Double-push type bionic jellyfish robot

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Double-push type bionic jellyfish robot

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YAN JUN / FANG JIWEN / LI CHONG / WANG JIA / LU DAOHUA

The invention relates to a double-push type bionic jellyfish robot, which comprises an upper chamber, a lower chamber, an auxiliary propelling structure and a tail water spraying structure, wherein the upper chamber and the lower chamber are separated by a partition plate, a water absorption mechanism is arranged in the upper chamber for water absorption operation, the lower chamber is composed ofa central driving unit and four pressurizing bins, the tail part is composed of four water spraying structures, the four pressurizing bins correspond to the four water spraying structures, pressure water is formed through a pressurizer and sprayed out through the water spraying structures, and first power is formed; umbrella-shaped flapping feet driven by a cam at the bottom of the lower chambercan generate periodic extension and contraction to form auxiliary power, an auxiliary propelling mechanism is formed, and movement of the jellyfish is achieved. The four pressurizing bins are all independent and controllable, simultaneous water spraying, single rapid water spraying, same-side water spraying and other actions can be achieved under the control of a single-chip microcomputer, and thus corresponding accelerated axial movement, slow steering, rapid steering and other movements are generated. The robot has the advantages of being good in stability, simple in structure, high in flexibility and the like.

本发明涉及一种双推进式仿生水母机器人，包括上腔室、下腔室、辅助推进结构和尾部喷水结构，上腔室与下腔室之间用隔板隔开，上腔室内具有吸水机构进行吸水作业，下腔室内由中心驱动单元和四个增压仓构成，尾部由四个喷水结构构成，所述的四个增压仓与四个喷水结构相互对应，通过增压器形成压力水经过喷水结构喷出，构成第一动力；在下腔室底部由凸轮带动的伞状拍足可产生周期性伸展与收缩，形成辅助动力，构成辅助推进机构，实现水母的运动。四个增压仓皆独立可控，在单片机的控制下可实现同时喷水、单一急速喷水、同侧喷水等动作，从而产生相对应的加速轴向运动、缓慢转向、急速转向等运动，本发明具有稳定性好、结构简单、灵活性高等优点。