CN103863539B - A kind of nature bred turtle device - Google Patents
A kind of nature bred turtle device Download PDFInfo
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- CN103863539B CN103863539B CN201410090819.1A CN201410090819A CN103863539B CN 103863539 B CN103863539 B CN 103863539B CN 201410090819 A CN201410090819 A CN 201410090819A CN 103863539 B CN103863539 B CN 103863539B
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Abstract
The invention discloses a kind of nature bred turtle device, including a body that can move about, at least two drivers, at least two with the propeller of described driver effectively connection, battery and control circuit, described driver is arranged at the both sides of body, each driver comprises mutually corresponding coil and Magnet, and because coil is driven with the interaction of Magnet, described propeller is fabricated from a flexible material, from body protruding and present backward bend or bending form, described propeller is linked in described driver and makees oscillating motion with respect to described body, described battery is powered to described control circuit, the break-make of electric current in described coil can be controlled by described control circuit, direction and the length of make-and-break time.The present invention has imitated Chelomia mydas (Linnaeus). to the life or has had the action of the biology of similar motion characteristics so as to realizing advance, retrogressing, left/right rotation, creeping and the function such as jump with Chelomia mydas (Linnaeus)..
Description
Technical field
The present invention relates to a kind of can move about in water the nature bred turtle device that again can creep on land and its driving
Method.
Background technology
In recent years, the nature bred turtle device that again can creep on land that can move about in water has obtained extensive technology
Research, and achieves larger progress, but is generally speaking primarily directed to scientific research, and it is multiple that it has high cost, propulsive mechanism
Miscellaneous, energy consumption is big, and is unfavorable for promoting and practical.
For the Chelomia mydas (Linnaeus). studying more in Amphibious bionics, or can only move under single environment, or adopt
With tradition rotation wheel-drive mode, lack interesting and realism.
Content of the invention
For drawbacks described above, it is an object of the invention to provide a kind of simulation Chelomia mydas (Linnaeus). not using motor to drive is travelling in water
The device creeped with land.
The technical scheme that the present invention is adopted for achieving the above object is：A kind of nature bred turtle device, can move about including one
Body, at least two drivers, at least two with propeller, battery and the control circuit of described driver effectively connection, its
It is characterised by：Described driver is arranged at the both sides of body, and each driver comprises mutually corresponding coil and Magnet, and due to
Coil is driven with the interaction of Magnet, and described propeller is fabricated from a flexible material, from body protruding and present to
The form bending afterwards or bending, described propeller is linked in described driver and makees oscillating motion with respect to described body,
Described battery is powered to described control circuit, can control the logical of electric current in described coil by described control circuit
Disconnected, direction and the length of make-and-break time, thus when controlling the direction of power that described coil interacted with described Magnet and acting on
Between, thus controlling direction and the action time of the active force of driver.
Preferably, the both sides of described body are each provided with a driver, and each driver comprises an axle, and this axle is from body
Outer front is stretched in inside, and axle becomes 40～80 degree of angles when the centre position swinging with the longitudinal axis of body.
Preferably, described body has the inner chamber being wrapped up by seal casinghousing, and described battery, coil and Magnet are placed in sealing
Housing cavity, described axle hermetically penetrates described seal casinghousing by flexible seals, and described flexible seals are fixed on
In inside and outside double-layer rigid bushing, the inner surface of its flexible seals outer wall is tightly placed in rigid liner set outer wall, its flexible seals
The outer surface of outer wall is close to rigid external bushing inwall.
Further, described rigid external bushing has the boss structure limiting its own and being rotated about axis.
Preferably, described body has the inner chamber being wrapped up by seal casinghousing, and described axle position one end outside body is installed
There is propeller, described axle position is provided with one end of seal casinghousing inner chamber（a）Described coil or（b）Described Magnet wherein it
One,（a）Described coil or（b）One of being in addition fixedly mounted in described body of described Magnet, and make described coil and described
Magnet can effectively interact and drive described driver to swing.
Preferably, described axle position one end outside body is provided with propeller bracket, and described propeller is installed on propulsion
Device support, described propeller bracket is provided perpendicular to the axle shape structure of described axle axis, described axle shape structure qualification is in close
In space between capsule body and bushing, so that the axle of driver can only be swung in one direction；Or,
Described axle position is provided with support in one end of seal casinghousing inner chamber, described（a）Described coil or（b）Described Magnet peace
It is loaded on support, described support has the axle shape structure perpendicular to described axis, described axle shape structure qualification is in seal casinghousing
In space and rigid liner between, make the described axle can only be around fixing axis oscillating.
Preferably, described coil brace have for the annular of fixed coil or semi-circular support, connecting shaft end and in order to
The location structure of positioning winding coil lead, described connecting shaft end is provided with axis hole and passes through for described axle, and the axle head of described axle is fixed
Within the axis hole at connecting shaft end.
Preferably, described body has the bottom surface of general planar, protrudes out some strong points from bottom surface, the described strong point can
With salient point that is integrally formed with described bottom surface or being fixedly connected on described bottom surface or post.
Preferably, described propeller includes body and is located at the flexible support structure of the inclined downward backward of body bottom portion,
When propeller is not subject to restraining forceies from below, the minimum point of described flexible support structure is less than the minimum of described body
Point, when propeller is with respect to plane of travel stroke forward, flexible support structure is subject to plane of travel resistance and inclined downward backward,
When propeller is with respect to plane of travel stroke backward, the body of flexible support structure upwardly-deformed jack-up nature bred turtle device.
Preferably, described control circuit includes some negative conductive springs, and described negative conductive spring is in seal casinghousing
Chamber penetrates seal casinghousing in battery compartment, and negative conductive spring forms circuit in the side of seal casinghousing inner chamber with pcb board and connects
Touch or be welded on PCB.
The bionic device of the present invention can swim dynamic, also can land walking.When swimming dynamic, positioned at body
The propeller relative body of both sides swings, strikes, and so that body is advanced.When walking on land, propeller relative body is forward
During swing, frictional force backward makes the Arcuate flexible supporting construction flexural deformation backward of propeller bottom, and now Arcuate flexible props up
Support structure can normally slide；When propeller relative body swing backward, Arcuate flexible supporting construction is due to by frictional force
Extrude and produce to front curve compression, the component that this deformation produces upwards acts on described propeller and nature bred turtle dress
Put, with the increase of this active force, Arcuate flexible supporting construction is also increased by downward reaction force, Arcuate flexible supports knot
The frictional force that structure is subject to also increases, and is distributed in the support point pressure below the body that swims simultaneously and reduces, what the strong point was subject to rubs
Power also reduces, when rubbing that the strong point that the frictional force sum that Arcuate flexible supporting construction is subject to is more than below the body that swims is subject to
During power sum, the described body that swims will be moved forward with Arcuate flexible supporting construction for fulcrum.
The nature bred turtle device of the present invention has imitated in nature Chelomia mydas (Linnaeus). to the life or has had similar motion characteristics with Chelomia mydas (Linnaeus).
Action during biological activity, user can easily and efficiently achieve advance, retrogressing, left and right by various control means
The function such as turn, creep and jump.Present configuration is simple, and energy consumption is low, and motility is high, highly reliable, supports remote control and self-programming
Control.
Below in conjunction with the accompanying drawings with embodiment, the invention will be further described.
Brief description
Fig. 1 is the top view of described nature bred turtle device
Fig. 2 is the front view of described nature bred turtle device
Fig. 3 is the upward view of described nature bred turtle device
Fig. 4 is a side view of described nature bred turtle device
Fig. 5 is the top view that described nature bred turtle device removes upper shell
Fig. 6 is the A-A transverse sectional view of described nature bred turtle device Fig. 1
Fig. 7 is the D-D of described nature bred turtle device Fig. 5 to partial sectional view
Fig. 8 is described nature bred turtle device side sectional view
Fig. 9 is the screw position partial enlarged view E of described nature bred turtle device Fig. 8
Figure 10 is the middle driver partial enlarged view of described nature bred turtle device Fig. 5
Figure 11 is the C-C sectional view of described nature bred turtle device Figure 10
Figure 12 is the F-F sectional view of described nature bred turtle device Figure 11
Figure 13 is the axonometric drawing of the lower casing of described nature bred turtle device
Figure 14 is the axonometric drawing of the seal member external bushing of described nature bred turtle device
Figure 15 is the blade installation direction front view of described nature bred turtle device
Figure 16 is the axonometric drawing of the propeller bracket of described nature bred turtle device
Figure 17 is the axonometric drawing of the coil brace of described nature bred turtle device
Specific embodiment
Referring to Fig. 1 to Figure 17, the nature bred turtle device of the present invention is bionical Chelomia mydas (Linnaeus)..Described bionical Chelomia mydas (Linnaeus). has the body that swims
Body 1, the housing of the body one that swims sealing, so that the body that swims becomes floatable structure.The housing of sealing by upper casing 10 with
Lower casing 11 is formed by ultrasonic assembling or glue bonding, and sealing member 2 is held between lower casing, and drive control circuit 4 is placed in
The housing cavity of sealing.
At least two drivers 3 are symmetrically distributed in the left and right sides of the body 1 that swims.It is mutually right that each driver 3 comprises
The coil answered and Magnet, and because coil is driven with the interaction of Magnet.It is that coil is fixed on support in the present embodiment,
Magnet is fixed on housing it is also possible to coil is fixed on housing, and Magnet is fixed on support.Each driver 3 also includes an axle
35.Axle 35 is beyond the centre bore that seal casinghousing inner chamber passes through flexible seals 23 reaches seal casinghousing.Axle 35 is in seal casinghousing
Outside one end propeller is fixed with by propeller bracket 36, i.e. blade 34.Both sides blade 34 is linked in corresponding axle respectively
35 and make the oscillating motion of same direction of advance with respect to the described body that swims.Blade 34 is flexible part, and it is propped up with propeller
Frame 36 adopts back-off to coordinate, and can load and split out, but its own is then difficult for drop-off in the presence of external force.
Axle 35 hermetically penetrates seal casinghousing by flexible seals 23, and flexible seals 23 are fixed on inside and outside bilayer
In rigid liner, the inwall of its flexible seals 23 outer ring is tightly placed in rigid liner and covers 22 outer walls, its flexible seals 23 outer wall
It is close to rigid external bushing 21 inwall, external bushing 21 passes through ultrasonic welding again and seal casinghousing between or glue forms sealing even
Connect, described external bushing 21 has boss structure 21a, its sector position cooperation with upper lower casing prevents from circumferentially rotating, its hole 21b with
The space being formed between housing and flexible seals 23 just accommodates the swinging axle 36a of propeller bracket 36.
Axle 35 inside seal casinghousing to body front stretch out, axle be in during the centre position of swing with the body that swims
Longitudinal axis become 40 ~ 80 degree of angles.
Axle 35 one end within seal casinghousing is then provided with（a）Coil or（b）One of them of Magnet.Two axle positions in
On same plane.In preferred structure, such as Figure 10, shown in 11,12,17 grades, coil brace 33 has for fixed coil 31
Annular or semi-circular support, connecting shaft end 33a and the location structure 33b in order to positioning winding coil lead.Connecting shaft end 33a is arranged
Axis hole is had to supply axle 35 to pass through, the axle head of axle 35 is fixed in the axis hole of connecting shaft end 33a.
Described coil 31 is loop coil, and the corresponding title in its both sides is provided with two blocks of Magnet 32, two pieces of Magnet 32 opposite faces
Polarity is identical, and the external diameter of Magnet is less than coil 31 diameter of bore, so that Magnet is inhaled in coil endoporus.
When 4 electric current supplying wire circles 31 of drive control circuit, in coil 31, produced magnetic field will be with two blocks of magnetic
Magnetic field interaction produced by ferrum 32, can produce captivation in the side of coil 31, and the opposite side in coil 31 produces row
Repulsion, this can cause coil 31 and coil brace 33 to turn to or be tilted towards one of Magnet 32, make the other end of axle 35 with
The rightabout of coil and support motion swings.When changing the sense of current in coil, the direction of its applying power also changes therewith
Become, axle 35 also moves therewith round about.Therefore, with the consecutive variations of electric current in coil 31, the pole in the magnetic field in coil
Property also changes therewith, and axle 35 also therefore makees the motion of swing form.The swing of axle 35 can drive blade 34 to swing, thus promoting
The body 1 that swims moves.
Because driver 3 is assembled on flexible seals 23, when being energized in coil, will produce and between Magnet mutually
The power of effect, will be around the swinging axle 36a swing of propeller bracket 36 in this masterpiece used time.Due to propeller bracket 36
Swinging axle 36a is defined in the hole 21b of external bushing 21, so that tilting member can only be swung with 36a for axle.
In the preferred case, the body 1 that swims forward setting two groups symmetrical can relative body swing wing
Blade 34, can obtain different driving forces by the swing speed and time controlling blade 34, and advance therefore in water
Bionical Chelomia mydas (Linnaeus). motion.Blade 34 is fabricated from a flexible material, from body protruding and present backward bend or bending form.Institute
Meaning backward, refers to that the outboard end of blade 34 is located at the axis of blade 34 medial extremity（The i.e. extended line of axle 35）Rear.As Fig. 3 institute
Show, be three kinds of implementations of blade, backward in state, after the outboard end of blade 34 is located at medial extremity, and blade is in I kind
Arc-shaped bend such as 34 backward.In second backward state, before the outboard end of blade 34 is located at medial extremity, blade is in backarc
Shape bending such as 34B.In the third backward state, blade 34 extends to the overhanging backward horizontal direction of diagonally forward and is in bending state
As 34A.These three modes, can produce arm stroke by the swing of blade make body advance.
Preferably, 2 front support point 11a and 2 rear support point 11b are arranged at body 1 bottom of swimming, and wing blade 34 bottom has
Arcuate flexible supporting construction 34a after having relative body oblique.Arcuate flexible supporting construction 34a is less than front support point 11a, props up afterwards
Support point 11b place plane.When being in walking states, when the relative body 1 that swims of blade 34 swings forward, plane of travel is to oar
The frictional force that leaf produces backward makes Arcuate flexible supporting construction 34a deform backward, and now blade 34 shows as sliding mode；Work as oar
Leaf 34 relatively swim body 1 swing backward when, Arcuate flexible supporting construction 34a produced due to the resistance by plane of travel to
Front curve compression, this deformation is produced support force upwards and is acted on due to the demand being resetted by flexible material deformation
Blade 34, with the increase of this active force upwards, Arcuate flexible supporting construction 34a is also increased by downward reaction force, arc
The frictional force that shape flexible support structure 34a is subject to also increases, and the front support point 11a being simultaneously distributed in body 1 lower section of swimming bears
Gravity reduce, the frictional force that front support point 11a is subject to also reduces, when rubbing that both sides Arcuate flexible supporting construction 34a is subject to
When power sum is more than the frictional force sum that front support point 11a, rear support point 11b below the body that swims are subject to, the described body that swims
Body 1 will be moved to front support with Arcuate flexible supporting construction 34a for fulcrum.
As shown in Fig. 5, Fig. 6, Fig. 7, drive control circuit 4 connects a negative conductive spring 42 in its pcb board 41, and negative pole is led
Electrical spring 42 presses the negative pole of battery 44, and its pcb board 41 connects the side that another two positive conductive spring 43 is pressed on battery 44,
It is positive pole, thus provide lasting electric current to drive control circuit 4.
Machine tooth screw 19 passes through PP packing ring 17 after passing through battery door 12 again close-fitting, then locks with nut 18, connects machine tooth
The nut 18 of screw 19 is fixed in lower casing 11 central hole structure, and pore structure port of export close-fitting has seal rubber plug 15, plug and lower casing
Between fill out sealing effectiveness reached with glue；In addition also need compression seal cushion rubber 16 between battery door 12 and lower casing 11.
Drive control circuit 4 includes two electrically conductive rubber piles 45, and two electric rubber columns 45 extend to from seal casinghousing inner chamber
Outside housing, when device is in water, electrically conductive rubber piles 45 trigger corresponding operation；Can manually touch tactile when not in water
Send out Land Movement pattern.
Above-mentioned electrically conductive rubber piles 45 are flexible material, and it passes through interference fit and formed to seal easily and housing between, itself and PCB
Plate 41 reaches the purpose of conduction by the contact of certain pressure, thus Simplified flowsheet and structure.
If battery 44 therein is replaced by rechargeable battery, and increases corresponding interface, element and change corresponding knot
Structure, then this product can not have during electricity and only to need to charge, so disposable purchase cost can be higher, but subsequently makes without changing battery
Can be lower with cost.
Concrete control and operation
Change battery
First it is totally released two machine tooth screws 19, opens battery door 12, take out used battery 44, positive and negative according to battery
Pole marks knows the correctly new battery of loading, after confirming that O-ring seal 16 is attached to position, covers battery door 12, two machine tooth screws 19 of locking are
Can.
Control
The nature bred turtle device of the present invention can adopt various remote control modes, can also pass through procedure auto-control, or
The built-in various sensors that can sense acousto-optic change or touching etc. of the body that swims and the microprocessor that these sensor signals can be processed
Device can be achieved with sensing and execute different actions to external world.
Action
By changing pulse current direction and the frequency of driving coil 31, thus it is possible to vary the motion mould of nature bred turtle device
Formula：
Keep straight in water：The effect of straight trip will be formed when two coil synchronization actions；
Retreat in water：The anti-phase effect that will produce retrogressing when two coil electricity electric currents and straight trip；
Turn little curved：Will produce when simply single paddle quick acting and turn little curved effect；
Large radius turn：When simply single paddle action at a slow speed, or large radius turn during two blade differential motions, will be produced
Effect；
Creep in land：The effect creeped can be produced when two coil electricity 180 ° of phase contrasts of electric current same waveform；
Jump in land：The effect of jump can be produced when two coil electricity electric current same waveform same phases.
To the energising direction in two groups of coils, conduction time（Pulse width）Carry out different combinations, can also be obtained it
His different action or combination of actions.
Advantage
The nature bred turtle device of the present invention can imitate Chelomia mydas (Linnaeus). to the life and advance, turns, glides and climb on ground in water
The action of row, it can be by multiple drive circuit programme-control or remote control.
As described in the present embodiment of the invention, driving and the control with other nature bred turtle devices of the same or similar structure of the present invention
Method processed is all in the scope of the present invention.
Claims (8)
1. a kind of nature bred turtle device, the body that can move about including, at least two drivers, at least two and described driver
The propeller of effectively connection, battery and control circuit it is characterised in that：The both sides of body are each provided with a driver, each drive
Dynamic device comprises an axle, and this axle stretches to outer front from body interior, and axle longitudinal axis with body when the centre position swinging
Become 40～80 degree of angles, each driver also comprises mutually corresponding coil and Magnet, and the interaction due to coil and Magnet
And driven,
Described propeller from body protruding and present backward bend or bending form, it is linked in described driver phase
Oscillating motion is made for described body, propeller is fabricated from a flexible material, including body and be located at body bottom portion to the back lower place
The flexible support structure tilting, when, in nature bred turtle device in the plane walking process, propeller is with respect to plane of travel forward
During stroke, flexible support structure is subject to plane of travel resistance and inclined downward backward, when propeller is drawn backward with respect to plane of travel
When dynamic, the body of flexible support structure upwardly-deformed jack-up nature bred turtle device,
Described battery is powered to described control circuit, by described control circuit can control the break-make of electric current in described coil,
Direction and the length of make-and-break time, thus controlling the direction of power that described coil interacted and action time with described Magnet,
Thus controlling direction and the action time of the active force of driver.
2. nature bred turtle device according to claim 1 it is characterised in that：Described body has and is wrapped up by seal casinghousing
Inner chamber, described battery, coil and Magnet are placed in seal casinghousing inner chamber, and described axle is hermetically penetrated by flexible seals
Described seal casinghousing, described flexible seals are fixed in inside and outside double-layer rigid bushing, the inner surface of its flexible seals outer wall
It is tightly placed in rigid liner set outer wall, the outer surface of its flexible seals outer wall is close to rigid external bushing inwall.
3. nature bred turtle device according to claim 2 it is characterised in that：Described rigid external bushing has and limits its own
The boss structure being rotated about axis.
4. nature bred turtle device according to claim 1 it is characterised in that：Described body has and is wrapped up by seal casinghousing
Inner chamber, described axle position one end outside body is provided with propeller, and described axle position is provided with one end of seal casinghousing inner chamber
One of them of described coil or described Magnet, described coil or described Magnet one of in addition be fixedly mounted on described body
Interior, and so that described coil and described Magnet is effectively interacted and to drive described driver to swing.
5. nature bred turtle device according to claim 2 it is characterised in that：One end setting outside body for the described axle position
There is propeller bracket, described propeller is installed on propeller bracket, described propeller bracket is provided perpendicular to described axle axle
The axle shape structure of line, in the space between seal casinghousing and bushing, the axle making driver can only be for described axle shape structure qualification
One side is swung up；Or,
Described axle position is provided with support in one end of seal casinghousing inner chamber, and described coil or described Magnet are installed on support,
Axle shape structure perpendicular to described axis is had on described support, described axle shape structure qualification is between seal casinghousing and rigid liner
Space in, make the described axle can only be around fixing axis oscillating.
6. nature bred turtle device according to claim 5 it is characterised in that：The described support for fixed coil has use
In annular or semi-circular support, connecting shaft end and the location structure in order to positioning winding coil lead of fixed coil, described company
Axle head is provided with axis hole and passes through for described axle, and the axle head of described axle is fixed within the axis hole at connecting shaft end.
7. nature bred turtle device according to claim 1 it is characterised in that：Described body has the bottom surface of general planar,
Protrude out some strong points from bottom surface, the described strong point can be integrally formed with described bottom surface or be fixedly connected on institute
State salient point or the post of bottom surface.
8. nature bred turtle device according to claim 2 it is characterised in that：Described control circuit includes some negative conductive
Spring, described negative conductive spring penetrates seal casinghousing to battery compartment from seal casinghousing inner chamber, and negative conductive spring is close
The side of capsule intracoelomic cavity forms electrical contact with pcb board or is welded on PCB.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410090819.1A CN103863539B (en) | 2014-03-12 | 2014-03-12 | A kind of nature bred turtle device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410090819.1A CN103863539B (en) | 2014-03-12 | 2014-03-12 | A kind of nature bred turtle device |
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| CN103863539A CN103863539A (en) | 2014-06-18 |
| CN103863539B true CN103863539B (en) | 2017-03-01 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105129054B (en) * | 2015-08-06 | 2018-06-29 | 杭州华能工程安全科技股份有限公司 | A kind of diversion tunnel underwater monitoring robot and its monitoring method |
| CN106143843B (en) * | 2016-07-12 | 2018-08-31 | 上海海洋大学 | A kind of bionical tortoise |
| CN107434115A (en) * | 2017-07-19 | 2017-12-05 | 无锡宝丰石化装备有限公司 | Dynamic liquid material storage tank |
| DE202017106352U1 (en) | 2017-10-20 | 2017-10-25 | Geomar Helmholtz-Zentrum Für Ozeanforschung Kiel | buoy |
| CN109334931B (en) * | 2018-10-19 | 2020-11-20 | 江苏大学 | Turtle-like robot based on dielectric elastomer drive |
| CN113483150B (en) * | 2021-06-29 | 2022-09-06 | 大连大学 | Submarine pipeline external detection equipment based on shape memory alloy and detection method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE3202106C2 (en) * | 1982-01-23 | 1984-10-11 | ZF-Herion-Systemtechnik GmbH, 7990 Friedrichshafen | Underwater work tool |
| CN100532193C (en) * | 2007-03-01 | 2009-08-26 | 北京大学 | Bionic machinery chelonian with two-stage freedom degree flipper mechanism |
| CN201143991Y (en) * | 2007-04-30 | 2008-11-05 | 哈尔滨工程大学 | Bionic turtle underwater robot |
| CN203283372U (en) * | 2013-04-18 | 2013-11-13 | 浙江工业大学 | Electronic bionic submergence device based on PIC singlechip and infrared sensor |
| CN203358856U (en) * | 2013-07-19 | 2013-12-25 | 卢小平 | Biomimetic swimming device |
| CN203876970U (en) * | 2014-03-12 | 2014-10-15 | 卢小平 | Bionic swimming device |
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