The invention discloses a bionic jellyfish propelling mechanism and a bionic jellyfish robot. A driving mechanism comprises a shell, one end of the shell is a hemispherical head, and the other end of the shell is a tail; a first swing arm is hinged to the middle of the outer side of the shell, the other end of the first swing arm is obliquely arranged towards the tail of the shell and is hinged to a second swing arm, and a first limiting mechanism is further arranged between the first swing arm and the second swing arm; supporting columns extending in the radial direction are arranged on the outer side of the shell, the supporting columns and the first swing arms are arranged in a one-to-one correspondence mode, and first guide wheels are rotatably arranged at the ends of the supporting columns; a wire wheel wound with a pull rope and a steering engine used for driving the wire wheel to rotate are arranged in the shell, and the pull rope on the wire wheel penetrates through the shell, bypasses the first guide wheel and is connected to the first swing arm; an elastic piece used for folding the first swing arm is further connected between the first swing arm and the shell. The propelling mechanism of the bionic jellyfish and the bionic jellyfish robot have the advantages of being simple in structure, good in movement flexibility and the like.
本发明公开了一种仿生水母的推进机构及仿生水母机器人,驱动机构包括壳体,壳体的一端为呈半球形的头部,另一端为尾部;壳体外侧的中部铰接有第一摆臂,第一摆臂的另一端朝向壳体的尾部倾斜设置,并铰接有第二摆臂,第一摆臂和第二摆臂之间还设置有第一限位机构;壳体的外侧具有沿径向延伸设置的支撑柱,支撑柱与第一摆臂一一对应设置,支撑柱的端部可转动地设置有第一导向轮;壳体内设置有缠绕拉绳的线轮和用于驱动线轮转动的舵机,线轮上的拉绳穿过壳体并绕过第一导向轮连接至第一摆臂;第一摆臂和壳体之间还连接有用于收拢第一摆臂的弹性件。本发明的仿生水母的推进机构及仿生水母机器人均具有结构简单,运动灵活性好等优点。
Bionic jellyfish propelling mechanism and bionic jellyfish robot
一种仿生水母的推进机构及仿生水母机器人
2023-07-07
Patent
Electronic Resource
Chinese