A mobile platform with a biomimetic frog-like structure

Abstract

This utility model relates to the field of environmental monitoring equipment technology, specifically proposing a biomimetic frog-inspired mobile platform, comprising: a platform body, front support legs, and rear support legs; two front support legs are symmetrically arranged on both sides of the front end of the platform body; two rear support legs are symmetrically arranged on both sides of the rear end of the platform body; the rear support legs have a three-section structure on the side closest to the front support legs, extending forward towards the front support legs to form a forward joint. This design simulates the basic shape and movement of frogs, improving mechanical freedom and propulsion, facilitating integration into the local environment and significantly reducing the impact on the habitat of local organisms. Furthermore, by simulating frogs, a lightweight overall structural design is achieved, greatly reducing damage to the local terrain and improving endurance, thus ensuring the efficiency of patrol work.

Description

Technical Field

[0001] This utility model belongs to the field of environmental monitoring equipment technology, and specifically relates to a mobile platform with a biomimetic frog-like structure. Background Technology

[0002] With the increasing demand for renewable energy, wind power, as an important component of clean energy, has developed rapidly. Routine inspections of wind farms are generally required to ensure their normal operation.

[0003] Existing wind farms are generally inspected manually or automatically using drones or patrol vehicles. However, because wind farms are typically located in complex environments and cover relatively vast areas, manual inspections are difficult and inefficient, while automated inspections can easily generate noise that could impact the local habitat or damage the terrain during the inspection process. Utility Model Content

[0004] To address the above problems, this utility model proposes a biomimetic frog-like mechanism mobile platform, comprising:

[0005] Platform entity;

[0006] There are two front support legs, which are symmetrically arranged on both sides of the front end of the platform body;

[0007] There are two rear support legs, which are symmetrically arranged on both sides of the rear end of the platform body;

[0008] The rear support leg has a three-section structure on the side near the front support leg, and extends forward toward the front support leg to form a forward joint.

[0009] In some specific embodiments, the rear support leg includes:

[0010] The first hinge link has one end rotatably connected to the rear end of the platform body;

[0011] The second hinge link has one end rotatably connected to the rear end of the platform body, and the first hinge link is located between the second hinge link and the front support leg;

[0012] The other end of the first hinge link is hinged to the other end of the second hinge link;

[0013] The first hinge link has a three-section structure, and the middle part of the first hinge link extends forward toward the front support leg;

[0014] The middle part of the second hinge link extends rearward in a direction away from the front support leg.

[0015] In some specific embodiments, the end of the first hinge link near the platform body is engaged with the end of the second hinge link near the platform body.

[0016] In some specific embodiments, the platform body is provided with two stepper motors, and the output ends of both stepper motors are provided with gears;

[0017] The first hinge link and the second hinge link are respectively fixedly connected to the outer sides of the two gears, and the two gears mesh with each other.

[0018] In some specific embodiments, the first hinge link includes:

[0019] The platform consists of a first connecting rod, a second connecting rod, and a third connecting rod. One end of the first connecting rod is rotatably connected to the rear end of the platform body. The second connecting rod and the third connecting rod are sequentially hinged to the other end of the first connecting rod. The hinge joint of the first connecting rod and the second connecting rod extends forward toward the front support leg.

[0020] The second hinge link includes:

[0021] The fourth connecting rod and the fifth connecting rod are rotatably connected to the rear end of the platform body, and the fifth connecting rod is hinged to the other end of the fourth connecting rod. The hinge of the fourth connecting rod and the fifth connecting rod extends backward in the direction away from the front support leg.

[0022] The end of the third connecting rod away from the second connecting rod is hinged to the end of the fifth connecting rod away from the fourth connecting rod.

[0023] In some specific embodiments, a tension pad is also hinged at the hinge joint of the third connecting rod and the fifth connecting rod.

[0024] In some specific embodiments, a servo motor is also provided within the platform body;

[0025] The front support leg is connected to the front end of the platform body via the servo motor, and the servo motor drives the front support leg to rotate according to the levelness of the platform body.

[0026] In some specific embodiments, the platform body is provided with a charging device and an energy storage device;

[0027] The energy storage end of the energy storage device is positioned facing upwards from the main body of the platform, and the output end of the energy storage device is electrically connected to the stepper motor and the servo motor respectively through the charging device.

[0028] In some specific embodiments, the platform body is equipped with a visual recognition device and a wireless communication device;

[0029] The output terminal of the energy storage device is also electrically connected to the visual recognition device and the wireless communication device through the charging device.

[0030] The detection end of the visual recognition device is positioned facing the outside of the platform body, and the output end of the visual recognition device is connected to the central control unit via the wireless communication device.

[0031] In some specific embodiments, at least one of the first connecting rod, the second connecting rod, the fourth connecting rod, and the fifth connecting rod has a hollow structure.

[0032] Compared with existing technologies, the mobile platform of the biomimetic frog mechanism of this utility model has at least the following advantages: the three-segment structure of the rear support leg near the front support leg, and the forward joint formed by the extension of the three-segment structure toward the front support leg, can improve the overall mechanical freedom of the mechanism, realize the simulation of the basic shape and movement mode of frogs, so as to integrate into the local environment and adapt to the environment of the wind farm, greatly reducing the impact on the local living environment. At the same time, through the simulation of frogs, the overall lightweight structural design is realized, which greatly reduces the degree of damage to the local terrain environment and correspondingly improves the endurance performance, ensuring the efficiency of the inspection work.

[0033] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objectives and other advantages of this invention can be realized and obtained through the structures pointed out in the description and the accompanying drawings. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 A schematic diagram of the mobile platform of the biomimetic frog mechanism in an embodiment of this utility model is shown;

[0036] Figure 2 A side view of the mobile platform of the biomimetic frog mechanism in an embodiment of this utility model is shown.

[0037] In the diagram, 100 is the platform body; 200 is the front support leg; 300 is the rear support leg; 310 is the first hinge link; 311 is the first connecting rod; 312 is the second connecting rod; 313 is the third connecting rod; 320 is the second hinge link; 321 is the fourth connecting rod; 322 is the fifth connecting rod; 330 is the tension pad; and 400 is the gear. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0039] Reference Figure 1 This utility model provides a biomimetic frog-like mobile platform, comprising: a platform body 100, front support legs 200, and rear support legs 300. Two front support legs 200 are provided, symmetrically arranged on both sides of the front end of the platform body 100. Two rear support legs 300 are provided, symmetrically arranged on both sides of the rear end of the platform body 100. The side of the rear support leg 300 closest to the front support leg 200 has a three-segment structure and extends forward toward the front support leg 200 to form a forward joint.

[0040] Specifically, two front support legs 200 are symmetrically arranged on both sides of the front end of the platform body 100, and two rear support legs 300 are symmetrically arranged on both sides of the rear end of the platform body 100, thus simulating the basic shape of a frog. The two rear support legs 300 correspond one-to-one with the two front support legs 200. The side of the rear support leg 300 closest to its corresponding front support leg 200 has a three-segment structure, and this three-segment structure extends forward towards the front support leg 200, thus forming a forward joint on each rear support leg 300. This three-segment structure further simulates the shape of a frog, and the forward joints formed by this three-segment structure simulate the movement of a frog, improving the overall mechanical freedom of the mechanism, facilitating manipulation and integration into the local environment, and greatly reducing the impact on the local habitat. Meanwhile, by simulating the morphology and movement of frogs, the overall lightweight structure design of the equipment can be realized, which greatly reduces the damage to the local terrain and environment, and correspondingly improves the endurance performance, thus ensuring the efficiency of the patrol work.

[0041] In some specific embodiments of this utility model, reference is made to Figure 1 The rear support leg 300 includes a first hinge link 310 and a second hinge link 320. One end of the first hinge link 310 is rotatably connected to the rear end of the platform body 100. One end of the second hinge link 320 is rotatably connected to the rear end of the platform body 100, and the first hinge link 310 is located between the second hinge link 320 and the front support leg 200. The other end of the first hinge link 310 is hinged to the other end of the second hinge link 320. The first hinge link 310 has a three-section structure, with the middle section of the first hinge link 310 extending forward toward the front support leg 200. The middle section of the second hinge link 320 extends backward toward the front support leg 200.

[0042] Specifically, one end of the first hinge link 310 is rotatably connected to the rear end of the platform body 100, and the first hinge link 310 is also rotatably connected to the rear end of the platform body 100. The first hinge link 310 is located between the second hinge link 320 and the front support leg 200. The first hinge link 310 has a three-segment structure, with the middle part of the first hinge link 310 extending forward toward the corresponding front support leg 200 to form a forward joint. Meanwhile, the second hinge link 320 has a two-segment structure, with the middle part of the second hinge link 320 extending backward away from the corresponding front support leg 200 to form a rearward joint. Furthermore, the end of the first hinge link 310 away from the platform body 100 and the end of the second hinge link 320 away from the platform body 100 are hinged to each other, so that the first hinge link 310 and the second hinge link 320 cooperate with each other to further simulate the shape and movement of frogs. When inspection is required, the first hinge link 310 and the second connecting link rotate in opposite directions. Specifically, the first hinge link 310 rotates clockwise, causing the forward joint to retract into the gap between the first hinge link 310 and the second connecting link. Conversely, the second hinge link 320 rotates counterclockwise, causing the rearward joint to retract into the gap between the first hinge link 310 and the second connecting link. This generates forward propulsion, with the hinge point of the first hinge link 310 and the second hinge link 320 serving as the force point against the ground, enabling the biomimetic frog-like mechanism's mobile platform to move. This significantly reduces the impact on the local habitat and the damage to the terrain, while also improving endurance and ensuring the efficiency of inspection work. Furthermore, the three-section first hinge link 310 forms a two-stage lever structure, further enhancing the overall thrust of the mechanism and making it more adaptable to the wind farm environment.

[0043] In some specific embodiments of this utility model, reference is made to Figure 1 The end of the first hinge link 310 near the platform body 100 is engaged with the end of the second hinge link 320 near the platform body 100.

[0044] Specifically, the end of the first hinge link 310 closest to the platform body 100 (i.e., the end of the first hinge link 310 rotatably connected to the platform body 100) and the end of the second hinge link 320 closest to the platform body 100 (i.e., the end of the second hinge link 320 rotatably connected to the platform body 100) are meshed with each other. This meshing relationship between the first hinge link 310 and the second hinge link 320 restricts the rotation direction of both links, thus ensuring that the rotation direction of the first hinge link 310 is controlled by the rotation direction of the second hinge link 320. The rotation direction of 320 can always remain opposite, and the first hinge link 310 and the second hinge link 320 can rotate according to a preset rotation rhythm, thereby improving the accuracy of driving and avoiding driving errors. At the same time, through the meshing relationship between the first hinge link 310 and the second hinge link 320, not only can the first hinge link 310 drive the second hinge link 320 to rotate, but the second hinge link 320 can also drive the first hinge link 310 to rotate, thereby reducing the occurrence of drive failure.

[0045] In some specific embodiments of this utility model, reference is made to Figure 2 The platform body 100 contains two stepper motors, each with a gear 400 at its output end. The first hinge link 310 and the second hinge link 320 are fixedly connected to the outer sides of the two gears 400, and the two gears 400 mesh with each other.

[0046] Specifically, each stepper motor has two output terminals, and the two output terminals of any one stepper motor are respectively positioned facing both sides of the platform body 100, so that the two stepper motors can simultaneously drive the two rear support legs 300 on both sides. The two output terminals of the two stepper motors on the same side are fixedly connected to the first hinge link 310 and the second hinge link 320 of the rear support leg 300 on that side, thereby driving the first hinge link 310 and the second hinge link 320 respectively. Each output end of the stepper motor is coaxially equipped with a gear 400. Two gears 400 on the same side correspond one-to-one with the first hinge link 310 and the second hinge link 320 of the rear support leg 300 on that side. The first hinge link 310 and the second hinge link 320 are fixedly connected to the side of the corresponding gear 400 away from the corresponding stepper motor, thus ensuring rotational drive for the first hinge link 310 and the second hinge link 320, while also achieving meshing between the two gears 400 on the same side. Furthermore, the two stepper motors are each connected to two gears 400, providing rotational torque to each gear 400 to prevent increased mass or foreign objects from getting stuck in the gears, thus adapting to the environment of the wind farm.

[0047] In some specific embodiments of this utility model, reference is made to Figure 2 The first hinge link 310 includes a first connecting rod 311, a second connecting rod 312, and a third connecting rod 313. One end of the first connecting rod 311 is rotatably connected to the rear end of the platform body 100. The second connecting rod 312 and the third connecting rod 313 are sequentially hinged to the other end of the first connecting rod 311. The hinge joint of the first connecting rod 311 and the second connecting rod 312 extends forward toward the front support leg 200. The second hinge link 320 includes a fourth connecting rod 321 and a fifth connecting rod 322. The fourth connecting rod 321 is rotatably connected to the rear end of the platform body 100. The fifth connecting rod 322 is hinged to the other end of the fourth connecting rod 321. The hinge joint of the fourth connecting rod 321 and the fifth connecting rod 322 extends backward toward the direction away from the front support leg 200. The end of the third connecting rod 313 away from the second connecting rod 312 is hinged to the end of the fifth connecting rod 322 away from the fourth connecting rod 321.

[0048] Specifically, one end of the first connecting rod 311 is fixedly mounted on the outer surface of the corresponding gear 400. One end of the second connecting rod 312 is hinged to the end of the first connecting rod 311 away from the corresponding gear 400 via a locking pin. One end of the third connecting rod 313 is hinged to the end of the second connecting rod 312 away from the first connecting rod 311 via a locking pin. The hinge joints of the first and second connecting rods 311 and 312 extend forward toward the front support leg 200 to form a forward joint. One end of the fourth connecting rod 321 is fixedly mounted on the outer surface of the corresponding gear 400. One end of the fifth connecting rod 322 is hinged to the end of the fourth connecting rod 321 away from the corresponding gear 400 via a locking pin. The hinge joints of the fourth and fifth connecting rods 321 extend backward away from the front support leg 200 to form a rearward joint. Meanwhile, the end of the third connecting rod 313 away from the second connecting rod 312 is hinged to the end of the fifth connecting rod 322 away from the fourth connecting rod 321, thereby forming the overall structure of the rear support leg 300.

[0049] In some specific embodiments of this utility model, reference is made to Figure 2 Tension pads 330 are also hinged at the hinge joint of the third connecting rod 313 and the fifth connecting rod 322.

[0050] Specifically, a hinge seat is provided on the upper surface of one end of the tension pad 330, allowing the tension pad 330 to be hinged to the third connecting rod 313 and the fifth connecting rod 322 via the same locking pin. The other end of the tension pad 330 extends towards the front support leg 200. When the mobile platform of the bionic frog mechanism initiates a jump, the end of the tension pad 330 near the front support leg 200 contacts the ground to form a force-applying surface, ensuring stability during the jump. Simultaneously, when the mobile platform of the bionic frog mechanism completes the jump and lands, the end of the tension pad 330 near the front support leg 200 contacts the ground to form a bearing surface, ensuring stability upon landing.

[0051] In some specific embodiments of this utility model, a servo motor is also provided inside the platform body 100. The front support leg 200 is connected to the front end of the platform body 100 through the servo motor, and the servo motor drives the front support leg 200 to rotate according to the levelness of the platform body 100.

[0052] Specifically, the servo motor has two output terminals, and the two output terminals of the stepper motor are respectively positioned facing the two sides of the platform body 100, so that the two stepper motors can simultaneously drive the two front support legs 200 on both sides. The platform body 100 is equipped with a leveling device, which can detect the levelness of the platform body 100 in real time and send the detection data back to the servo motors. This allows the servo motors to drive the front support legs 200 to rotate clockwise or counterclockwise at a preset angle according to the levelness of the platform body 100, thereby ensuring the stability of the lateral and longitudinal balance support of the platform body 100 and preventing jump or landing errors.

[0053] In some specific embodiments of this utility model, a charging device and an energy storage device are provided on the platform body 100. The energy storage end of the energy storage device is positioned facing upwards towards the platform body 100, and the output end of the energy storage device is electrically connected to a stepper motor and a servo motor respectively through the charging device.

[0054] Specifically, the platform body 100 is equipped with a charging device and an energy storage device. The energy storage end of the energy storage device faces upwards towards the platform body 100, allowing it to directly access sunlight for solar energy storage. The output end of the energy storage device is electrically connected to a stepper motor and a servo motor via the charging device. The electrical energy converted by the energy storage device can be temporarily stored in the charging device and used to power the stepper motor and servo motor when needed. During the day, it stores energy by absorbing solar energy, and at night, it releases energy to obtain power, improving endurance and ensuring the efficiency of patrol operations.

[0055] In some specific embodiments of this utility model, a visual recognition device and a wireless communication device are provided on the platform body 100. The output end of the energy storage device is also electrically connected to the visual recognition device and the wireless communication device respectively through a charging device. The detection end of the visual recognition device is arranged facing the outside of the platform body 100, and the output end of the visual recognition device is electrically connected to the central control unit through the wireless communication device.

[0056] Specifically, the platform body 100 is equipped with a visual recognition device and a wireless communication device. The output of the energy storage device is electrically connected to both the visual recognition device and the wireless communication device via a charging device, thus providing power to them during operation. The detection end of the visual recognition device faces outwards from the platform body 100, enabling it to acquire image information of the environment surrounding the biomimetic frog-like mobile platform. The output of the visual recognition device is electrically connected to the central control unit via the wireless communication device. Once the visual recognition device acquires relevant image information (of the wind turbine and power transmission lines), it transmits it to the wireless communication device, which then transmits it to the central control unit for observation by staff.

[0057] Furthermore, the visual recognition device is infrared to ensure that the corresponding image information (wind turbine and power transmission line) can be acquired both day and night.

[0058] In some specific embodiments of this utility model, reference is made to Figure 2 At least one of the first connecting rod 311, the second connecting rod 312, the fourth connecting rod 321 and the fifth connecting rod 322 has a hollow structure.

[0059] Specifically, the first connecting rod 311 is slotted along its length to form a hollow structure, and / or the second connecting rod 312 is slotted along its length to form a hollow structure, and / or the fourth connecting rod 321 is slotted along its length to form a hollow structure, and / or the fifth connecting rod 322 is slotted along its length to form a hollow structure. This design ensures connection and support stability while achieving a lightweight overall structure, improving endurance and ensuring efficient inspection work.

[0060] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A moving platform of a bionic frog mechanism, characterized in that, include: Platform main body (100); Two front support legs (200) are provided, symmetrically arranged on both sides of the front end of the platform body (100); Two rear support legs (300) are provided, symmetrically arranged on both sides of the rear end of the platform body (100); The rear support leg (300) has a three-section structure on the side near the front support leg (200), and extends forward toward the front support leg (200) to form a forward joint.

2. The mobile platform of the biomimetic frog-like mechanism according to claim 1, characterized in that, The rear support leg (300) includes: The first hinge link (310) is rotatably connected at one end to the rear end of the platform body (100); The second hinge link (320) is rotatably connected at one end to the rear end of the platform body (100), and the first hinge link (310) is located between the second hinge link (320) and the front support leg (200). The other end of the first hinge link (310) is hinged to the other end of the second hinge link (320); The first hinge link (310) has a three-section structure, and the middle part of the first hinge link (310) extends forward toward the front support leg (200); The middle part of the second hinge link (320) extends rearward in a direction away from the front support leg (200).

3. The mobile platform of the bionic frog mechanism according to claim 2, characterized in that, The end of the first hinge link (310) near the platform body (100) is engaged with the end of the second hinge link (320) near the platform body (100).

4. The mobile platform of the bionic frog mechanism according to claim 3, characterized in that, The platform body (100) is equipped with two stepper motors, and the output ends of the two stepper motors are equipped with gears (400); The first hinge link (310) and the second hinge link (320) are fixedly connected to the outer sides of the two gears (400) respectively, and the two gears (400) mesh with each other.

5. The mobile platform of the bionic frog mechanism according to claim 2, wherein, The first hinge link (310) includes: The first connecting rod (311), the second connecting rod (312), and the third connecting rod (313) are connected in a series. One end of the first connecting rod (311) is rotatably connected to the rear end of the platform body (100). The second connecting rod (312) and the third connecting rod (313) are hinged to the other end of the first connecting rod (311) in sequence. The hinge joint of the first connecting rod (311) and the second connecting rod (312) extends forward toward the front support leg (200). The second hinge link (320) includes: The fourth connecting rod (321) and the fifth connecting rod (322) are rotatably connected to the rear end of the platform body (100), and the fifth connecting rod (322) is hinged to the other end of the fourth connecting rod (321). The hinge of the fourth connecting rod (321) and the fifth connecting rod (322) extends rearward in a direction away from the front support leg (200). The end of the third connecting rod (313) away from the second connecting rod (312) is hinged to the end of the fifth connecting rod (322) away from the fourth connecting rod (321).

6. The mobile platform of the bionic frog mechanism according to claim 5, wherein, Tension pads (330) are also hinged at the hinge joint of the third connecting rod (313) and the fifth connecting rod (322).

7. The mobile platform of the bionic frog mechanism according to claim 4, characterized in that, The platform body (100) is also equipped with a servo motor; The front support leg (200) is connected to the front end of the platform body (100) via the servo motor, and the servo motor drives the front support leg (200) to rotate according to the levelness of the platform body (100).

8. The mobile platform of the bionic frog mechanism according to claim 7, characterized in that, The platform body (100) is equipped with a charging device and an energy storage device; The energy storage end of the energy storage device is positioned above the platform body (100), and the output end of the energy storage device is electrically connected to the stepper motor and the servo motor respectively through the charging device.

9. The mobile platform of the bionic frog mechanism according to claim 8, characterized in that, The platform body (100) is equipped with a visual recognition device and a wireless communication device; The output terminal of the energy storage device is also electrically connected to the visual recognition device and the wireless communication device through the charging device; The detection end of the visual recognition device is positioned facing the outside of the platform body (100), and the output end of the visual recognition device is connected to the central control unit via the wireless communication device.

10. The mobile platform of the bionic frog mechanism of claim 5, wherein, At least one of the first connecting rod (311), the second connecting rod (312), the fourth connecting rod (321), and the fifth connecting rod (322) has a hollow structure.

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