Bionic machinery chelonian with two-stage freedom degree flipper mechanism

[0021] The present invention will be described in detail below with reference to the drawings and embodiments.

[0022] As shown in Figure 1, the present invention includes a robotic turtle main cabin module 1, swingingly connected to the main cabin module 1 with four flipper drive modules 2 in the circumferential direction and two-by-two symmetrical structure, and each flipper drive module 2 A wing-shaped flipper 3 is rotatably connected, and a dynamic sealing mechanism is respectively arranged at each power output part of the swing connection and the rotation connection.

[0023] As shown in Figures 1 and 2, the main cabin module 1 of the present invention includes a spherical crown 101 and a cylindrical shell 102 made of transparent plexiglass, a ferrule 103 made of light aluminum alloy, and an upper ring Cover 104 and bottom cover 105. The top cover 101 and the ferrule 103 are bonded together by a waterproof sealant, the housing 102 is bonded with the upper ring cover 104 and the bottom cover 105 by a waterproof sealant, and the ferrule 103 is bonded by a screw 107 and an O-ring 106 It is statically sealed and connected with the upper ring cover 104 to form an integrally sealed shell. Four semicircular rings 108 are respectively arranged around the upper ring cover 104 and the bottom cover 105, and a bearing seat 109 is formed at the end of each semicircular ring 108, and the upper and lower bearing seats 109 are kept coaxial.

[0024] A wireless communication module 110, an antenna 111, and a control circuit board 112 are installed inside the shell 102 of the main cabin module 1, which respectively drive the four flipper drive modules 2 to realize the four servo motors 113 for forward and backward strokes to provide power The battery pack 114 for power supply and the battery pack 115 for providing control power, the two sets of batteries 114 and 115 are independent of each other. The servo motor 113 is fixed on the motor frame 116 by screws, and the motor frame 116 is fixed on the bottom cover 105 by screws. The battery packs 114 and 115 are also arranged on the motor frame 116, and the circuit board 112 is fixed on the top of the four support posts 117. The above-mentioned control circuit board 112 is the control core of the robotic turtle. It can use the popular ARM7TDMI core microcontroller AT91SAM7A3 as the core. It receives the host computer commands from the wireless communication module 110 through the serial port, interprets the commands and generates PWM (pulse width modulation). ) Signal to complete the servo motion control of the motor. The wireless communication module 110 is suspended in the upper center of the top cover 101 of the main cabin module 1 through the antenna 111 exposed and sealed on the top cover 101, and is responsible for completing the radio frequency communication between the robotic turtle and the host computer.

[0025]As shown in Figures 3 and 4, the bottom cover 105 of the main compartment module 1 is provided with four fin drive module 2 power signal line inlet holes 118, and an O-ring seal is provided in the center of the bottom cover 105 The bottom gland 119 is statically sealed with screws. The bottom gland 119 is equipped with a waterproof power switch 120 and charging plugs 121 and 122 through a waterproof sealant. One of the two charging plugs 121 and 122 is connected to the battery 114 of the power source, and the other is connected Control the battery 115 of the power supply. The output shaft 123 of each servo motor 113 in the housing 102 drives a driving gear 124 through a dynamic sealing mechanism, and each driving gear 124 drives a flipper drive module 2 through a driven gear 125 meshing with it to achieve The first degree of freedom of flippers forward and backward strokes. The dynamic sealing mechanism includes a bearing gland 126, a grease area 127, and a bearing groove 128. A bearing is placed in the bearing gland 126 and the bearing groove 128. A grease layer 127 is placed between the two bearings. In order to ensure a reliable seal, a grease layer is required. The axial length is at least 8mm.

[0026] As shown in FIG. 5, each flipper drive module 2 includes an upper and a lower shell 201, 202, the outer surface of the lower shell 202 is a complete semicircular arc surface, and the outer circumference of the upper shell 201 is concentric with the lower shell 202 , But it is an incomplete semicircular arc surface. An O-ring seal 203 is provided at the connection between the upper and lower shells 201 and 202, and a static seal is achieved by screw compression. A see-through window 204 made of transparent organic glass is embedded on the surface of the upper shell 201, so that the internal water leakage can be observed. A drive motor 206 is provided in the lower housing 202 through a bracket 205. The drive motor 206 drives a large gear 207 to rotate through a coupling. The large gear 207 meshes with the small gear 208, and the small gear 208 drives a flipper drive shaft 209 through a key connection. , The flipper drive shaft 209 is connected to the wing-shaped flipper 3 after passing through the dynamic sealing mechanism located on the upper shell and drives the flipper to rotate, thereby realizing the second degree of freedom of the flipper. In the present invention, in order to make the wing-shaped flippers 3 of the robotic sea turtle swing around any central position, the transmission ratio of the large and small gears 207 and 208 is selected as 1:2, so that the large gear 207 is driven by the drive motor 206 When swinging within the range of 180° (ordinary motors are generally limited and can only swing output within the range of 180° (±90°)), the wing-shaped flipper 3 can be driven by the pinion 208 flipper drive shaft Driven by 209, it rotates 360° around the axis.

[0027] The dynamic sealing mechanism of the output shaft 209 is composed of a bearing gland 210, a grease area 211, and a bearing groove 212. Bearings are placed in the bearing gland 210 and the bearing groove 212, with a grease layer 211 in between. To ensure reliable sealing, grease is required The axial length of the layer is at least 8 mm. An outlet hole 213 is provided at one end of the lower housing 202, from which the power signal line of the drive motor 206 is led out, and passes through the inlet hole 118 on the bottom cover 105 of the main cabin module and the control circuit board 112 of the main cabin module 1 connection. The wire inlet hole 118 and the wire outlet hole 213 are respectively glued to the power signal line through a waterproof sealant. The lower end of the flipper drive shaft 209 of the flipper drive module 2 rotates in the bearing housing 214 through a bearing, and the bearing housing 214 is fixed in the upper housing 201 by screws.

[0028] As shown in Figures 4 and 5, the four servo motors 113 are arranged in the housing 102 of the main cabin module 1, and the output end of each servo motor 113 is connected to a driving gear 124, and the driving gear 124 drives a driven The gear 125 rotates, and the lower support shaft 129 is fixedly connected to the center of the driven gear 125 through the top wire 130. The lower support shaft 129 passes through the bearing in the bearing seat 109 provided on the bottom cover 105 and is fixedly connected to the flipper drive module 2 in the support shaft hole 216 of the lower housing 202. An upper support shaft 131 is rotatably connected to the bearing seat 109 on the upper ring cover 104 through a bearing, and the lower end of the upper support shaft 131 is fixedly connected to the support shaft hole 215 on the other side opposite to the support shaft hole 216. A pressing cover 132 is fixed on the top of the upper support shaft 131.

[0029] In the above embodiment, the four servo motors 113 in the main cabin module can use the high-speed and high-torque motor FUTABA S9451, and the drive motor 206 in the flipper drive module 2 can use the high-speed and high-torque model HSR-5995TG of Hitec. Power motor.

[0030] In the above-mentioned embodiments, the structure, shape and connection of each component can be changed, and the use and position setting of certain components can also be changed. The present invention should not be limited by the above-mentioned embodiments. The solution can be obtained without creative work, and the replacement and improvement of components should all be included in the protection scope of the present invention.