement, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should
It is subject to the protection scope in claims.
Claims (8)
1. bionical jellyfish robot, it is characterised in that: including power control system (1) and propulsion system (2)；The dynamic Control
System (1) includes: sealed compartment (101), sealed compartment upper cover (102), sealed compartment lower cover (103), and motor (104) passes through motor and installs
Bracket (105) is fixed on sealed compartment upper cover (102) lower part, the two sides shaft of motor (104) fix respectively upper swing arm (106) and under
Swing arm (107)；Circuit board (108) is fixed on the inside of sealed compartment lower cover (103) by copper post (109), and battery (110) is mounted on electricity
In the circular hole (111) of road plate (108) setting；The propulsion system (2) includes: two be fixed on sealed compartment upper cover (102)
Upper fixed seat (202) are installed on top guide bar (201), top, and upper fixed seat (202) top is fixed with head capsule (203)；Upper sliding seat
(204) it is done by top guide bar (201) and limits and slided up and down along it；Two lower guide rods being fixed on sealed compartment lower cover (103)
(205), bottom end installation lower fixed seat (206)；Lower slider seat (207) does limit by lower guide rod (205) and edge glides thereon
It is dynamic；Upper sliding seat (204) is provided circumferentially about several installation sites, for installing upper connecting rod (208), lower slider seat (207) circle
Several installation sites are again provided on week, for installing lower link (209), upper connecting rod (208) and lower link (209) are jointly logical
Connecting rod (210) is crossed to be connected on tentacle (211)；The top of tentacle (211) position corresponding with head capsule (203) connects；Upper cunning
Dynamic seat (204) are connected by upper hinge (212) and upper ejector pin (213), upper ejector pin (213) lower end and upper swing arm (106) connection；Under
Sliding seat (207) is connected by lower hinge (214) and lower push rod (215), lower push rod (215) upper end and lower swing arm (107) connection；
Sealed compartment upper cover is provided with square hole 1(112 on (102)) pass through for upper ejector pin (213), it is equipped on the outside of square hole 1(112) upper close
Sealing (113) is wrapped in upper seal (113) and upper ejector pin (213) outside with emulsion tube, and is tightly connected, and makes its watertight；Together
Reason, sealed compartment lower cover are provided with square hole 2(114 on (103)) pass through for lower push rod (215), it is equipped on the outside of square hole 2(114)
Lower seal (115) is wrapped in lower seal (115) and lower push rod (215) outside with emulsion tube, and is tightly connected, and makes its watertight；
Sealed compartment lower cover (103) is provided centrally with watertight charge port (116).
2. bionical jellyfish robot according to claim 1, it is characterised in that: on the sealed compartment (101) and sealed compartment
It covers after (102) and sealed compartment lower cover (103) assembling as pressure hull.
3. bionical jellyfish robot according to claim 1, it is characterised in that: packet inside the power control system (1)
Containing motor, battery, control circuit, headlamp, the energy and control signal can be provided for propulsion system (2).
4. bionical jellyfish robot according to claim 1, it is characterised in that: the propulsion system (2) is multi link machine
Structure can convert swinging for tentacle (211) for the rotary motion of motor (104), push robot motion.
5. bionical jellyfish robot according to claim 1, it is characterised in that: the upper sliding seat (204) is along top guide bar
(201) it slides up and down.
6. bionical jellyfish robot according to claim 1, it is characterised in that: the lower slider seat (207) is along lower guide rod
(205) it slides up and down.
7. bionical jellyfish robot according to claim 1, it is characterised in that: upper connecting rod (208) lower link (209)
Middle connecting rod (210) and tentacle (211), form a four-bar mechanism, are moved by specific angle and progressive error, make tentacle
(211) Bionic flexible movement is completed.
8. bionical jellyfish robot according to claim 1, it is characterised in that: the tentacle (211) is flexible using thin slice
Material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821600799.8U CN209366426U (en) | 2018-09-29 | 2018-09-29 | Bionical jellyfish robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821600799.8U CN209366426U (en) | 2018-09-29 | 2018-09-29 | Bionical jellyfish robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209366426U true CN209366426U (en) | 2019-09-10 |
Family
ID=67837768
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821600799.8U Expired - Fee Related CN209366426U (en) | 2018-09-29 | 2018-09-29 | Bionical jellyfish robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209366426U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110576957A (en) * | 2019-09-17 | 2019-12-17 | 西北工业大学 | multi-skeleton simulated bat pectoral fin propulsion mechanism with controllable span-wise bending and chord-wise swinging |
| CN110979666A (en) * | 2019-12-27 | 2020-04-10 | 浙江大学 | Water-air robot |
| CN113665769A (en) * | 2021-09-14 | 2021-11-19 | 西安工业大学 | Bionic jellyfish robot and ocean exploration application method thereof |
-
2018
- 2018-09-29 CN CN201821600799.8U patent/CN209366426U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110576957A (en) * | 2019-09-17 | 2019-12-17 | 西北工业大学 | multi-skeleton simulated bat pectoral fin propulsion mechanism with controllable span-wise bending and chord-wise swinging |
| CN110576957B (en) * | 2019-09-17 | 2020-09-22 | 西北工业大学 | Multi-skeleton simulated bat pectoral fin propulsion mechanism with controllable span-wise bending and chord-wise swinging |
| CN110979666A (en) * | 2019-12-27 | 2020-04-10 | 浙江大学 | Water-air robot |
| CN110979666B (en) * | 2019-12-27 | 2021-09-21 | 浙江大学 | Water-air robot |
| CN113665769A (en) * | 2021-09-14 | 2021-11-19 | 西安工业大学 | Bionic jellyfish robot and ocean exploration application method thereof |
| CN113665769B (en) * | 2021-09-14 | 2024-06-14 | 西安工业大学 | Bionic jellyfish robot and ocean exploration application method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190910 Termination date: 20210929 |