Cross-medium mechanical turtle based on sea turtle hydrofoil model

Abstract

The utility model provides a cross-medium mechanical turtle based on a sea turtle hydrofoil model. The cross-medium mechanical turtle is provided with a bionic shell, bionic flippers, a supporting framework, bionic joints and a control system. The supporting framework is a framework, the bionic shell is a shell, the shell comprises an upper shell and a lower shell, and the upper shell and the lower shell are both arranged on the framework; the bionic flippers comprise a left front flipper, a right front flipper, a left rear flipper and a right rear flipper which are connected with the framework through bionic joints; the bionic joint comprises a front connecting mechanism for connecting the left front flipper and the right front flipper with the framework, and a rear connecting mechanism for connecting the left rear flipper and the right rear flipper with the framework; the control system is arranged on the framework and located in a cavity formed by the upper shell and the lower shell. According to the technical scheme, firstly, the morphological characteristics of the sea turtle flipper and the movement mode of the sea turtle in water and on the land are analyzed and summarized, and therefore the form and the movement posture of the sea turtle hydrofoil model are designed in a bionic mode.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a cross-media mechanical turtle based on a sea turtle hydrofoil model. Background Technology

[0002] Currently, there are biomimetic amphibious robots that mimic movement patterns, such as those of snakes, frogs, and turtles. These robots primarily replicate the movement patterns of amphibians and are designed to have similar movement functions. There are also legged, finned, and soft robots that mimic movement structures. These robots are not limited to drawing structural design inspiration from amphibians and applying it to amphibious robots, giving some of the robot's structure biomimetic functions.

[0003] Among existing technologies, publicly available examples include ART, a turtle-shaped amphibious robot developed by Yale University. When moving on land, the tips of its limbs can bend into foot-like structures, enabling it to walk with various gaits. When the robot is in water, its limbs become flippers, allowing it to move in a swimming motion similar to that of a sea turtle. However, there is a lack of fully biomimetic research on the coordination of the forelimbs and hindlimbs for amphibious movement, specifically tailored to sea turtles. Summary of the Invention

[0004] To fill the aforementioned technological gap, the purpose of this utility model patent is to provide a device for adjusting and controlling the amphibious movement posture of a biomimetic sea turtle, specifically involving a cross-medium mechanical turtle based on a sea turtle hydrofoil model.

[0005] The technical solution adopted in this utility model patent is:

[0006] Based on a sea turtle hydrofoil model, this transmedia mechanical turtle, which coordinates the movement of its forelimbs and hindlimbs, consists of a biomimetic shell, biomimetic webs, a supporting skeleton, biomimetic joints, and a control system. It can perform the designed terrestrial crawling posture and water swimming posture.

[0007] Specifically:

[0008] A transmedia mechanical turtle based on a sea turtle hydrofoil model is disclosed. The transmedia mechanical turtle has a biomimetic shell, biomimetic fins, a supporting skeleton, biomimetic joints, and a control system. The supporting skeleton is a skeleton 1, and the biomimetic shell is a shell 24, which includes an upper shell and a lower shell, both of which are mounted on the skeleton 1. The biomimetic fins include a left front fin 2, a right front fin 3, a left rear fin 4, and a right rear fin 5, all of which are connected to the skeleton 1 via biomimetic joints. The biomimetic joints include a front connecting mechanism connecting the left front fin 2 and the right front fin 3 to the skeleton 1, and a rear connecting mechanism connecting the left rear fin 4 and the right rear fin 5 to the skeleton 1. The control system is mounted on the skeleton 1 and is located within the cavity formed by the upper and lower shells.

[0009] Furthermore,

[0010] The front connection mechanism has a front mounting bracket 6 mounted on the frame 1. The front mounting bracket 6 is fixed to both sides of the front part of the frame 1 by screws. A front servo motor 7 is provided on the front mounting bracket 6. The front side of the front servo motor 7 is the output end. A front rudder disc 8 is fixed on the output end. The end face of the front rudder disc 8 is fixed to the front servo motor frame 9. A front servo motor 10 is fixed to the front servo motor frame 9 by screws. The two sides of the front servo motor 10 are the output ends. A front rudder disc 11 is fixed on each of the two output ends. The end faces of the two front rudder discs 11 are fixed to the two ends of the front servo motor frame 12. A front servo motor frame 13 is fixedly connected to the bottom surface of the front servo motor frame 12. A front servo motor 14 is fixed to the front servo motor frame 13 by screws. The front side of the front servo motor 14 is the output end. A front rudder disc 15 is fixed on the output end. The end face of the front rudder disc 15 is connected to the left front fin 2 or the right front fin 3.

[0011] Furthermore,

[0012] The rear connection mechanism has a rear mounting bracket 16 mounted on the frame 1. The rear mounting bracket 16 is fixed to the rear sides of the frame 1 by screws. A rear servo bracket 17 is provided on the rear mounting bracket 16. A rear servo 18 is fixed to the rear servo bracket 17 by screws. The two sides of the rear servo 18 are output ends. A rear servo disc 19 is fixed to each output end. The end faces of the rear servo discs 19 are fixed to the two ends of the rear servo bracket 20. A rear servo bracket 3 21 is fixedly connected to the bottom surface of the rear servo bracket 20. A rear servo 22 is fixed to the rear servo bracket 3 21 by screws. The front side of the rear servo 22 is an output end. A rear servo disc 23 is fixed to the output end. The end face of the rear servo disc 23 is connected to the left rear fin 4 or the right rear fin 5.

[0013] Furthermore,

[0014] The left front fin 2 and right front fin 3 are symmetrical in structure, each consisting of a front fin connecting frame 26 and a front fin body 25. The front fin body 25 has a front side 27 and a rear side 28. The front side 27 and the rear side 28 are arc-shaped structures that resemble the periphery of a sea turtle's front foot. The front fin body 25 has upper and lower surfaces that resemble the texture of a sea turtle's front foot surface and back. The end face of the front rudder disc 3 15 is connected to the front fin connecting frame 26.

[0015] Furthermore,

[0016] The left hind fin 4 and right hind fin 5 are symmetrical in structure, each consisting of a hind fin connecting frame 30 and a hind fin body 29. The hind fin body 29 has a front side 31 and a rear side 32. The front side 31 and the rear side 32 are arc-shaped structures that resemble the hind feet of a sea turtle. The hind fin body 29 has upper and lower surfaces that resemble the texture of the hind feet and backs of a sea turtle. The end face of the second rear rudder 23 is connected to the hind fin connecting frame 30.

[0017] Furthermore,

[0018] The left front fin 2, right front fin 3, left rear fin 4, and right rear fin 5 are all made of thermoplastic polyurethane elastomer material.

[0019] Furthermore,

[0020] The upper and lower shells form a seal with the edge of the frame 1, the front servo motor 7, and the rear servo motor 18.

[0021] This invention relates to a trans-medium mechanical turtle based on a sea turtle hydrofoil model, utilizing coordinated forelimb and hindlimb movements. It falls within the field of robotics, specifically addressing the related problems of coordinated forelimb and hindlimb movements. The technical solution first analyzes and summarizes the morphological characteristics of sea turtle webbed feet and their movement patterns in water and on land, thereby designing the shape and movement posture of the sea turtle hydrofoil model using a biomimetic approach. Then, the trans-medium mechanical turtle is designed and manufactured through mechanical design, transmission system, motion design, and control algorithms. Finally, kinematic and dynamic analysis and experiments verify the mechanical turtle's movement performance and adaptability in different media. This provides convenience for underwater exploration, environmental monitoring, and rescue missions. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall shell-less structure of this utility model;

[0023] Figure 2 For the present utility model Figure 1 Enlarged view of part A in the image;

[0024] Figure 3 For the present utility model Figure 1 Enlarged view of part B in the image;

[0025] Figure 4 This is a schematic diagram of the overall structure of this utility model;

[0026] Figure 5 This is a schematic diagram of the front webbed structure of this utility model;

[0027] Figure 6 This is a schematic diagram of the rear flipper structure of this utility model;

[0028] The diagram shows the following components: 1. Frame; 2. Left front fin; 3. Right front fin; 4. Left rear fin; 5. Right rear fin; 6. Front mounting bracket; 7. Front servo motor 1; 8. Front servo disc 1; 9. Front servo motor 2; 10. Front servo disc 2; 11. Front servo motor 2; 12. Front servo motor 2; 13. Front servo motor 3; 14. Front servo disc 3; 15. Rear mounting bracket; 16. Rear servo motor 1; 17. Rear servo motor 1; 18. Rear servo disc 1; 19. Rear servo motor 2; 20. Rear servo motor 2; 21. Rear servo motor 2; 22. Rear servo disc 2; 23. Outer shell; 24. Front fin body; 25. Front fin connector; 26. Front side; 27. Rear side; 28. Rear fin body; 29. ​​Rear fin connector; 30. Front side; 31. Rear side; 32. Detailed Implementation

[0029] The technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments.

[0030] In the description of this utility model, it should be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0031] In this utility model, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," "link," and "fix" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0032] As shown in the figure, a transmedia mechanical turtle based on a sea turtle hydrofoil model, featuring coordinated forelimb and hindlimb movement, incorporates a biomimetic shell, biomimetic flippers, a supporting skeleton, biomimetic joints, and a control system. It also demonstrates both terrestrial crawling and aquatic swimming postures. Biomimicry is not simply indiscriminate imitation of animals, but rather the identification of specific body structures that play a significant role in an animal's life, followed by the integration of these structures. This new transmedia mechanical turtle, through coordinated forelimb and hindlimb movement, exhibits superior mobility compared to existing models, providing a vehicle technology for applications such as intertidal zone monitoring and sampling.

[0033] like Figure 1 , Figure 4As shown, the supporting frame is frame 1, and the biomimetic outer shell is outer shell 24. Frame 1 is located inside outer shell 24. Outer shell 24 is designed with an upper and lower shell according to the structure of a sea turtle's dorsal and ventral shell. It is sealed when closed, and the joints are waterproofed with waterproof glue. It can provide a certain buoyancy in water, accommodate the equipment to be carried, and ensure the safety of the internal control system and equipment.

[0034] In this invention, the outer shell 24 is manufactured using PLA 3D printing. To ensure the mechanical turtle has good buoyancy and stability, the outer shell 24 can be made of lightweight materials available in the prior art. Space is left between the upper and lower shells of the outer shell 24 to accommodate other components. Based on the turtle's physiological structure, the edge of the shell coincides with the elbow joint. However, due to the relative movement between the shoulder and elbow joints, it is difficult to achieve a sealed connection between the upper and lower shells. Therefore, the outer shell 24 is reduced in size so that its edge coincides with the connecting mechanism of the front and rear flippers, specifically with the servo motors fixed to the frame 1 (i.e., the front servo motor 7 and the rear servo motor 18 of this invention, respectively).

[0035] The bionic fins consist of two symmetrically mounted on the front of the frame 1: a left foreleg fin 2 and a right foreleg fin 3 (collectively referred to as the front bionic fins), and two symmetrically mounted on the rear of the frame 1: a left hindleg fin 4 and a right hindleg fin 5 (collectively referred to as the rear bionic fins), both based on the hind legs. The bionic joints are a front connecting mechanism between the front bionic fins and the frame 1, and a rear connecting mechanism between the rear bionic fins and the frame 1. The front and rear connecting mechanisms connect the front and rear bionic fins to the frame 1, respectively, although they are not entirely identical.

[0036] like Figure 1 , Figure 2 and Figure 5 As shown, the front connecting mechanism that connects the front bionic fins to the frame 1 has a front mounting bracket 6, which is fixed to the frame 1 (both front sides) by screws. A front servo motor 7 is mounted on the front mounting bracket 6, with its front side serving as the output end. A front servo disc 8 is fixed to this output end. The end face of the front servo disc 8 is fixed to a front servo frame 9, and a front servo motor 10 is fixed to the front servo frame 9 by screws. Both sides of the front servo motor 10 serve as output ends, and a front servo disc 11 is fixed to each of these output ends. The end faces of the front servo discs 11 are fixed to both ends of a front servo frame 12, and a front servo frame 13 is fixedly connected to the bottom surface of the front servo frame 12. A front servo motor 14 is fixed to the front servo frame 13 by screws. The front side of the front servo motor 14 serves as the output end, and a front servo disc 15 is fixed to this output end. The end face of the front servo disc 15 is connected to the front fin connecting bracket 26.

[0037] like Figure 5As shown, the left front fin 2 and the right front fin 3 have symmetrical structures, both consisting of a front fin connector 26 and a front fin body 25. The front fin body 25 has a front side 27 and a rear side 28. The front side 27 and the rear side 28 are arc-shaped structures that resemble the periphery of a sea turtle's front foot. The front fin body 25 has upper and lower surfaces that resemble the texture and shape of the front foot surface and the back of the front foot of a sea turtle.

[0038] From the above structure, it can be concluded that the front connecting mechanism of this utility model consists of three servo motors, possessing three degrees of freedom. Extending outwards from the cross-medium mechanical turtle, the three servo motors are labeled 7, 10, and 14, corresponding to the shoulder joint, elbow joint, and wrist joint, respectively. The front servo motor 7 and the front servo motor 14 of the front connecting mechanism are MG996 servo motors with a torque of 30KG. The front mounting bracket 6 between the frame 1 and the front servo motor 7 uses a servo motor bracket adapted to the MG996 specification. The front servo motor 10 is an RDS3225 servo motor with a torque of 25kg.

[0039] like Figure 1 , Figure 3 and Figure 6 As shown, the rear connection mechanism connecting the rear bionic fins to the frame 1 has a rear mounting bracket 16. The rear mounting bracket 16 is fixed to the frame 1 (both rear sides) by screws. A rear servo bracket 17 is provided on the rear mounting bracket 16. A rear servo 18 is fixed to the rear servo bracket 17 by screws. The two sides of the rear servo 18 are output ends. A rear servo disc 19 is fixed to each of the output ends. The end faces of the rear servo discs 19 are fixed to the two ends of the rear servo bracket 20. A rear servo bracket 31 is fixedly connected to the bottom surface of the rear servo bracket 20. A rear servo 22 is fixed to the rear servo bracket 31 by screws. The front side of the rear servo 22 is an output end. A rear servo disc 23 is fixed to the output end. The end face of the rear servo disc 23 is connected to the rear fin connecting bracket 30.

[0040] like Figure 6 As shown, the left hind fin 4 and the right hind fin 5 have symmetrical structures, both consisting of a hind fin connector 30 and a hind fin body 29. The hind fin body 29 has a front side 31 and a rear side 32. The front side 31 and the rear side 32 are arc-shaped structures that resemble the hind feet of a sea turtle. The hind fin body 29 has upper and lower surfaces that resemble the texture and shape of the hind feet and back of a sea turtle.

[0041] From the above structure, it can be concluded that the rear connection mechanism of this utility model consists of two servo motors. Extending outwards from the cross-medium mechanical turtle, the two servo motors are labeled 18 and 22 respectively. Because the ankle joint has a small range of motion, only the shoulder and elbow joints of the hind limbs are retained to simplify the mechanical structure. Rear servo motor 18 uses an RDS3225 motor with a torque of 25kg, while rear servo motor 22 uses an MG996 motor with a torque of 30kg.

[0042] This utility model of a cross-medium mechanical turtle mainly focuses on the coordinated movement design of the forelimbs and hindlimbs. To avoid the influence of deformation of flexible materials, the front and rear bionic webs are made of thermoplastic polyurethane elastomer material with a stiffness of 95a. It has excellent comprehensive properties such as high strength, high toughness, wear resistance, and oil resistance, good processing performance, and can adapt to various environments.

[0043] The frame 1 is spliced ​​from carbon fiber tubes, and the joints are connected by connectors designed with carbon fiber plates. The carbon fiber plates and carbon fiber tubes are connected with screws and nuts. The two horizontal plates and one vertical plate in the middle of the frame 1, which are used to reinforce and load the control system, are two layers of carbon fiber plates. The frame 1 is a simulated rib to enhance mechanical strength, and holes are drilled on it to facilitate the mounting of other components.

[0044] The control system of this utility model is used to control the operation of each servo motor. It can adopt the existing technology or the control system of this utility model, which includes a servo motor drive board and an Arduino Uno development board to realize the burning of programs and control of servo motors. Under the control of the control system, each servo motor can rotate according to the set program. The servo motors are inserted into interfaces 1 to 10 of the PCA9685 servo motor drive board according to their numbers to realize the alternating movement of the front and rear limbs: flattening, lifting forward and upward, flipping, and pushing backward and downward.

[0045] The land crawling posture of this utility model is shown in the table:

[0046]

[0047]

[0048] (Using the right side as the reference, reverse positive, forward negative)

[0049] The swimming posture of this utility model in water is shown in the table:

[0050] forelimb

[0051]

[0052] hind legs

[0053]

[0054] The movement of the front connecting mechanism is divided into two parts: the shoulder and elbow joints work together to achieve the movement, realizing "position rotation" to achieve the action of splashing and moving; the wrist joint changes the contact angle between the fins and the water or land surface. The general movement pattern of the five servo motors of the forelimbs is shown in the figure. Based on this, experiments were conducted. The distance moved per unit time was calculated as the basis for measuring the movement ability. The movement angle of the servo motors was adjusted to find the movement pattern with the highest efficiency.

[0055] This invention relates to a trans-medium mechanical turtle based on a sea turtle hydrofoil model, utilizing coordinated forelimb and hindlimb movements. It falls within the field of robotics, specifically addressing the related problems of coordinated forelimb and hindlimb movements. The technical solution first analyzes and summarizes the morphological characteristics of sea turtle webbed feet and their movement patterns in water and on land, thereby designing the shape and movement posture of the sea turtle hydrofoil model using a biomimetic approach. Then, the trans-medium mechanical turtle is designed and manufactured through mechanical design, transmission system, motion design, and control algorithms. Finally, kinematic and dynamic analysis and experiments verify the mechanical turtle's movement performance and adaptability in different media. This provides convenience for underwater exploration, environmental monitoring, and rescue missions.

Claims

1. A transmedia mechanical turtle based on a sea turtle hydrofoil model, characterized in that: The transmedia mechanical turtle features a biomimetic shell, biomimetic flippers, a supporting skeleton, biomimetic joints, and a control system. The supporting frame is the skeleton, and the bionic shell is the shell, which includes an upper shell and a lower shell, both of which are mounted on the skeleton. The bionic fins include a left front fin, a right front fin, a left rear fin, and a right rear fin, all of which are connected to the skeleton via bionic joints. The bionic joints include a front connecting mechanism that connects the left front fin and the right front fin to the skeleton, and a rear connecting mechanism that connects the left rear fin and the right rear fin to the skeleton. The control system is mounted on the skeleton and is located within the cavity formed by the upper and lower shells. The front connection mechanism has a front mounting bracket mounted on the frame. The front mounting bracket is fixed to the front two sides of the frame with screws. A front servo motor 1 is set on the front mounting bracket. The front side of the front servo motor 1 is the output end. A front rudder disk 1 is fixed on the output end. The end face of the front rudder disk 1 is fixed to the front servo motor frame 1. A front servo motor 2 is fixed on the front servo motor frame 1 with screws. The two sides of the front servo motor 2 are the output ends. A front rudder disk 2 is fixed on both sides of the output end. The end faces of the front rudder disk 2 on both sides are fixed to the two ends of the front servo motor frame 2. A front servo motor frame 3 is fixedly connected to the bottom surface of the front servo motor frame 2. A front servo motor 3 is fixed on the front servo motor frame 3 with screws. The front side of the front servo motor 3 is the output end. A front rudder disk 3 is fixed on the output end. The end face of the front rudder disk 3 is connected to the left front fin or the right front fin. The left front fin, right front fin, left rear fin, and right rear fin are all made of thermoplastic polyurethane elastomer material.

2. The transmedia mechanical turtle based on a sea turtle hydrofoil model according to claim 1, characterized in that: The rear connection mechanism has a rear mounting bracket mounted on the frame. The rear mounting bracket is fixed to both sides of the rear of the frame with screws. A rear servo bracket 1 is set on the rear mounting bracket. A rear servo 1 is fixed to the rear servo bracket 1 with screws. The two sides of the rear servo 1 are output ends. A rear servo disc 1 is fixed to each of the output ends. The end faces of the rear servo disc 1 on both sides are fixed to the two ends of the rear servo bracket 2. A rear servo bracket 3 is fixedly connected to the bottom surface of the rear servo bracket 2. A rear servo 2 is fixed to the rear servo bracket 3 with screws. The front side of the rear servo 2 is an output end. A rear servo disc 2 is fixed to the output end. The end face of the rear servo disc 2 is connected to the left rear fin or the right rear fin.

3. A transmedia mechanical turtle based on a sea turtle hydrofoil model according to claim 2, characterized in that: The left and right front fins are symmetrical in structure, each consisting of a front fin connector and a front fin body. The front fin body has a front side and a rear side, which are arc-shaped structures that resemble the front foot of a sea turtle. The front fin body has upper and lower surfaces that resemble the texture of the front foot and back of a sea turtle. The end face of the front rudder is connected to the front fin connector.

4. A transmedia mechanical turtle based on a sea turtle hydrofoil model according to claim 3, characterized in that: The left and right hind fins are symmetrical in structure, each consisting of a hind fin connector and a hind fin body. The hind fin body has a front side and a rear side, which are arc-shaped structures that resemble the hind feet of a sea turtle. The hind fin body has two surfaces, an upper and a lower surface, which resemble the texture of the hind feet and back of a sea turtle. The end face of the second rear rudder is connected to the hind fin connector.

5. A transmedia mechanical turtle based on a sea turtle hydrofoil model according to claim 4, characterized in that: The upper and lower shells form a seal with the edges of the frame, the front servo, and the rear servo.

Images