A bionic leech machine

Abstract

The present invention discloses a bionic leech machine comprising an adsorption module, a screw drive module, a steering module, and a control module. The adsorption module is located at the head and tail of the bionic leech, the screw drive module is located in the middle of the bionic leech, the steering module comprises a worm gear mechanism, a planetary gear mechanism, and a chassis, and the control module controls the movement of the bionic machine. This invention relates to the relatively understudied field of civilian bionic machinery. The bionic leech machine primarily utilizes a screw drive mechanism in conjunction with the adsorption of front and rear suction cups to achieve movement. It also utilizes a single-chip microcomputer control and wireless Bluetooth remote control, effectively simulating the leech's gait.

Description

Technical field:

[0001] The present invention relates to the technical field of bionic machine manufacturing, in particular to a bionic leech machine that can be widely used by civilians. Background technology:

[0002] Bionic mechanics is a rapidly developing research field, with the main research directions being prototyping, development and application.

[0003] With the continuous deepening development of computer technology, the tools and methods of mechanical design are constantly being updated and upgraded, and many new theories and new technical fields have been migrated and penetrated.

[0004] Among them, bionic mechanical design focuses on learning complex organisms in order to achieve harmony between man and nature in the era, giving full play to their exquisite and excellent characteristics, establishing more competitive bionic mechanical products in structure, function, control, energy and other aspects, improving and perfecting the technical performance of existing mechanical products in production or life, and meeting new production or life needs.

[0005] In order to better apply bionic machines in our daily lives, it is of practical value to develop a bionic machine with simple structure and low cost. Summary of the invention:

[0006] The present invention designs a bionic leech machine based on the movement characteristics of leeches. The bionic leech machine has the advantages of simple working principle, compact structure, etc., and well simulates the gait movement of leeches.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a bionic leech machine, comprising an adsorption module, a screw transmission module, a steering module, and a control module, characterized in that: the adsorption module is located at the head and tail of the bionic leech, the screw transmission module is located in the middle of the bionic leech, the steering module includes a worm gear mechanism, a planetary gear mechanism, and a chassis, and the movement of the bionic machine is controlled by the control module.

[0008] In one embodiment, the adsorption module includes a front suction cup, a rear suction cup, a vacuum pump, a gas reversing valve, an air valve fixing frame, a rubber air tube, and a sealing gasket; wherein, the gas reversing valve is fixedly mounted on the front suction cup through the air valve fixing frame, the sealing gaskets are respectively installed on the bottom of the front suction cup and the rear suction cup, the front suction cup and the rear suction cup are respectively connected to the two air outlets of the gas reversing valve through rubber air tubes, and the air inlet of the gas reversing valve is connected to the air inlet of the vacuum pump through a rubber air tube.

[0009] In one embodiment, the planetary gear mechanism includes planetary gears, a sun gear, a planetary wheel carrier, and an inner ring gear; wherein, the sun gear is installed inside the worm gear, and the worm gear is concentric, the planetary gears are meshed with the inner ring gear, the sun gear is meshed with the planetary gears, the inner ring gear is fixedly installed on the chassis, the planetary gears are rotatably connected to the planetary wheel carrier, and the bottom of the planetary wheel carrier passes through the hole on the chassis and is inserted into the square hole of the rear suction cup.

[0010] In one embodiment, the worm gear mechanism includes a worm wheel, a worm, and a steering motor; wherein the output shaft of the steering motor is axially connected to the worm, and the worm is meshed with the worm wheel.

[0011] In one embodiment, the screw transmission module includes a screw, a nut, a connecting shaft, a coupling and a reduction motor; wherein the output end of the reduction motor is axially connected to the screw through the coupling, and the nut is axially connected to the connecting shaft.

[0012] In one embodiment, the control module includes a gas reversing valve and a reduction motor adjustment mechanism, a control board and a control board power supply, and the control board and the control board power supply are installed on the rear bottom plate.

[0013] In one embodiment, the gas reversing valve and reduction motor adjustment mechanism includes a collision sensor, a push piece, a valve stem, and a cotton thread.

[0014] In one embodiment, the planetary gear mechanism, worm gear mechanism, reduction motor, and control module are all mounted on a chassis.

[0015] In one embodiment, the gas reversing valve has one air inlet and two air outlets. The opening and closing states of the two air outlets are controlled by a valve stem. In the initial state, the air inlet is connected to the left air outlet. When the valve stem is pushed forward, the air inlet is connected to the right air outlet. The air inlet is connected to the vacuum pump.

[0016] In one embodiment, the chassis is mounted on the rear suction cup.

[0017] In one embodiment, the connecting shaft is connected to the air valve fixing bracket.

[0018] In one embodiment, the screw rod is connected to the valve stem of the gas reversing valve via a cotton thread.

[0019] Physical control method:

[0020] S1. Users can control the movement of the bionic leech through the Bluetooth app.

[0021] S2. The user sends a forward command to the bionic leech through the Bluetooth app and the Bluetooth function. The microcontroller receives the signal and sends a forward or reverse motor signal to the reduction motor driver chip. The forward and reverse rotation of the motor controls the forward and reverse rotation of the lead screw to achieve forward movement. At the same time, the microcontroller controls the motor of the steering module to achieve steering. In one embodiment, the vacuum pump is first connected and started. The vacuum pump generates negative pressure when it works, and the reversing valve connects the rear suction cup to the vacuum pump. At this time, the rear suction cup is adsorbed on the working plane, while the front suction cup is not adsorbed. The valve stem contacts the collision sensor, and the sensor indicator light is on. When a forward command is issued, the single-chip microcomputer receives the signal and sends a forward signal to the reduction motor driver chip. The motor rotates forward and drives the screw rod to rotate forward. The spiral transmission of the screw rod and the nut causes the nut to drive the front suction cup forward. After moving a certain distance, the valve stem of the gas reversing valve is pulled apart by the wire connected to the screw rod, and the valve stem is disengaged from the collision sensor. The sensor indicator light goes out, and the front suction cup is connected to the vacuum pump. At this time, the front suction cup is adsorbed on the working plane, and the rear suction cup is released. The collision sensor transmits a signal to the single-chip microcomputer, causing the reduction motor to reverse and drive the screw rod to reverse. The spiral transmission of the screw rod and the nut causes the screw rod to drive the rear suction cup forward, and so on.

[0022] S3. The user sends a steering command to the bionic leech through the Bluetooth app and the Bluetooth function. The microcontroller receives the signal and sends a steering signal to the steering motor. The steering motor drives the worm, which engages with the worm wheel, drives the planetary gear mechanism, and drives the chassis to rotate, achieving horizontal steering.

[0023] The present invention relates to the relatively understudied field of civilian bionic robots. The bionic leech machine primarily uses a screw drive mechanism for power transmission, and has the advantages of a simple working principle, compact structure, easy control, and convenient fabrication. It also effectively simulates the leech's gait. Description of the drawings:

[0024] Figure 1 A schematic diagram of the overall structure of an embodiment of the present invention is disclosed;

[0025] Figure 2 The invention discloses an overall arrangement diagram of a control module in one embodiment of the invention;

[0026] Figure 3 The present invention discloses a schematic diagram of a gas reversing valve and a reduction motor adjustment mechanism in one embodiment of the present invention;

[0027] Figure 4 An exploded diagram of the screw drive module connection in one embodiment of the present invention is disclosed;

[0028] Figure 5 An exploded diagram of the connection between the worm gear mechanism and the planetary gear mechanism in the steering module in one embodiment of the present invention is disclosed;

[0029] Figure 6 The present invention discloses a design principle diagram of a control method for a bionic leech machine in one embodiment of the present invention;

[0030] 1.Front suction cup, 2.Gas reversing valve,

[0031] 3. Gas reversing valve and reduction motor adjustment mechanism,

[0032] 4. Screw drive module,

[0033] 5. Planetary gear mechanism,

[0034] 6. Worm gear mechanism, 7. Chassis, 8. Fixing bracket, 9. Screws, 10. Rear suction cup, 11. Rubber air tube, 12. Air valve fixing bracket, 13. Air tube connector, 14. Sealing gasket, 15. Control board, 16. Control board power supply,

[0035] 31. Collision sensor, 32. Push piece, 33. Gas reversing valve stem, 34. Cotton thread,

[0036] 41. Connecting shaft, 42. Nut, 43. Screw, 44. Coupling, 45. Reducer motor,

[0037] 51. Planetary gear, 52. Sun gear, 53. Planet carrier, 54. Ring gear,

[0038] 61. Worm gear, 62. Steering motor, 63. Motor mounting bracket, 64. Worm. Specific implementation method:

[0039] The following is an explanation of the embodiments of the present invention by specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this invention are limited to this embodiment. On the contrary, the purpose of introducing the invention in conjunction with the embodiment is to cover other options or modifications that may be extended based on the claims of the present invention. In order to provide a deep understanding of the present invention, the following description will contain many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0040] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0041] The terms “first”, “second”, etc. are only used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0042] In the description of this embodiment, it should be noted that, unless otherwise specified or limited, the terms "disposed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this embodiment based on specific circumstances.

[0043] exist Figure 1 In an embodiment, a bionic leech machine includes an adsorption module, a steering module, a screw transmission module, and a control module, and is characterized in that: the adsorption module is located at the head and tail of the bionic leech, the screw transmission module is located in the middle of the bionic leech, the steering module includes a worm gear mechanism, a planetary gear mechanism and a chassis installed on the rear suction cup of the adsorption module, and the movement of the bionic machine is controlled by the control module.

[0044] As a preferred embodiment, the adsorption module includes a front suction cup 1, a rear suction cup 10, a vacuum pump, a gas reversing valve 2, an air valve fixing frame 12, a rubber air tube 11, and a sealing gasket 14. The gas reversing valve 2 is fixedly mounted on the front suction cup 1 through the air valve fixing frame 12. The sealing gasket 14 is respectively mounted on the front suction cup 1 and the rear suction cup 10. The front suction cup 1 and the rear suction cup 10 are respectively connected to the two air outlets of the gas reversing valve 2 through the rubber air tube 11.

[0045] It can be understood that the gas reversing valve 2 has one air inlet and two air outlets, and the opening and closing states of the two air outlets are controlled by the valve stem. In the initial state, the air inlet is connected to the left air outlet, and when the valve stem is pushed forward, the air inlet is connected to the right air outlet.

[0046] It can be understood that the air inlet of the gas reversing valve 2 is connected to the air inlet of the vacuum pump through a rubber air tube. The vacuum pump is an external device fixed at a certain position and does not follow the mechanical movement of the bionic leech. The rubber air tube can be selected to a suitable length according to actual conditions.

[0047] exist Figure 2 In the embodiment, the control module includes a control board 15, a control board power supply 16, a gas reversing valve and a reduction motor adjustment mechanism 3; wherein the control board 15 and the control board power supply 16 are installed on the chassis 7.

[0048] exist Figure 3 In the embodiment, the gas reversing valve and reduction motor adjustment mechanism includes a collision sensor 31, a push piece 32, a gas reversing valve stem 33, and a cotton thread 34. The valve stem 33 is connected to the screw rod through the cotton thread 34. The push piece 32 is installed on the gas reversing valve stem 33. The collision sensor 31 is installed and fixed on the gas reversing valve 2, and the push piece 32 can hit the collision sensor 31 when the valve stem 33 moves forward.

[0049] exist Figure 4 In the embodiment, the screw transmission module includes a connecting shaft 41, a nut 42, a screw 43, a coupling 44, and a reduction motor 45; wherein, the output end of the reduction motor 45 is axially connected to the screw 43 through the coupling 44, and the nut 42 is axially connected to the connecting shaft 41.

[0050] As a preference, the connecting shaft 41 is connected to the air valve fixing bracket 12 .

[0051] exist Figure 5 In the embodiment of the present invention, the steering module includes a planetary gear mechanism 5, a worm gear mechanism 6 and a chassis 7; wherein, the worm gear mechanism includes a worm wheel 61, a worm 64, and a steering motor 62, and the planetary gear mechanism includes four planetary gears 51, a sun gear 52, a planetary wheel carrier 53, and an inner ring gear 54.

[0052] As a preference, the output shaft of the motor 54 is axially connected to the worm 57 , the worm 57 is meshed with the worm gear 52 , and the sun gear 56 is installed inside the worm gear 52 and is concentric with the worm gear 52 .

[0053] As a preference, the planetary gears 51 are meshed with the inner ring gear 54 , and the sun gear 52 is meshed with the planetary gears 53 .

[0054] As a preference, the inner gear ring 54 is fixedly mounted on the chassis 7 .

[0055] As a preference, the planetary gear 51 is rotatably connected to the planetary wheel carrier 53 .

[0056] As a preferred embodiment, a square hole is opened on the upper portion of the rear suction cup 10 , a round hole is opened in the center of the chassis 7 , and the bottom of the planetary wheel carrier 53 passes through the hole on the chassis 7 and is inserted into the square hole of the rear suction cup 10 .

[0057] As a preference, the reduction motor 45 is mounted at the motor mounting slot at the front end of the chassis 7 , and the steering motor 62 is fixedly mounted on the chassis via a motor fixing bracket 63 .

[0058] The control module plays the role of power supply and control.

[0059] The adsorption module is used to adsorb the front suction cup or the rear suction cup on the plane during movement, and the adsorption state of the front and rear suction cups is controlled by the gas reversing valve.

[0060] The screw drive module is used to realize the forward movement of the bionic leech machine, which is achieved through the spiral transmission of the screw and nut in conjunction with the adsorption of the front and rear suction cups.

[0061] Physical control method:

[0062] S1. Users can control the movement of the bionic leech through the Bluetooth app.

[0063] S2. The user sends a forward instruction to the bionic leech through the Bluetooth app and the Bluetooth function. The single-chip microcomputer receives the signal and sends a motor forward or reverse signal to the reduction motor driver chip. The forward and reverse rotation of the lead screw is controlled by the motor to achieve forward movement. At the same time, the single-chip microcomputer controls the motor of the steering module to achieve steering. In one embodiment, the vacuum pump is first connected and started. The vacuum pump generates negative pressure when it works. The reversing valve connects the rear suction cup with the vacuum pump. At this time, the rear suction cup is adsorbed on the working plane, while the front suction cup is not adsorbed. The valve stem contacts the collision sensor, and the sensor indicator light is on. When the forward instruction is issued, When the command is given, the single-chip microcomputer receives the signal and sends a forward signal to the reduction motor drive chip. The motor rotates forward and drives the screw rod to rotate forward. The spiral transmission of the screw rod and the nut causes the nut to drive the front suction cup to move forward. After moving a certain distance, the valve stem of the gas reversing valve is pulled apart by the wire connected to the screw rod. At the same time, the valve stem is disengaged from the collision sensor, the sensor indicator light goes out, the front suction cup is connected to the vacuum pump, and the front suction cup is adsorbed on the working plane, and the rear suction cup is released. The collision sensor transmits the signal to the single-chip microcomputer, causing the reduction motor to reverse and drive the screw rod to reverse. The spiral transmission of the screw rod and the nut causes the screw rod to drive the rear suction cup to move forward, and the movement is cyclical.

[0064] S3. The user sends a steering command to the bionic leech through the Bluetooth app and the Bluetooth function. The microcontroller receives the signal and sends a steering signal to the steering motor. The steering motor drives the worm, which engages with the worm wheel, drives the planetary gear mechanism, and drives the chassis to rotate, achieving horizontal steering.

[0065] For those skilled in the art, the civilian market has great potential, and those who want to enter this field can make many modifications and changes based on the concept of the present invention. Obviously, the present invention is not limited to the details of the above-mentioned exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claim involved.

Claims

1. A bionic leech machine, comprising an adsorption module, a steering module, a screw transmission module, and a control module, characterized in that: The adsorption module is located at the head and tail of the bionic leech, and the screw transmission module is located in the middle of the bionic leech; The adsorption module includes a front suction cup, a rear suction cup, a vacuum pump, a gas reversing valve, a gas valve fixing frame, a rubber air pipe, and a sealing gasket; wherein the gas reversing valve is fixedly mounted on the front suction cup through the gas valve fixing frame, and the front suction cup and the rear suction cup are respectively connected to the two gas outlets of the gas reversing valve through rubber air pipes; The steering module includes a worm gear mechanism, a planetary gear mechanism, and a chassis mounted on the rear suction cup of the adsorption module; The control module includes a gas reversing valve and a reduction motor adjustment mechanism, a control board, and a control board power supply; wherein the gas reversing valve and the reduction motor adjustment mechanism include a collision sensor, a push piece, a valve stem, and a cotton thread; the control module controls the movement of the bionic machine; The valve stem is connected to the screw drive module through a cotton thread, the push piece is installed on the valve stem of the gas reversing valve, the collision sensor is installed and fixed on the gas reversing valve, and the push piece can hit the collision sensor when the valve stem moves forward.

2. The bionic leech machine according to claim 1, characterized in that: The sealing gaskets are respectively installed on the front suction cup and the rear suction cup.

3. The bionic leech machine according to claim 1, characterized in that: The planetary gear mechanism includes planetary gears, a sun gear, a planetary wheel carrier, and an inner ring gear; the worm gear mechanism includes a worm wheel, a worm, and a steering motor; wherein, the output shaft of the steering motor is axially connected to the worm, the worm is meshed with the worm wheel, the sun gear is installed inside the worm wheel and is concentric with the worm wheel, the planetary gears are meshed with the inner ring gear, the sun gear is meshed with the planetary gears, the inner ring gear is fixedly installed on the chassis, the planetary gears are rotatably connected to the planetary wheel carrier, and the bottom of the planetary wheel carrier passes through the hole on the chassis and is inserted into the square hole of the rear suction cup.

4. The bionic leech machine according to claim 3, characterized in that: The screw transmission module includes a screw, a nut, a connecting shaft, a coupling and a reduction motor; wherein the output end of the reduction motor is axially connected to the screw through the coupling, and the nut is axially connected to the connecting shaft.

5. The bionic leech machine according to claim 4, characterized in that: Physical control method: S1. The user controls the movement of the bionic leech via a Bluetooth app. S2. The user sends a forward command to the bionic leech through the Bluetooth app and the Bluetooth function. The single-chip microcomputer receives the signal and sends a motor forward or reverse signal to the reduction motor driver chip. The reduction motor controls the forward and reverse rotation of the screw rod to achieve forward movement. At the same time, the single-chip microcomputer controls the steering motor of the steering module to achieve steering. First, connect and start the vacuum pump. The vacuum pump generates negative pressure when it works. The gas reversing valve connects the rear suction cup with the vacuum pump. At this time, the rear suction cup is adsorbed on the working plane, while the front suction cup is not adsorbed. The valve stem contacts the collision sensor, and the collision sensor indicator light turns on. When the forward command is issued, , the single-chip microcomputer receives the signal and sends a forward signal to the reduction motor drive chip. The reduction motor rotates forward and drives the screw to rotate forward. The spiral transmission of the screw and the nut causes the nut to drive the front suction cup forward. After moving one end distance, the valve stem of the gas reversing valve is pulled apart by the cotton thread connected to the screw. At the same time, the valve stem is separated from the collision sensor, the collision sensor indicator light goes out, the front suction cup is connected to the vacuum pump, and the front suction cup is adsorbed on the working plane. The rear suction cup is released, and the collision sensor transmits the signal to the single-chip microcomputer to reverse the reduction motor and drive the screw to reverse. The spiral transmission of the screw and the nut causes the screw to drive the rear suction cup forward, and the movement is cyclical. S3. The user sends a steering command to the bionic leech through the Bluetooth app and the Bluetooth function. The microcontroller receives the signal and sends a steering signal to the steering motor. The steering motor drives the worm, which engages with the worm wheel, drives the planetary gear mechanism, and drives the chassis to rotate, achieving horizontal steering.

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