Bionic self-flipping and landing cushioning device based on cat's righting reflex

Abstract

The present invention relates to the field of bionic mechanical technology, and in particular to a bionic self-flipping and landing buffer device based on the righting reflex of a cat, comprising a housing, a buffer device, a driving device and a control component, wherein the control component comprises a single-chip microcomputer for data processing and interaction, a multi-axis sensor for measuring the posture information of the device, a motor driving module and an encoder module for speed monitoring and control, and a 12V power supply module for providing system power; the driving device comprises a momentum wheel, a motor for driving the momentum wheel, and a four-leaf connector; the motor is mounted on one side of the four-leaf connector, and its rotor part extends from the hollow part of the four-leaf connector and is inserted into the installation area; the buffer device is symmetrically arranged in multiple groups along the bottom of the housing. The present invention is used to help the device to adjust its posture in the air without external force when it falls abnormally at a certain inclination angle so that the bottom with the buffer device can land horizontally, and a smooth landing can be achieved with the help of the bottom buffer device.

Description

Technical Field

[0001] The invention relates to the technical field of bionic machinery, in particular to a bionic self-flipping and landing buffer device based on the righting reflex of a cat. Background Art

[0002] A cat can flip its body in one direction in the air without any external force, which seems to violate the law of conservation of angular momentum. In fact, the cat does not flip its entire body together, but the upper and lower body flip in opposite directions plus a series of complex movements. In conventional machinery, it is difficult to achieve various complex movements of a cat's front and hind limbs, but the core principle can be used: the law of conservation of angular momentum, to achieve the same function. The ultimate application is expected to apply the principle of cat posture adjustment to existing bionic machinery and aviation.

[0003] In the prior art, momentum wheels similar to those designed based on the conservation of angular momentum are mostly used to maintain balance, such as using a flywheel to maintain the balance of a unicycle; for example, they are often combined with a PID algorithm to make a balanced three-wheeled column similar to a tumbler. Devices based on this principle are also often used on satellites. Many satellites are commonly equipped with momentum wheels, which can be used to maintain satellite stability or quickly orient satellite observation points in combination with attitude control systems. Therefore, how to use the conservation of angular momentum to control the flipping of the device without the help of external forces to make it land smoothly has become an urgent problem to be solved. Summary of the invention

[0004] The purpose of the present invention is to solve the problems existing in the background technology, and propose a bionic self-flipping and landing buffer device based on the righting reflex of a cat, which can completely control the flipping in the air without the help of external force to make the device land horizontally, and a bionic buffer device based on the leg structure of a cat. It provides a solution for various machines to adjust their external posture in the air without the help of external force.

[0005] The technical solution of the present invention is a bionic self-flipping and landing buffer device based on the righting reflex of a cat, comprising a housing, a buffer device, a drive device and a control component, wherein the control component is integrated on the inner side of the housing, and the control component comprises a single-chip microcomputer for data processing and interaction, a multi-axis sensor for measuring the posture information of the device, a motor drive module and an encoder module for speed monitoring and control, and a 12V power supply module for providing system power;

[0006] The driving device includes a momentum wheel, a motor driving the momentum wheel, and a four-leaf connecting piece; the four-leaf connecting piece is fixed to the casing through a supporting column, and an installation area is formed between the four-leaf connecting piece and the casing for facilitating installation of the momentum wheel; the motor is installed on one side of the four-leaf connecting piece, and a rotor part thereof extends from a hollow part of the four-leaf connecting piece and is inserted into the installation area; the momentum wheel is fixedly connected to the rotor;

[0007] A plurality of buffer devices are symmetrically arranged along the bottom of the casing.

[0008] Preferably, the buffer device includes a bionic thigh plate, a bionic calf plate, a bionic shock absorber A, a bionic shock absorber B, a bionic knee joint connector and a connector for connecting the various components.

[0009] Preferably, the bionic thigh plate is connected to the housing through a sleeve and a bolt; the bionic thigh plate is rotatably connected relative to the housing; the bionic knee joint connector is installed between the bionic thigh plate and the bionic calf plate, and the bionic thigh plate and the bionic calf plate maintain relative rotation;

[0010] The two ends of the bionic shock absorber A are respectively connected to the bionic thigh plate and the bionic calf plate through connecting pieces;

[0011] The two ends of the bionic shock absorber B are respectively connected to the bionic thigh plate and the bionic calf plate through connecting pieces;

[0012] The bionic shock absorber A and the bionic shock absorber B apply a pulling force to the bionic thigh plate and the bionic calf plate, so that they form a “>”-shaped buffer structure.

[0013] Preferably, the connection points of the bionic shock absorber A, the bionic shock absorber B, the bionic thigh plate and the bionic calf plate are the same as the actual musculoskeletal connection positions of the cat's legs.

[0014] Preferably, the single-chip microcomputer and the multi-axis sensor are installed on the bottom mainboard of the casing, the motor drive module and the encoder module are installed on the top mainboard of the casing; the power module is installed on the right side of the casing; the center of gravity of the casing and the internal equipment as a whole is located at the center of the casing.

[0015] Preferably, the multi-axis sensor uses the SPI protocol for data transmission, and the output data is processed using a Kalman filter.

[0016] Preferably, the control component adopts a dual-loop PID algorithm of position loop + speed loop to control the input and output of the system.

[0017] Preferably, the control process of the control component includes:

[0018] S1: MCU establishes the operating system and enters the state machine;

[0019] S2: By receiving the angle data generated by the multi-axis sensor and the speed data generated by the encoder, real-time PID calculation is performed to obtain the target input pulse value;

[0020] S3: The single chip microcomputer generates a PWM pulse modulation signal, which is converted into a corresponding current value through the electric drive to control the speed of the DC motor 41;

[0021] S4: Due to the angular momentum generated by the motor, the entire mechanical device performs a reverse flipping process to control the angle.

[0022] Preferably, the operating system established by the MCU in S1 includes a FreeRTOS operating system or a Ucos operating system.

[0023] Preferably, a voltage stabilizing module is integrated on the power module.

[0024] Compared with the prior art, the present invention has the following beneficial technical effects:

[0025] 1. The present invention uses a dual-loop PID algorithm of a position loop + a speed loop to dynamically calculate the speed required when the device falls abnormally. The momentum wheel rotates at high speed in one direction, and then according to the law of conservation of angular momentum, the external device must rotate in the opposite direction, so that the device can flip in one direction in the air without the help of external force, so that the bottom lands relative to the horizontal ground when it finally lands. Compared with single-position loop control, the dual-loop PID algorithm has greatly improved the target speed response of the motor, and also has good anti-interference characteristics.

[0026] 2. The present invention imitates the bending of the limbs of a cat when falling to mitigate the impact force. The mechanical leg designed with the shock absorber as the core is used to buffer the impact force of falling. The fiberglass board and shock absorber of the mechanical leg respectively imitate the rigid femur and calf bones, quadriceps and semitendinosus of the cat's legs. The fixed position of the shock absorber on the fiberglass board also refers to the actual muscle-bone connection position of the actual cat's legs.

[0027] 3. The device of the present invention realizes a relatively common and highly portable function in the development of bionic machines: completely controlling the flipping in the air without external force to make the device land horizontally, and a bionic cushioning device based on the cat leg structure. It provides a solution for various machines to adjust their external posture in the air without external force. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the bionic self-flipping and landing buffer device based on the righting reflex of a cat according to the present invention;

[0029] Figure 2 It is a schematic structural diagram of a buffer device in a bionic self-flipping and landing buffer device based on the righting reflex of a cat according to the present invention;

[0030] Figure 3 It is a schematic diagram of the internal installation structure of the casing of the bionic self-flipping and landing buffer device based on the cat's righting reflex of the present invention;

[0031] Figure 4It is an exploded view of the driving device in the bionic self-flipping and landing buffer device based on the cat's righting reflex of the present invention.

[0032] Figure numerals: 1. housing; 2. buffer device; 21. bionic thigh plate; 22. bionic calf plate; 23. bionic shock absorber A; 24. bionic shock absorber B; 25. connector; 26. bionic knee joint connector; 3. control component; 31. bottom motherboard; 32. top motherboard; 33. power module; 4. drive device; 41. motor; 42. rotor; 43. four-leaf connector; 44. momentum wheel; 45. support column. DETAILED DESCRIPTION

[0033] Example 1

[0034] like Figure 1-4 As shown, the bionic self-flipping and landing buffer device based on the righting reflex of a cat proposed in the present invention comprises a housing 1, a buffer device 2, a drive device 4 and a control component 3. The control component 3 is integrated on the inner side of the housing. The control component 3 comprises a single-chip microcomputer for data processing and interaction, a multi-axis sensor for measuring the posture information of the device, a motor drive module and an encoder module for speed monitoring and control, and a 12V power supply module 33 for providing system power;

[0035] The driving device 4 includes a momentum wheel 44, a motor 41 driving the momentum wheel 44, and a four-leaf connecting member 43; the four-leaf connecting member 43 is fixed to the housing 1 through a support column 45, and an installation area is formed between the four-leaf connecting member 43 and the housing 1 for facilitating the installation of the momentum wheel 44; the motor 41 is installed on one side of the four-leaf connecting member 43, and its rotor 42 part extends from the hollow part of the four-leaf connecting member 43 and is inserted into the installation area; the momentum wheel 44 is fixedly connected to the rotor 42;

[0036] The buffer device 2 is symmetrically arranged in multiple groups along the bottom of the housing 1. The buffer device 2 includes a bionic thigh plate 21, a bionic calf plate 22, a bionic shock absorber A23, a bionic shock absorber B24, a bionic knee joint connector 26 and a connector 25 for connecting various components;

[0037] In this embodiment, the system is powered on and runs, and the single-chip microcomputer, multi-axis sensor and electric drive module perform self-check and initialization: the single-chip microcomputer initializes each peripheral, establishes the FreeRTOS operating system, and enters the state machine; the multi-axis sensor performs temperature detection and calibration to eliminate temperature drift.

[0038] During the falling process, the multi-axis sensor obtains the angle data of the current device and sends it to the microcontroller for data processing and dual-loop PID calculation to obtain the target output pulse value;

[0039] The electric drive obtains the output current value through the input PWM modulation signal, controls the rotation speed of the motor 41, and indirectly controls the output angular momentum of the momentum wheel 44, so that the angle of the entire device is adjusted in the opposite direction to keep it parallel to the ground before landing.

[0040] During the landing buffering process, the mechanical legs are in an upright state, and the bionic shock absorbers A23 and B24 do not shrink. The bionic thigh plate 21 and the bionic calf plate 22 form an obtuse angle to support the body to stand. When falling to the ground, after the process S1 to S3, the device body flips to an upright state, and the four feet touch the ground at the same time. The bionic shock absorbers A23 and B24 shrink under the force, and the bionic thigh plate 21 and the bionic calf plate 22 form an acute angle to reduce the impact of falling, so that the body lands smoothly. After landing, the bionic shock absorbers A23 and B24 relax to support the body to remain upright again.

Claims

1. A bionic self-flipping and landing buffer device based on the righting reflex of a cat, comprising a housing (1), a buffer device (2), a drive device (4) and a control component (3), characterized in that: The control component (3) is integrated inside the housing, and the control component (3) includes a single chip microcomputer for data processing and interaction, a multi-axis sensor for measuring device posture information, an encoder module for speed monitoring, a motor drive module for control, and a 12V power supply module (33) for providing system power; The driving device (4) comprises a momentum wheel (44), a motor (41) for driving the momentum wheel (44), and a four-leaf connecting member (43); the four-leaf connecting member (43) is fixed to the housing (1) via a support column (45), and an installation area is formed between the four-leaf connecting member and the housing (1) for facilitating installation of the momentum wheel (44); the motor (41) is installed on one side of the four-leaf connecting member (43), and a rotor (42) thereof extends from a hollow portion of the four-leaf connecting member (43) and is inserted into the installation area; the momentum wheel (44) is fixedly connected to the rotor (42); A plurality of buffer devices (2) are symmetrically arranged along the bottom of the housing (1); The buffer device (2) comprises a bionic thigh plate (21), a bionic calf plate (22), a bionic shock absorber A (23), a bionic shock absorber B (24), a bionic knee joint connector (26), and a connector (25) for connecting the various components. The bionic thigh plate (21) is connected to the housing (1) via a sleeve and a bolt; the bionic thigh plate (21) is rotatably connected relative to the housing (1); the bionic knee joint connector (26) is installed between the bionic thigh plate (21) and the bionic calf plate (22), and the bionic thigh plate (21) and the bionic calf plate (22) maintain relative rotation; Two ends of the bionic shock absorber A (23) are respectively connected to the bionic thigh plate (21) and the bionic calf plate (22) through connecting pieces (25); Two ends of the bionic shock absorber B (24) are respectively connected to the bionic thigh plate (21) and the bionic calf plate (22) through connecting pieces (25); The bionic shock absorber A (23) and the bionic shock absorber B (24) apply a pulling force to the bionic thigh plate (21) and the bionic calf plate (22), so that they form a "">"-shaped buffer structure; The connection points of the bionic shock absorber A (23), the bionic shock absorber B (24), the bionic thigh plate (21) and the bionic calf plate (22) are the same as the actual muscle-bone connection positions of the cat's legs.

2. The bionic self-flipping and landing cushioning device based on the cat's righting reflex according to claim 1 is characterized in that The single-chip microcomputer and the multi-axis sensor are mounted on a bottom mainboard (31) of the housing (1), and the motor drive module and the encoder module are mounted on a top mainboard (32) of the housing (1); The power module (33) is installed on the right side of the casing (1); the center of gravity of the casing (1) and the internal equipment as a whole is located at the center of the casing (1).

3. The bionic self-flipping and landing cushioning device based on the righting reflex of a cat according to claim 1, characterized in that: The multi-axis sensor uses the SPI protocol for data transmission, and the output data is processed using the Kalman filter method.

4. The bionic self-flipping and landing cushioning device based on the righting reflex of a cat according to claim 1, characterized in that: The control component (3) uses a dual-loop PID algorithm of position loop + speed loop to control the input and output of the system.

5. The bionic self-flipping and landing cushioning device based on the righting reflex of a cat according to claim 1, characterized in that: The control process of the control component (3) includes: S1: MCU establishes the operating system and enters the state machine; S2: By receiving the angle data generated by the multi-axis sensor and the speed data generated by the encoder, real-time PID calculation is performed to obtain the target input pulse value; S3: The single chip microcomputer generates a PWM pulse modulation signal, which is converted into a corresponding current value through the electric drive to control the speed of the DC motor (41); S4: Due to the angular momentum generated by the motor (41), the entire mechanical device performs a reverse flipping process to control the angle.

6. The bionic self-flipping and landing cushioning device based on the righting reflex of a cat according to claim 5, characterized in that: The operating system established by the MCU in S1 includes the FreeRTOS operating system or the Ucos operating system.

7. The bionic self-flipping and landing cushioning device based on the righting reflex of a cat according to claim 1, characterized in that: A voltage stabilization module is integrated on the power module (33).

Images