Mechanical amphibious turtle based on structural bionics

Abstract

The present invention discloses a mechanical amphibious turtle based on structural bionics, comprising a main plate, a connecting bottom shell installed at the bottom of the main plate and a shell installed at the top of the main plate, wherein a moving mechanism is provided on the main plate, and a front support frame and a rear support frame are connected to the moving mechanism respectively, and a slide groove for allowing the front support frame and the rear support frame to pass through is provided on the main plate; a turtle head is installed on the front support frame; both ends of the front support frame and the rear support frame are provided with connecting pieces for connecting with the main plate; both ends of the front support frame and the rear support frame are connected with a driving mechanism, this mechanical amphibious turtle based on structural bionics can not only walk on land, but also swing stably in water, effectively imitating the existing turtle's crawling on land and swimming in water, and has good bionic effect, and can complete operations under complex conditions.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, in particular to a mechanical amphibious turtle based on structural bionics. Background Art

[0002] Amphibious robots, highly maneuverable and capable of carrying payloads, can perform tasks in harsh environments, such as amphibious reconnaissance, mine clearance, blasting, and communications relay during naval landing operations. They can also handle tasks unsuitable for humans in complex marine environments, such as seabed surveying, oil extraction, underwater salvage, disaster relief, and counterterrorism and riot control. Therefore, research into amphibious bionic robots, constructed by combining inorganic components with organic functional bodies and possessing advanced life-like characteristics in terms of motion mechanisms, behavior patterns, perception patterns, information processing, and control coordination, while also being able to move flexibly in multi-media environments, has significant application value and social benefits.

[0003] With the advancement of science and technology, the development of computer systems has driven the continuous increase in the types of robots, such as service robots, exploration robots, and aerospace robots. Underwater robots, also known as unmanned remotely operated submersibles, are robots that operate underwater for extreme operations. The underwater environment is harsh and dangerous, and human diving depths are limited. Therefore, underwater robots are one of the indispensable tools for humans to understand and develop the ocean.

[0004] At present, the structures of existing robots are relatively simple. For example, underwater robots can only walk underwater, while land robots can only walk on land. As a result, their functionality and appearance are still quite different from the biological beings they imitate. For this reason, we propose a mechanical amphibious turtle based on structural bionics. Summary of the Invention

[0005] The purpose of the present invention is to provide a mechanical amphibious turtle based on structural bionics to solve the problems raised in the above background technology.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a mechanical amphibious turtle based on structural bionics, comprising a main plate, a connecting bottom shell installed at the bottom of the main plate, and a shell installed at the top of the main plate, wherein the main plate is provided with a moving mechanism, to which a front support frame and a rear support frame are respectively connected, and wherein the main plate is provided with a slide groove for allowing the front support frame and the rear support frame to pass through;

[0007] The front support frame is provided with a glans;

[0008] Both ends of the front support frame and the rear support frame are provided with connecting pieces for connecting with the main plate;

[0009] Both ends of the front support frame and the rear support frame are connected with a driving mechanism.

[0010] Preferably, the moving mechanism includes two motor supports fixedly mounted on the main plate, the two motor supports being located on both sides of the center line of the main plate and at the head and tail ends of the main plate respectively;

[0011] The motor bracket is equipped with a motor housing, and a reduction motor is installed on the motor housing. The output ends of the two reduction motors are respectively fixedly connected with gears, and the outer sides of the gears are meshed with racks, and the two racks are respectively fixedly connected to the front support frame and the rear support frame;

[0012] The main plate is respectively provided with guide pieces for limiting the position of the racks.

[0013] Preferably, the guide member includes a slide rail fixedly mounted on the main plate, and a slider is slidably connected to the slide rail, and the rack is fixedly mounted on the slider.

[0014] Preferably, the glans penis includes head joint one, head joint two and head joint three, and the head joint one, head joint two and head joint three are connected in sequence, and the head joint three is fixedly connected to the front support frame.

[0015] Preferably, guide grooves are respectively provided at positions on the main plate corresponding to the four connecting members, and the connecting members are connected to the guide grooves.

[0016] Preferably, the connecting member includes a shrinkage steering fitting fixedly mounted on the front support frame, the shrinkage steering fitting passes through the guide groove, and a bearing is mounted on the shrinkage steering fitting, and the bearing is slidably connected to the main plate.

[0017] Preferably, the driving mechanism includes a front right upper arm steering gear frame mounted on one end of the front support frame, a waterproof steering gear 1 is mounted on the front right upper arm steering gear frame, and an output end of the waterproof steering gear 1 is connected to a steering wheel, an upper arm connecting lower arm rod is rotatably connected to the outer side of the front right upper arm steering gear frame, and the upper arm connecting lower arm rod is fixedly connected to the steering wheel;

[0018] The front right upper arm servo frame is fixedly connected to an output end of the waterproof servo;

[0019] The outer side of the upper arm connecting the lower arm rod is rotatably connected to the lower arm connecting rod 1, and the upper arm connecting the lower arm rod is provided with a rotating member for rotating the lower arm connecting rod 1;

[0020] The upper arm connecting the lower arm rod is provided with a limiting piece for limiting the lower arm connecting rod, and a right claw is installed at the bottom of the lower arm connecting rod.

[0021] Preferably, the rotating member includes a second waterproof servo mounted on the upper arm connecting the lower arm rod, the output end of the second waterproof servo is installed with a steering wheel, and one end of the first lower arm connecting rod is fixedly connected to the output end of the second waterproof servo.

[0022] Preferably, the limiting member includes a lower arm connecting rod 2 which is hinged to the upper arm and lower arm rod through a pin shaft, one end of the lower arm connecting rod 2 is hinged to a right claw through a pin shaft, and one end of the right claw is rotatably connected to the lower arm connecting rod 1 through a pin shaft.

[0023] The present invention has at least the following beneficial effects:

[0024] The present application provides a mechanical amphibious turtle that can not only walk on land, but also swing stably in water, effectively imitating the movements of existing turtles crawling on land and swimming in water. It has good bionic effects and can complete operations under complex conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the overall structure of the mechanical amphibious turtle based on structural bionics of the present invention;

[0027] Figure 3 This is a schematic diagram of the top view of the mechanical amphibious turtle based on structural bionics of the present invention;

[0028] Figure 4 This is a schematic side view of the mechanical amphibious turtle based on structural bionics of the present invention;

[0029] Figure 5 This is a schematic side view of the mechanical amphibious turtle based on structural bionics of the present invention;

[0030] Figure 6 This is a schematic diagram of the motor housing structure of the present invention;

[0031] Figure 7 This is a schematic diagram of the front support frame structure of the present invention;

[0032] Figure 8 This is a schematic diagram of the second structure of the lower arm connecting rod of the present invention;

[0033] Figure 9 It is a schematic diagram of the glans penis structure of the present invention.

[0034] In the figure: 1-housing; 2-bottom housing; 3-main plate; 4-turtle; 5-head joint 1; 6-head joint 2; 7-front support frame; 8-rear support frame; 9-slide rail; 10-slider; 11-rack; 12-gear; 13-motor bracket; 14-motor housing; 15-reduction motor; 16-front right upper arm servo frame; 17-waterproof servo 1; 18-upper arm to lower arm link (right); 19-waterproof servo 2; 20-steering wheel; 21-lower arm link 1 (right); 22-lower arm link 2; 23-right claw; 24-rear right upper arm servo frame; 25-rear left upper arm servo frame; 26-front left upper arm servo frame; 27-lower arm link 1 (left); 28-upper arm to lower arm link (left); 29-left claw; 30-retractable steering fitting; 31-head joint three; 32-waterproof servo three; 33-bearing; 34-turntable accessories. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] See also Figure 1-9 The present invention provides a technical solution: a mechanical amphibious turtle based on structural bionics, comprising a main plate 3, a connecting bottom shell 2 installed at the bottom of the main plate 3, and a shell 1 installed at the top of the main plate 3; the main plate 3 is provided with a moving mechanism, the moving mechanism is respectively connected to a front support frame 7 and a rear support frame 8; the main plate 3 is provided with a slide groove for the front support frame 7 and the rear support frame 8 to pass through;

[0037] The front support frame 7 is provided with a glans 4;

[0038] Both ends of the front support frame 7 and the rear support frame 8 are provided with connectors for connecting to the main plate 3;

[0039] Both ends of the front support frame 7 and the rear support frame 8 are connected to a driving mechanism.

[0040] The moving mechanism includes two motor supports 13 fixedly mounted on the main plate 3, and the two motor supports are respectively located on both sides of the center line of the main plate 3 and at the head and tail ends of the main plate 3;

[0041] A motor housing 14 is mounted on the motor bracket 13, and a reduction motor 15 is mounted on the motor housing 14. The output ends of the two reduction motors 15 are fixedly connected to gears 12 respectively. The outer sides of the gears 12 are meshed with racks 11, and the two racks 11 are fixedly connected to the front support frame 7 and the rear support frame 8 respectively.

[0042] The main plate 3 is provided with guide members for limiting the rack 11.

[0043] The guide member includes a slide rail 9 fixedly mounted on the main plate 3 , and a slider 10 is slidably connected to the slide rail 9 , and the rack 11 is fixedly mounted on the slider 10 .

[0044] The glans penis 4 includes a head joint 1 5, a head joint 2 6 and a head joint 3 31. The head joint 1 5, the head joint 2 6 and the head joint 3 31 are connected in sequence, and the head joint 3 31 is fixedly connected to the front support frame.

[0045] Guide grooves are respectively provided on the main plate 3 at positions corresponding to the four connecting pieces, and the connecting pieces are connected to the guide grooves.

[0046] The connecting member includes a shrinkage steering fitting 30 fixedly mounted on the front support frame 7 , the shrinkage steering fitting 30 passes through the guide groove, and a bearing 33 is mounted on the shrinkage steering fitting 30 , and the bearing 33 is slidably connected to the main plate 3 .

[0047] The drive mechanism includes a front right upper arm steering gear frame 16 mounted on one end of the front support frame 7, a waterproof steering gear 17 is mounted on the front right upper arm steering gear frame 16, and the output end of the waterproof steering gear 17 is connected to the steering wheel 20, and the outer side of the front right upper arm steering gear frame 16 is rotatably connected to the upper arm and lower arm rod 18 through a turntable accessory 34, and the upper arm and lower arm rod 18 is fixedly mounted on the steering wheel 20;

[0048] And the front right upper arm steering gear frame 16 is fixedly connected to the waterproof steering gear 17;

[0049] The upper arm connecting lower arm rod 18 is rotatably connected to the lower arm connecting rod 1 21 on the outside, and a rotating member for rotating the lower arm connecting rod 1 21 is provided on the upper arm connecting lower arm rod 18;

[0050] The upper arm connecting lower arm rod 18 is provided with a limiting member for limiting the lower arm connecting rod, and a right claw 23 is installed at the bottom of the lower arm connecting rod.

[0051] The rotating part includes a waterproof servo 2 19 installed on the upper arm connecting lower arm rod 18, the output end of the waterproof servo 2 19 is installed with a steering wheel 20, and one end of the lower arm connecting rod 1 21 is fixedly connected to the output end of the waterproof servo 2 19 through a coupling.

[0052] The limiting member includes a lower arm connecting rod 22 hingedly connected to the upper arm and lower arm rod 18 through a pin shaft, one end of the lower arm connecting rod 22 is hingedly connected to a right claw 23 through a pin shaft, and one end of the right claw 23 is rotatably connected to the lower arm connecting rod 1 21 through a pin shaft;

[0053] Working principle: When starting to crawl, the two reduction motors 15 first drive the gear 12 to rotate, and the rack 11 slides back and forth through the meshing of the gear and rack, thereby driving the front support frame 7 and the rear support frame 8 to slide. When the rack 11 moves to the maximum range, the reduction motor 15 stops working. During the working process, the front right upper arm servo frame 16 and the front left upper arm servo frame 26 swing to the maximum position under the joint action of the front support frame 7 and the bearing 33 in conjunction with the main plate 3. The rear right upper arm servo frame 24 and the rear left upper arm servo frame 25 are the same. At this time, the four waterproof servos 17 and the four waterproof servos 2 19 work simultaneously, and the four waterproof Servo three 32 works in conjunction, controlling the head up, down, left, and right by bending the rope. Waterproof servo one 17 causes the upper arm connecting the lower arm rod (right) 18 to swing up and down. Waterproof servo two 19 causes the lower arm connecting rod one (right) 21 to swing back and forth, causing the right claw 23 to swing back and forth and up and down. The other claws move in the same way. The walking action is completed by the coordinated forward, backward, and upward movements of the four claws. When the walking action is completed, the four waterproof servos 17, four waterproof servos 2 19, and four waterproof servos 3 32 return to their initial positions. The two reduction motors 15 start working, driving the front support frame 7 and the rear support frame 8 back to their initial positions. The work is now complete.

[0054] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0055] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A mechanical amphibious turtle based on structural bionics, comprising a main plate (3), a connecting bottom shell (2) mounted on the bottom of the main plate (3), and a shell (1) mounted on the top of the main plate (3), characterized in that: The main plate (3) is provided with a moving mechanism, the moving mechanism is respectively connected to the front support frame (7) and the rear support frame (8), and the main plate (3) is provided with a sliding groove for allowing the front support frame (7) and the rear support frame (8) to pass through; The front support frame (7) is provided with a glans penis (4); Both ends of the front support frame (7) and the rear support frame are provided with connecting pieces for connecting with the main plate (3); Both ends of the front support frame (7) and the rear support frame (8) are connected to a driving mechanism; The moving mechanism comprises two motor brackets (13) fixedly mounted on the main plate (3), the two motor brackets (13) being respectively located on both sides of the center line of the main plate (3) and respectively located at the head and tail ends of the main plate (3); A motor housing (14) is mounted on the motor bracket (13), a reduction motor (15) is mounted on the motor housing (14), two output ends of the reduction motors (15) are respectively fixedly connected to gears (12), the outer sides of the gears (12) are meshedly connected to racks (11), and the two racks (11) are respectively fixedly connected to the front support frame (7) and the rear support frame (8); The main plate (3) is provided with guide members for limiting the position of the rack (11); The positions of the main plate (3) corresponding to the four connecting pieces are respectively provided with guide grooves, and the connecting pieces are connected to the guide grooves; The connecting member comprises a shrinkage steering fitting (30) fixedly mounted on the front support frame (7), the shrinkage steering fitting (30) passing through the guide groove, and a bearing (33) is mounted on the shrinkage steering fitting (30), and the bearing (33) is slidably connected to the main plate (3).

2. The mechanical amphibious turtle based on structural bionics according to claim 1, characterized in that: The guide member comprises a slide rail (9) fixedly mounted on the main plate (3), a slider (10) is slidably connected to the slide rail (9), and the rack (11) is fixedly mounted on the slider (10).

3. The mechanical amphibious turtle based on structural bionics according to claim 1, characterized in that: The glans (4) includes a head joint 1 (5), a head joint 2 (6) and a head joint 3 (31), wherein the head joint 1 (5), the head joint 2 (6) and the head joint 3 (31) are connected in sequence, and the head joint 3 (31) is fixedly connected to the front support frame.

4. The mechanical amphibious turtle based on structural bionics according to claim 1, characterized in that: The driving mechanism comprises a front right upper arm steering gear frame (16) mounted on one end of the front support frame (7), a waterproof steering gear one (17) is mounted on the front right upper arm steering gear frame (16), and an output end of the waterproof steering gear one (17) is connected to a steering wheel (20), and an upper arm connecting lower arm rod (18) is rotatably connected to the outer side of the front right upper arm steering gear frame (16) through a turntable accessory (34), and the upper arm connecting lower arm rod (18) is fixedly mounted on the steering wheel (20); The front right upper arm steering gear frame (16) is fixedly connected to the waterproof steering gear one (17); The upper arm connecting lower arm rod (18) is rotatably connected to a lower arm connecting rod (21) on the outside, and a rotating member for rotating the lower arm connecting rod (21) is provided on the upper arm connecting lower arm rod (18); The upper arm connecting lower arm rod (18) is provided with a limiting member for limiting the lower arm connecting rod (21), and a right claw (23) is installed at the bottom of the lower arm connecting rod (21).

5. The mechanical amphibious turtle based on structural bionics according to claim 4, characterized in that: The rotating member comprises a waterproof steering gear 2 (19) mounted on an upper arm connecting lower arm rod (18), a steering wheel (20) being mounted on an output end of the waterproof steering gear 2 (19), and one end of a lower arm connecting rod 1 (21) being fixedly mounted on the steering wheel (20).

6. The mechanical amphibious turtle based on structural bionics according to claim 4, characterized in that: The limiting member includes a lower arm connecting rod 2 (22) hingedly connected to the upper arm and lower arm rods (18) through a pin shaft, one end of the lower arm connecting rod 2 (22) is hingedly connected to a right claw (23) through a pin shaft, and one end of the right claw (23) is rotatably connected to the lower arm connecting rod 1 (21) through a pin shaft.

Images