A dual-propulsion water exploration bionic turtle with drug delivery

Abstract

The present invention relates to the technical field of underwater operation robots, and specifically discloses a dual-propulsion water area detection bionic turtle with drug delivery, comprising a central deck, a bionic forelimb is arranged on the top front side of the central deck, a bionic hind limb linked with the bionic forelimb is arranged on the top rear side of the central deck, spiral propellers are arranged on both sides of the central deck, and a walking track is arranged on the bottom of the central deck; a silo is arranged on the top rear side of the central deck. The dual-propulsion water area detection bionic turtle with drug delivery can use the walking track to move forward on land, without the need for personnel to put the bionic turtle into the swimming water area; the spiral propeller can be used as the power to move forward in the fish-free water area, thereby ensuring the forward efficiency; the bionic forelimb and the bionic hind limb are used as the propulsion power in the breeding area, which will not disturb the fish. At the same time, the bionic forelimb and the bionic hind limb are linked by a connecting rod, saving the driving equipment.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, in particular to a double-propulsion water area detection bionic turtle with drug delivery. Background Art

[0002] With the advancement of science and technology, many jobs that were previously done manually are replaced by robots, which not only improves work efficiency but also avoids danger to personnel. For example, aquaculture has certain requirements for water quality testing, so water quality testing is required, which is now replaced by robots.

[0003] In some waters, there is no aquaculture in shallow water areas, so robots need to be pushed from shallow water areas to aquaculture areas for inspection. Existing propeller-propelled robots have fast forward speeds, but they are easy to disturb the fish in the aquaculture areas, and existing bionic-driven robots cannot swim to the aquaculture areas for a long time, and often have insufficient endurance. At the same time, the robots are expensive, but have a single function and no other uses. Summary of the invention

[0004] The purpose of the present invention is to provide a dual-propulsion water area detection bionic turtle with drug delivery to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A dual-propulsion water area detection bionic turtle with drug delivery, comprising a central deck, a bionic forelimb is arranged on the top front side of the central deck, a bionic hind limb linked with the bionic forelimb is arranged on the top rear side of the central deck, screw propellers are arranged on both sides of the central deck, and a walking track is arranged at the bottom of the central deck; a silo is arranged on the top rear side of the central deck; an electric control silo for controlling the bionic forelimb, the walking track and the silo switch is fixedly connected at the center of the central deck; an upper shell and a lower shell are respectively arranged on the upper and lower parts of the central deck, and a laser radar is fixedly connected to the top of the upper shell;

[0007] The central deck is provided with a second fixed limiting groove, the bionic forelimb comprises a forelimb upper plate whose end is rotatably connected to the central deck, the forelimb upper plate is also rotatably connected to a first rotating shaft slidably connected to the second fixed limiting groove, a waterproof steering gear is arranged on the central deck, the waterproof steering gear is connected to the first rotating shaft through a positioning connecting rod, a forelimb moving plate is rotatably connected to the bottom of the forelimb upper plate, and a torsion spring is also arranged between the forelimb moving plate and the forelimb upper plate;

[0008] The bionic hind limb comprises a hind limb fin plate, one end of which is fixedly connected with a swing rod rotatably connected to the central deck, and the swing rod is rotatably connected to the forelimb upper plate through a connecting rod.

[0009] Preferably, the hind limb fins are arranged in a V-shape.

[0010] Preferably, a first fixed limit groove is also provided on the surface of the central deck, a rocker arm is fixedly connected to the waterproof servo output shaft, and a support shaft slidably connected to the second fixed limit groove is provided at one end of the rocker arm away from the waterproof servo, and the support shaft is connected to the first rotating shaft through a positioning connecting rod.

[0011] Preferably, storage grooves for storing bionic forelimbs and bionic hind limbs are formed between the left and right sides of the upper shell and the central deck.

[0012] Preferably, the inner side of the silo is divided into a plurality of chambers by partitions.

[0013] Preferably, the top of the silo is provided with a filling port, the rear side of the surface of the center deck is provided with a discharge port, the bottom of the center deck is provided with a material introduction base connected to the discharge port, and the bottom of the discharge port is provided with a rotary dosing device.

[0014] Preferably, a walking support plate is provided at the bottom of the central deck, the walking track comprises a track, a driving wheel and a driven wheel are provided on the inner side of the track, and the driven wheel is connected to the walking support plate via a driven connecting plate.

[0015] Preferably, the driven connecting plate is cam-shaped, the driven connecting plate is rotationally connected to the walking support plate, one end of the driven connecting plate is rotationally connected to the driven wheel, and the other end of the driven connecting plate is connected to a tension spring.

[0016] Preferably, a counterweight assembly is provided at the bottom of the lower shell.

[0017] Preferably, the lower shell is provided with a slide groove, and the counterweight assembly includes a counterweight slider, which is slidably connected to the slide groove, and the center of the counterweight slider is threadedly connected to a lead screw located at the center of the slide groove, and one end of the lead screw is connected to a drive motor fixed on the inner side of the lower shell.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] This dual-propulsion water detection bionic turtle with drug delivery can use walking tracks to move forward on land, without the need for personnel to put the bionic turtle into the swimming waters; it can use a screw propeller as a power source to move forward in fish-free waters, ensuring the forward efficiency; it uses bionic forelimbs and bionic hind limbs as propulsion power in the breeding area, without disturbing the fish. At the same time, the bionic forelimbs and bionic hind limbs are linked by a linkage rod, saving driving equipment and energy consumption, and can make the bionic forelimbs and bionic hind limbs propel alternately, ensuring the continuous forward effect of the bionic turtle. And the silo set on the back side of the bionic turtle can be used to place materials such as drugs for improving the water environment and fish food for sowing. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the three-dimensional structure of a turtle with its front and rear limbs spread out in a preferred embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of a turtle with its upper shell removed in a preferred embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of a turtle with its upper shell and silo removed in a preferred embodiment of the present invention;

[0023] Figure 4 This is a schematic structural diagram of a screw propeller in a preferred embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of a turtle with its lower shell removed in a preferred embodiment of the present invention;

[0025] Figure 6 It is a top view of the interior of a turtle in a preferred embodiment of the present invention;

[0026] Figure 7 An internal bottom view of a turtle in a preferred embodiment of the present invention;

[0027] Figure 8 This is a schematic diagram of the structure of the forelimb upper plate and the bionic hindlimb in a preferred embodiment of the present invention;

[0028] Fig. 9 This is a schematic diagram of the structure of a turtle with its upper and lower shells removed in a preferred embodiment of the present invention;

[0029] Fig.10 This is a schematic diagram of the structure of a walking crawler in a preferred embodiment of the present invention;

[0030] Fig.11 This is a schematic diagram of the structure of a turtle walking on land in a preferred embodiment of the present invention;

[0031] Fig.12This is a schematic diagram of the structure of a silo in a preferred embodiment of the present invention;

[0032] Fig.13 This is a schematic structural diagram of a rotary dosing device in a preferred embodiment of the present invention;

[0033] Fig.14 This is a schematic diagram of the structure of a turntable in a preferred embodiment of the present invention;

[0034] Fig.15 It is a longitudinal cross-sectional view of a rotary dosing device in a preferred embodiment of the present invention.

[0035] In the figure: 1, upper shell; 2, lower shell; 3, bionic forelimb, 31, forelimb upper plate, 32, forelimb moving plate, 33, waterproof steering gear, 34, first rotating shaft, 35, torsion spring, 36, positioning connecting rod, 37, rocker arm, 38, supporting shaft; 4, silo, 41, injection port, 42, feed guide base, 43, rotary dosing device, 431, feed port, 432, turntable, 433, groove, 434, micro motor, 435, discharge port; 5, bionic hind limb , 51. hind fin plate, 52. rocker arm, 53. second rotating shaft, 54. connecting rod; 6. laser radar; 7. screw propeller; 8. walking track, 81. track, 82. tension spring, 83. driven wheel, 84. driving wheel, 85. driven connecting plate; 9. center deck, 91. first fixed limit groove, 92. second fixed limit groove, 93. discharge port, 94. walking support plate; 10. electric control warehouse; 11. storage slot; 12. counterweight assembly. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0037] See also Figure 1-Figure 15 , the present invention provides a technical solution:

[0038] A dual-propulsion water area detection bionic turtle with drug delivery comprises a central deck 9, wherein a bionic forelimb 3 is arranged on the top front side of the central deck 9, and a bionic hind limb 5 linked with the bionic forelimb 3 is arranged on the top rear side of the central deck 9, wherein the bionic forelimb 3 and the bionic hind limb 5 are used as the propulsion power of the bionic turtle in the water, and the bionic forelimb 3 and the bionic hind limb 5 are pushed forward alternately.

[0039] Screw propellers 7 are provided on both sides of the central deck 9. The screw propellers 7 are used for propulsion in fishless waters to increase the speed of the bionic turtle in water.

[0040] The center of the central deck 9 is fixedly connected with an electric control compartment 10 for controlling the bionic forelimb 3, the walking track 8 and the switch of the silo 4. The electric control compartment 10 is mainly used to store batteries, electrical components, etc. The upper and lower parts of the central deck 9 are respectively provided with an upper shell 1 and a lower shell 2. The appearance of the upper shell 1 and the lower shell 2 is made to imitate the shell of a turtle. The top of the upper shell 1 is fixedly connected with a laser radar 6, which performs real-time scene modeling for navigation on land. Since water has an absorption and scattering effect on light, during the water entry stage, the laser radar 6 can also assist in judging whether the bionic turtle has entered the water normally.

[0041] After entering the water, the bionic turtle performs navigation tasks in the water through ultrasonic beacons arranged in advance in the breeding waters. The head of the bionic turtle is provided with an ultrasonic receiver connected to the ultrasonic beacon. When approaching the working location of the target fish school, the screw propeller 7 is closed, the bionic propulsion mode is started, and the waterproof steering gear drives the bionic forelimb 3 and the bionic hind limb 5 to achieve bionic propulsion and slowly contact the fish school.

[0042] After the mission is completed, the bionic turtle returns to land, navigates back to the charging position through the laser radar 10, and charges in an idle state through the charging coil at the bottom.

[0043] The central deck 9 is provided with a second fixed limiting groove 92, which is in an arc shape. The bionic forelimb 3 includes a forelimb upper plate 31, the end of which is rotatably connected to the central deck 9, and the forelimb upper plate 31 is also rotatably connected to a first rotating shaft 34 slidably connected to the second fixed limiting groove 92, and the first rotating shaft 34 can slide in the second fixed limiting groove 92, thereby limiting the swing range of the forelimb upper plate 31. A waterproof steering gear 33 is provided on the central deck 9, and the waterproof steering gear 33 is connected to the first rotating shaft 34 through a positioning link 36, and the waterproof steering gear 33 drives the positioning link 36. The positioning link 36 pushes the first rotating shaft 34 to slide in the second fixed limiting groove 92. The bottom of the forelimb upper plate 31 is rotatably connected to the forelimb moving plate 32, and a torsion spring 35 is also arranged between the forelimb moving plate 32 and the forelimb upper plate 31, and the torsion spring 35 pushes the forelimb moving plate 32 and the forelimb upper plate 31 to move closer; when the forelimb upper plate 31 swings forward, the torsion spring 35 pushes the forelimb moving plate 32 and the forelimb upper plate 31 to move closer to the horizontal direction to reduce the water resistance; when the forelimb upper plate 31 swings backward, the forelimb moving plate 32 and the open end of the forelimb upper plate 31 are subject to the water resistance, and the forelimb moving plate 32 opens and rotates around the front side of the forelimb moving plate 32, further increasing the amount of water pushed and improving the power effect.

[0044] The bionic hind limb 5 includes a hind limb fin 51, one end of which is fixedly connected to a swing rod 52 rotatably connected to the central deck 9, and the swing rod 52 is connected to the central deck 9 via a second rotating shaft 53. The swing rod 52 is rotatably connected to the forelimb upper plate 31 via a connecting rod 54. When the forelimb upper plate 31 swings, the connecting rod 54 is driven to move, and the connecting rod 54 drives one end of the swing rod 52 to rotate around the second rotating shaft 53, and then the swing rod 52 drives the hind limb fin 51 at the other end to swing.

[0045] When the bionic forelimb 3 moves forward, the linking rod 54 pulls the swing rod 52, thereby causing the hind limb fin 51 to swing backward, pushing the bionic turtle to continue moving forward, thereby ensuring that the bionic turtle can always move forward without stopping.

[0046] The hind limb fin 51 is arranged in a V shape, with the tip of the V facing the front end and the open end of the V facing the rear end, so that the water resistance encountered by the hind limb fin 51 when swinging forward is small, and the water resistance encountered when swinging backward is large, which effectively ensures the propulsion effect.

[0047] The surface of the central deck 9 is also provided with a first fixed limit groove 91, and the first fixed limit groove 91 is adjacent to the second fixed limit groove 92. The output shaft of the waterproof servo 33 is fixedly connected with a rocker arm 37, and the end of the rocker arm 37 away from the waterproof servo 33 is provided with a support shaft 38 slidably connected with the second fixed limit groove 92. The support shaft 38, the outer wall of which is located at the upper and lower sides of the central deck 9, is provided with a deck to clamp the central deck 9, and a graphene gasket is provided between the clamping plate and the central deck 9 to reduce friction, which is used to support the waterproof servo 33 and prevent the waterproof servo 33 from tilting due to the return force when the waterproof servo 33 drives the positioning link 36 to move. The support shaft 38 is connected to the first rotating shaft 34 through the positioning link 36.

[0048] A storage groove 11 for storing the bionic forelimb 3 and the bionic hindlimb 5 is formed between the left and right sides of the upper shell 1 and the central deck 9. When the bionic turtle moves on land, the bionic forelimb 3 and the bionic hindlimb 5 can be stored in the storage groove 11.

[0049] A silo 4 is provided at the top rear side of the central deck 9, and fish food, medicine, etc. can be placed in the silo 4. The inner side of the silo 4 is divided into multiple chambers by partitions, and different materials can be placed in the multiple chambers at the same time.

[0050] The top of the silo 4 is provided with a material injection port 41, and a removable sealing cover is provided at the material injection port 41. A discharge port 93 is provided on the rear side of the surface of the central deck 9, and a material introduction base 42 connected to the discharge port 93 is provided at the bottom of the central deck 9. All materials in the chamber will enter the inner side of the material introduction base 42 through the discharge port 93, and then a rotary dosing device 43 is provided at the bottom of the discharge port 93.

[0051] A feed port 431 is provided at the top of the rotary dosing device 43, a turntable 432 is provided on the inner side of the rotary dosing device 43, grooves 433 are evenly provided on the surface of the turntable 432, a micro motor 434 for driving the turntable 432 to rotate is fixedly connected at the bottom center of the rotary dosing device 43, a discharge port 435 is provided on the rear side of the bottom of the rotary dosing device 43, and each of the grooves 433 is alternately connected to the feed port 431 and the discharge port 435.

[0052] The feed is fed into the water area where fish are present by means of the rotating feeder 43 .

[0053] The bottom of the central deck 9 is provided with a walking track 8, which is used for the bionic turtle to walk on land. A wireless charging coil is provided at the inner bottom of the lower shell 2. The bionic turtle walks on land through the walking track 8 and can go to the charging area to charge by itself. And replenish materials in the silo 4 on land.

[0054] A walking support plate 94 is provided at the bottom of the central deck 9 , and the walking track 8 includes a track 81 . A driving wheel 84 and a driven wheel 83 are provided on the inner side of the track 81 . The driven wheel 83 is connected to the walking support plate 94 via a driven connecting plate 85 .

[0055] The driven connecting plate 85 is cam-shaped, and is rotationally connected to the walking support plate 94 . One end of the driven connecting plate 85 is rotationally connected to the driven wheel 83 , and the other end of the driven connecting plate 85 is connected to a tension spring 82 .

[0056] The crawler 81 adopts a suspension design, the driving wheel 84 is fixed, and the crawler 81 drives the driven wheel 83; the driven wheel 83 is supported by the driven connecting plate 85, and the driven connecting plate 85 is pulled by the tension spring 82 for buffering. When encountering a step, the driven wheel 83 is lifted, driving the driven connecting plate 85 to move around the axis, and the tension spring 82 pulls the driven connecting plate 85 to achieve the purpose of shock absorption and obstacle crossing.

[0057] The bionic turtle moves on the shore through the tracks 8 below. Since the buoyancy is slightly greater than the gravity, the buoyancy gradually increases during the entry into water stage. When the buoyancy reaches a certain depth and meets the requirement, the bionic turtle propeller 7 is started to accelerate the robot's entry into the water. After the tracks 8 leave the ground, the internal pressure sensor sends information, the tracks 8 stop working, and the drive motor of the tracks 8 is powered off.

[0058] A counterweight assembly is provided at the bottom of the lower housing 2. A slide slot is provided in the lower housing 2, and the counterweight assembly includes a counterweight slider, which is slidably connected to the slide slot, and a lead screw located at the center of the slide slot is threadedly connected at the center of the counterweight slider, and one end of the lead screw is connected to a driving motor fixed to the inner side of the lower housing 2.

[0059] In the description of the present invention, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and 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, and therefore should not be understood as a limitation on the present invention.

[0060] In addition, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second", "third" and "fourth" may explicitly or implicitly include at least one of such features.

[0061] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0062] Although 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 the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A dual-propulsion water area detection bionic turtle with drug delivery, characterized by: The invention comprises a central deck (9), wherein a bionic forelimb (3) is arranged on the front side of the top of the central deck (9), a bionic hindlimb (5) linked to the bionic forelimb (3) is arranged on the rear side of the top of the central deck (9), screw propellers (7) are arranged on both sides of the central deck (9), and a walking track (8) is arranged on the bottom of the central deck (9); a material bin (4) is arranged on the rear side of the top of the central deck (9); an electric control bin (10) for controlling the switch of the bionic forelimb (3), the walking track (8) and the material bin (4) is fixedly connected at the center of the central deck (9); an upper shell (1) and a lower shell (2) are arranged on the upper and lower parts of the central deck (9), respectively, and a laser radar (6) is fixedly connected to the top of the upper shell (1); The central deck (9) is provided with a second fixed limit groove (92); the bionic forelimb (3) comprises a forelimb upper plate (31) whose end is rotatably connected to the central deck (9); the forelimb upper plate (31) is also rotatably connected to a first rotating shaft (34) slidably connected to the second fixed limit groove (92); a waterproof steering gear (33) is provided on the central deck (9); the waterproof steering gear (33) is connected to the first rotating shaft (34) via a positioning connecting rod (36); a forelimb moving plate (32) is rotatably connected to the bottom of the forelimb upper plate (31); a torsion spring (35) is also provided between the forelimb moving plate (32) and the forelimb upper plate (31); The bionic hind limb (5) comprises a hind limb fin plate (51), one end of the hind limb fin plate (51) is fixedly connected to a swing rod (52) rotatably connected to the central deck (9), and the swing rod (52) is rotatably connected to the forelimb upper plate (31) via a connecting rod (54); A first fixed limiting groove (91) is also provided on the surface of the central deck (9); a rocker arm (37) is fixedly connected to the output shaft of the waterproof steering gear (33); a support shaft (38) slidably connected to the second fixed limiting groove (92) is provided at one end of the rocker arm (37) away from the waterproof steering gear (33); and the support shaft (38) is connected to the first rotating shaft (34) via a positioning connecting rod (36).

2. A dual-propulsion water area detection bionic turtle with drug delivery according to claim 1, characterized in that: The hind limb fin plate (51) is arranged in a V shape.

3. The dual-propulsion water area detection bionic turtle with drug delivery according to claim 1, characterized in that: A storage groove (11) for storing the bionic forelimb (3) and the bionic hindlimb (5) is formed between the left and right sides of the upper shell (1) and the central deck (9).

4. The dual-propulsion water area detection bionic turtle with drug delivery according to claim 1, characterized in that: The inner side of the silo (4) is divided into a plurality of chambers by partitions.

5. A dual-propulsion water area detection bionic turtle with drug delivery according to claim 1 or 4, characterized in that: The top of the silo (4) is provided with a material injection port (41), the rear side of the surface of the central deck (9) is provided with a material discharge port (93), the bottom of the central deck (9) is provided with a material introduction base (42) connected to the material discharge port (93), and the bottom of the material discharge port (93) is provided with a rotary dosing device (43).

6. The dual-propulsion water area detection bionic turtle with drug delivery according to claim 1, characterized in that: A walking support plate (94) is provided at the bottom of the central deck (9), the walking crawler (8) comprises a crawler (81), a driving wheel (84) and a driven wheel (83) are provided on the inner side of the crawler (81), and the driven wheel (83) is connected to the walking support plate (94) via a driven connecting plate (85).

7. The dual-propulsion water area detection bionic turtle with drug delivery according to claim 6, characterized in that: The driven connecting plate (85) is cam-shaped, the driven connecting plate (85) is rotationally connected to the walking support plate (94), one end of the driven connecting plate (85) is rotationally connected to the driven wheel (83), and the other end of the driven connecting plate (85) is connected to a tension spring (82).

8. The dual-propulsion water area detection bionic turtle with drug delivery according to claim 1, characterized in that: A counterweight assembly is provided at the bottom of the lower shell (2).

9. The dual-propulsion water area detection bionic turtle with drug delivery according to claim 8, characterized in that: The lower shell (2) is provided with a slide groove, and the counterweight assembly comprises a counterweight slider, which is slidably connected to the slide groove, and a lead screw located at the center of the slide groove is threadedly connected at the center of the counterweight slider, and one end of the lead screw is connected to a drive motor fixed on the inner side of the lower shell (2).

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