Turtle-shaped robot

Abstract

To provide a sea turtle type robot with a simple inner structure.SOLUTION: The sea turtle type robot includes: a body 1; a head unit 3 installed to be capable of moving in a front / back direction D1 to the body 1 on a front end of the body 1 to have a connection direction with the body 1 to be the front / back direction D1; two front leg mechanisms 4 installed on a front side of the body 1 so as to extend along a right / left direction D2 orthogonal to the front / back direction D1 and configured to swing vertically in a vertical direction D3 orthogonal to the front / back direction D1 and the right / left direction D2 by rotating against the body 1 with a front leg rotational shaft A1 as an axial center; and a drive module 6 installed in the body 1 for driving the head unit 3 and the respective front leg mechanisms 4. Each of the front leg mechanisms 4 has: a hard unit 42 formed in a curved state so that a recess 421 proceeding backward is formed; and a soft unit 43 installed in the recess 421.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a bio - type robot, and particularly to a turtle - type robot.

Background Art

[0002] Currently, various bio - type robots are commercially available. Among them, the turtle - type robot has a very complex internal structure, such as the turtle - type robot shown in Patent Document 1, in order to swim smoothly in water, so the manufacturing cost is very high.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] An object of the present invention is to provide a turtle - type robot that solves at least one problem of the prior art.

Means for Solving the Problems

[0005] To achieve the above object, the present invention includes a main body, a head that is installed at the front end of the main body in the front - rear direction so that the connection direction with the main body is in the front - rear direction and is movable in the front - rear direction with respect to the main body, two front - limb mechanisms that are installed on the front side of the main body so as to extend outward along the left - right direction orthogonal to the front - rear direction, and are configured to rotate with respect to the main body around the front - limb rotation axis and swing up and down in the up - down direction orthogonal to the front - rear direction and the left - right direction, and a drive module that is installed on the main body and drives the head and each of the front - limb mechanisms. Each of the front limb mechanisms has a rigid portion formed in a curved shape so that a recess facing rearward is formed, and a soft portion installed in the recess. Provided is a turtle-shaped robot characterized by this.

Advantages of the Invention

[0006] In the turtle-shaped robot of the present invention, when the front limb mechanism swings up and down, the soft portion of the front limb mechanism deforms to generate a propulsive force forward. Also, since the head is movable in the front-rear direction with respect to the main body, the position of the center of gravity or the position where buoyancy is generated of the turtle-shaped robot in the front-rear direction can be controlled, and the turtle-shaped robot can be inclined as a whole so that the head of the turtle-shaped robot faces upward or downward, thereby achieving the floating and diving of the turtle-shaped robot. Therefore, the turtle-shaped robot of the present invention can achieve free swimming in water with a simple configuration, so the internal structure is simple and there is a wide range for saving manufacturing costs.

Brief Description of the Drawings

[0007]

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[0008] In order to more clearly describe the objectives, technical means, and advantages of the embodiments of the present invention, the following will clearly and completely describe the technical means in the embodiments of the present invention in combination with the accompanying drawings of the embodiments of the present invention. It should be apparent that the described embodiments are only some embodiments of the present invention, and not all embodiments. Generally, the components of the embodiments of the present invention depicted and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the detailed description of the embodiments of the present invention provided below in the accompanying drawings does not constitute any limitation on the protection scope of the present invention, but merely represents selected embodiments of the present invention.

[0009] Before explaining the present invention in more detail, it should be noted that, if considered appropriate, reference numerals or the terminal portions of reference numerals are repeated between figures to indicate corresponding or similar elements, and these may optionally have similar characteristics.

[0010] In the description of the present invention, terms indicating orientation and positional relationships such as "upper", "lower", "inner", "outer", "left", "right", "front", "rear", etc. are based on the orientation and positional relationships shown in the drawings or the orientation and positional relationships habitually assumed when using the product of the present invention for the purpose of more simply and clearly explaining, and do not teach or imply that the corresponding device or apparatus has a specific orientation, structure, operation, etc. in a specific orientation, and are not limitations on the present invention.

[0011] Also, in the description of the present invention, terms such as "first", "second", etc. are used only for the purpose of distinction and do not teach or imply relative importance.

[0012] The present invention provides a new underwater activity device, and the features of each embodiment of the present invention can be combined as long as they do not conflict.

[0013] As shown in FIG. 1, an embodiment of the turtle-shaped robot 100 of the present invention is applicable to swimming underwater.

[0014] Also, as shown in FIGS. 1 and 2, an embodiment of the turtle-shaped robot 100 includes a main body 1, a bottom cover 2, a head 3 whose connection direction with the main body 1 is in the front-rear direction D1, two front limb mechanisms 4, two rear limb mechanisms 5, and a drive module 6.

[0015] As shown in FIG. 4, the main body 1 has an installation column 11 extending forward along the front-rear direction D1 and a rail 12 extending along the front-rear direction D1 at the bottom, and the bottom cover 2 covers the rail 12 from the bottom of the main body 1.

[0016] The head 3 is fitted onto a mounting pillar 11 at the front end of the main body 1 in the front-rear direction D1 so as to be movable relative to the mounting pillar 11 of the main body 1 in the front-rear direction D1.

[0017] As shown in FIG. 3, the head 3 is hollow, and a plurality of high-density weight blocks 31 having a density higher than that of water are installed inside the head 3.

[0018] The high density weight block 31 may be, for example, a lead block, but is not limited to this.

[0019] Specifically, the head 3 can move between a forward position that is relatively forward with respect to the main body 1 and a rearward position that is relatively rearward with respect to the main body 1, and the head 3 passes through a forward transitional position and a rearward transitional position during movement between the forward position and the rearward position.

[0020] By moving the head 3 back and forth, the position of the center of gravity of the entire sea turtle robot 100 in the water can be controlled.

[0021] Also, in other embodiments, the plurality of high density weight blocks 31 can be replaced with a plurality of low density floating blocks (not shown) that have a density less than that of water.

[0022] Low density floating blocks include, but are not limited to, foamed polystyrene blocks.

[0023] In this other embodiment, buoyancy is generated by the low-density floating block, so that the position in the water where buoyancy is generated for the entire sea turtle robot 100 can be controlled by moving the head 3 back and forth.

[0024] As shown in Figures 1 to 3, the two forelimb mechanisms 4 are installed on the front side of the main body 1 so as to extend along the left-right direction D2 perpendicular to the front-to-back direction D1, and are configured to rotate relative to the main body 1 around the forelimb rotation axis A1 as an axis and swing up and down in the up-down direction D3 perpendicular to the front-to-back direction D1 and the left-to-right direction D2.

[0025] In this embodiment, the forelimb rotation axis A1 extends longitudinally so as to form an acute angle with the longitudinal direction D1. In other embodiments, the forelimb rotation axis A1 is parallel to the longitudinal direction D1.

[0026] Each forelimb mechanism 4 has a front rotation shaft portion 41 that rotates relative to the main body 1 around the forelimb rotation axis A1 as its axis, a hard portion 42 that is curved so as to form a recess 421 that extends outward from the front rotation shaft portion 41 along the left-right direction D2 and faces rearward, and a soft portion 43 that is installed in the recess 421.

[0027] Specifically, the material of the hard portion 42 may be, for example, hard plastic, but is not limited to this, and the material of the soft portion 43 may be, for example, soft material such as soft polysiloxane, but is not limited to this.

[0028] As shown in Figure 5, when each forelimb mechanism 4 swings downward, the parts of the soft part 43 other than the parts fixed to the hard part 42 are bent upward by the upward resistance force F1 caused by the water, and since the resistance force F1 can be decomposed into an upward component force F11 and a forward component force F12, the forelimb mechanism 4 is pushed forward by the forward component force F12.

[0029] As shown in Figure 6, when each forelimb mechanism 4 swings upward, the parts of the soft part 43 other than those fixed to the hard part 42 are bent upward by the downward resistance force F2 caused by the water, and since the resistance force F2 can be decomposed into a downward component force F21 and a forward component force F22, the forelimb mechanism 4 is pushed forward by the forward component force F22.

[0030] That is, the soft parts 43 of the front leg mechanism 4 are deformed when the front leg mechanism 4 swings up and down, generating a forward propulsive force.

[0031] As shown in FIGS. 1 to 3, the two hind limb mechanisms 5 are installed on the rear side of the main body 1 so as to extend rearward, and are configured to be rotatable with respect to the main body 1 about a hind limb rotation axis A2 parallel to the left-right direction D2.

[0032] Each hind limb mechanism 5 has a rear rotation shaft portion 51 installed on the main body 1 and a hind limb portion 52 extending rearward from the rear rotation shaft portion 51.

[0033] The rear rotation shaft portion 51 has a protruding portion 511 protruding downward.

[0034] As shown in FIGS. 1 to 4, the drive module 6 is installed on the main body 1, and the drive module 6 includes a drive unit 61 that drives the head 3 and each front limb mechanism 4, and an interlocking mechanism 62 that connects the head 3 and the two hind limb mechanisms 5 to interlock the head 3 and the two hind limb mechanisms 5.

[0035] As shown in FIGS. 1 and 2, the drive unit 61 includes a first servo motor 611 that drives the head 3, a drive gear 612 installed on the first servo motor 611, and two second servo motors 613 that drive each of the two front limb mechanisms 4.

[0036] That is, each front limb mechanism 4 is independently driven by the second servo motor 613 of the drive module 6. Therefore, by swinging each front limb mechanism 4 at different swing speeds, the forward direction can be changed when the turtle-shaped robot 100 moves forward.

[0037] As shown in FIGS. 2 and 4, the interlocking mechanism 62 includes a connecting rod 621 extending along the left-right direction D2 so as to be connected to the protruding portions 511 of the two hind limb mechanisms 5, a rear sliding rod 622 installed on the rail 12 so as to be slidable along the front-rear direction D1 and extending rearward until it is connected to the connecting rod 621, and a front sliding rod 623 installed on the rail 12 so as to be slidable along the front-rear direction D1 and extending forward until it is connected to the head 3.

[0038] As shown in FIGS. 7 and 12, the linkage mechanism 62 is configured to interlock such that, in the movement of the head 3 from the forward transition position to the rearward transition position or from the rearward transition position to the forward transition position, The rear end of the hind limb mechanism 5 is interlocked so that the hind limb mechanism 5 is in a position substantially parallel to the front-rear direction D1.

[0039] Also, as shown in FIG. 9, when the head 3 is in the forward position, the rear ends of the two hind limb mechanisms 5 are inclined downward, and as shown in FIG. 14, when the head 3 is in the rearward position, the linkage mechanism 62 is configured to interlock such that the rear ends of the two hind limb mechanisms 5 are inclined upward.

[0040] In this embodiment, as shown in FIG. 8, when the head 3 moves from the rear to the forward transition position, the front hook portion 623b of the front sliding rod 623 abuts and engages with the rear hook portion 622b of the rear sliding rod 622, and the rear ends of the two hind limb mechanisms 5 extend in the front-rear direction D1. As shown in FIG. 13, when the head 3 moves from the front to the rearward transition position, the front rod body portion 623a of the front sliding rod 623 abuts against the rear hook portion 622b of the rear sliding rod 622, and the linkage mechanism 62 is configured to interlock such that the rear ends of the two hind limb mechanisms 5 extend in the front-rear direction D1.

[0041] The front sliding rod 623 is configured to interlock the head 3 and the hind limb mechanism 5 with each other by pushing the rear sliding rod 622 in the front-rear direction D1.

[0042] As shown in FIG. 4, the rear sliding rod 622 has a rear rod body portion 622a that is connected to the connecting rod 621, and a hook-shaped rear hook portion 622b that extends forward from the rear rod body portion 622a. The front sliding rod 623 has a front rod body portion 623a that is connected to the head 3, a hook-shaped front hook portion 623b that extends rearward from the front rod body portion 623a, and a rack portion 623c that is serrated on the side of the front rod body portion 623a.

[0043] In this embodiment, the rack portion 623c of the front sliding rod 623 meshes with the drive gear 612, and the first servo motor 611 drives the head 3 to move back and forth via the drive gear 612 and the front sliding rod 623.

[0044] As shown in FIGS. 7 and 8, when the head 3 moves from the rear to the forward transition position, the front hook portion 623b of the front sliding rod 623 abuts against the rear hook portion 622b of the rear sliding rod 622 so as to be hooked by the linkage mechanism 62, and the rear ends of the two hind limb mechanisms 5 extend in the front-rear direction D1.

[0045] At this time, since the head 3 is located relatively forward, the high-density weight block 31 in the head 3 causes the center of gravity of the entire turtle-shaped robot 100 to shift forward, and the turtle-shaped robot 100 is inclined as a whole so that the head 3 of the turtle-shaped robot 100 faces downward in water. Furthermore, by combining the vertical swing of the two front limb mechanisms 4, the diving operation of the turtle-shaped robot 100 can be achieved.

[0046] As shown in FIGS. 9 to 11, when the head 3 is located at the forward transition position and the turtle-shaped robot 100 is not inclined as a whole so that the head 3 of the turtle-shaped robot 100 faces downward, the drive module 6 can drive the head 3 to move to the forward position.

[0047] When the head 3 moves from the forward transition position forward to the forward position, the front hook portion 623b of the front sliding rod 623 pulls the rear hook portion 622b of the rear sliding rod 622 forward by the linkage mechanism 62, and moves the connecting rod 621 forward together with the protruding portions 511 of the two hind limb mechanisms 5, so that the rear ends of the hind limb portions 52 of the two hind limb mechanisms 5 are inclined downward as shown in FIG. 9.

[0048] In this state, when the turtle-shaped robot 100 moves forward by the vertical swing of the two front limb mechanisms 4, the water resistance becomes a force that pushes the two hind limb mechanisms 5 backward and inclines the head 3 of the turtle-shaped robot 100 to face relatively downward.

[0049] Furthermore, with the head 3 positioned further forward, the head 3 of the sea turtle robot 100 is more likely to face downward in the water, making it easier for the sea turtle robot 100 as a whole to tilt, so that the sea turtle robot 100 can descend in the water as shown in Figure 10.

[0050] As shown in Figures 12 and 13, when the head 3 moves from the front to the rear transitional position, the interlocking mechanism 62 causes the front rod body portion 623a of the front sliding rod 623 to abut against the rear hook portion 622b of the rear sliding rod 622, and the rear ends of the two rear leg mechanisms 5 are extended in the front-to-rear direction D1.

[0051] At this time, because the head 3 is positioned relatively far back, the high-density weight block 31 in the head 3 causes the center of gravity of the entire sea turtle robot 100 to shift backward, causing the entire sea turtle robot 100 to tilt so that the head 3 of the sea turtle robot 100 faces upward in the water. Furthermore, by coordinating the up and down swings of the two front leg mechanisms 4, the sea turtle robot 100 can achieve a floating motion.

[0052] As shown in Figures 14 to 16, when the head 3 is located in the rear transitional position and the sea turtle robot 100 is not tilted as a whole so that the head 3 of the sea turtle robot 100 faces upward, the drive module 6 can drive the head 3 to move to the rear position.

[0053] When the head 3 moves rearward from the rear transitional position to the rear position, the interlocking mechanism 62 causes the front rod body portion 623a of the front sliding rod 623 to push the rear hook portion 622b of the rear sliding rod 622 rearward, moving the connecting rod 621 rearward together with the protrusions 511 of the two hind leg mechanisms 5, causing the hind leg portions 52 of the two hind leg mechanisms 5 to tilt overall so that the rear ends of the hind leg portions 52 are facing upward as shown in Figure 14.

[0054] In this state, when the sea turtle robot 100 moves forward by swinging the two front leg mechanisms 4 up and down, the resistance of the water pushes the two rear leg mechanisms 5 backward, causing the head 3 of the sea turtle robot 100 to tilt relatively upward.

[0055] Furthermore, with the head 3 positioned further back, the head 3 of the sea turtle robot 100 is more likely to face upward in the water, making it easier for the sea turtle robot 100 as a whole to tilt, allowing the sea turtle robot 100 to surface in the water as shown in Figure 15.

[0056] According to the above configuration, in the sea turtle robot 100 of the present invention, when the front leg mechanism 4 swings up and down, the flexible portion 43 of the front leg mechanism 4 deforms, generating a forward propulsive force. Furthermore, since the head 3 can move in the front-to-back direction D1 relative to the main body 1, the position of the center of gravity of the sea turtle robot 100 or the position where buoyancy is generated can be controlled in the front-to-back direction D1, and the sea turtle robot 100 can rise or fall by tilting the head 3 so that it faces upward or downward. Therefore, the sea turtle robot 100 of the present invention can swim freely in water with a simple configuration, and therefore has a simple internal structure, which allows for a wide range of savings in manufacturing costs.

[0057] While the invention has been described in connection with what are considered to be exemplary embodiments, it is understood that the invention is not limited to the disclosed embodiments, but is intended to cover various arrangements within the broadest spirit and scope so as to encompass all such modifications and equivalent arrangements.

[0058] The above-described embodiments are illustrative for explaining the principles and effects of the present invention, and are not intended to limit the present invention. Those skilled in the art may make slight changes or modifications to the above-described embodiments without departing from the spirit and scope of the present invention. Therefore, all changes and modifications made by those skilled in the art without departing from the gist of the present invention should be considered to fall within the scope of protection of the present invention.

Industrial Applicability

[0059] The turtle-shaped robot of the present invention is suitable for providing a turtle-shaped robot with a simple structure.

Explanation of Signs

[0060] 100 Turtle-shaped robot 1 Body 11 Column 12 Rail 2 Bottom cover 3 Head 31 High-density weight block 4 Forelimb mechanism 41 Fore-rotation shaft part 42 Rigid part 421 Concave part 43 Soft part 5 Hindlimb mechanism 51 Hind-rotation shaft part 511 Protrusion 52 Hindlimb part 6 Drive module 61 Drive unit 611 First servo motor 612 Drive gear 613 Second servo motor 62 Linkage mechanism 621 Connecting rod 622 Rear sliding rod 622a Rear rod body part 622b Rear hook part 623 Front sliding rod 623a Front rod body part 623b Front hook part 623c Rack part D1 Front-rear direction D2 Left-right direction D3 Up-down direction A1 Forelimb rotation axis A2 Hindlimb rotation axis F1, F2 Resistance force F11 Upward component force F12, F22 Forward component force F21 Downward component force

Claims

1. A main body, a head installed at the front end of the main body in the front-rear direction so that the connection direction with the main body is in the front-rear direction and movable in the front-rear direction with respect to the main body, two front limb mechanisms installed on the front side of the main body so as to extend outward along the left-right direction orthogonal to the front-rear direction, and configured to rotate with respect to the main body about a front limb rotation axis and swing up and down in the up-down direction orthogonal to the front-rear direction and the left-right direction, and a drive module installed on the main body and driving the head and each of the front limb mechanisms, wherein each of the front limb mechanisms has a rigid part formed in a curved shape so that a recess facing the rear side is formed, and a soft part installed in the recess. The turtle-shaped robot is characterized by this.

2. The turtle-shaped robot according to claim 1, wherein at least one high-density weight block having a density higher than that of water is installed in the head.

3. The turtle-shaped robot according to claim 1, wherein at least one low-density floating block having a density lower than that of water is installed in the head.

4. The main body has an installation column extending forward, and the head is externally fitted to the installation column so as to be movable along the front-rear direction. The turtle-shaped robot according to claim 1 is characterized by this.

5. The turtle-shaped robot further includes two rear limb mechanisms installed on the rear side of the main body so as to extend rearward. The head can move between a forward position relatively in front of the main body and a rearward position relatively behind the main body, the drive module includes an interlocking mechanism connecting the head and the two rear limb mechanisms and interlocking the head and the two rear limb mechanisms, and the interlocking mechanism is configured to be able to interlock such that when the head is in the forward position, the rear ends of the two rear limb mechanisms are inclined downward, and when the head is in the rearward position, the rear ends of the two rear limb mechanisms are inclined upward. The turtle-shaped robot according to claim 1 is characterized by this.

6. During the movement of the head between the forward position and the rearward position, the head passes through a forward transition position and a rearward transition position. The interlocking mechanism is configured to interlock such that, in the movement of the head from the forward transition position to the rearward transition position or in the movement of the head from the rearward transition position to the forward transition position, the rear end of the hind limb mechanism reaches a position where the hind limb mechanism is substantially parallel to the front-rear direction. The turtle-shaped robot according to claim 5, characterized in that.

7. The two hind limb mechanisms are configured to be rotatable with respect to the main body about a hind limb rotation axis parallel to the left-right direction. Each of the hind limb mechanisms has a rear rotation shaft portion installed on the main body and a hind limb portion extending rearward from the rear rotation shaft portion. The rear rotation shaft portion has a protruding portion that protrudes downward. The main body has a rail extending along the front-rear direction. The interlocking mechanism includes a connecting rod extending along the left-right direction so as to be connected to the protruding portions of the two hind limb mechanisms, a rear sliding rod installed on the rail so as to be slidable along the front-rear direction and connected to the connecting rod, a front sliding rod installed on the rail so as to be slidable along the front-rear direction and connected to the head. The front sliding rod is configured to interlock the head and the hind limb mechanism with each other by pushing the rear sliding rod in the front-rear direction. The turtle-shaped robot according to claim 6, characterized in that.

8. The rear sliding rod has a rear rod body portion connected to the connecting rod and a rear hook portion extending forward from the rear rod body portion and having a hook shape. The front sliding rod has a front rod body portion connected to the head and a front hook portion extending rearward from the front rod body portion and having a hook shape. When the head moves from the rear to the forward transition position, the front hook portion of the front sliding rod abuts against the rear hook portion of the rear sliding rod so as to be caught. When the head moves from the forward transition position forward to the forward position, the front hook portion of the front sliding rod pulls the rear hook portion of the rear sliding rod forward, moves the connecting rod forward, and causes the hind limb portion to tilt as a whole so that the rear ends of the two hind limb mechanisms face downward. When the head moves from the front to the rearward transition position, the front rod body portion of the front sliding rod abuts against the rear hook portion of the rear sliding rod. When the head moves rearward from the rear transitional position to the rear position, the front rod body portion of the front sliding rod pushes the rear hook portion of the rear sliding rod rearward, moves the connecting rod rearward, and the rear end of the two hind limb mechanisms faces upward, so that the hind limb portion is inclined as a whole. The turtle-shaped robot according to claim 7, characterized in that.

9. Each of the front limb mechanisms is independently driven by the drive module. The turtle-shaped robot according to claim 1, characterized in that.

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