CN104773271B - Drone version Turtle robot - Google Patents
Drone version Turtle robot Download PDFInfo
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- CN104773271B CN104773271B CN201510164546.5A CN201510164546A CN104773271B CN 104773271 B CN104773271 B CN 104773271B CN 201510164546 A CN201510164546 A CN 201510164546A CN 104773271 B CN104773271 B CN 104773271B
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- plastic casing
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- steering wheel
- float
- water
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Abstract
The invention discloses a kind of drone version Turtle robot, including the cuboid plastic casing as Turtle robot health；The sink-float mechanism making Turtle robot health rise and fall is set in cuboid plastic casing；Consolidating multiple water pump along plastic casing three EDS maps on cuboid plastic casing outer wall, the draining of water pump can promote Chelomia mydas (Linnaeus). forward or side-to-side movement；Cuboid plastic casing envisaged underneath spam filters, spam filters includes current box, consolidate and current suck the propeller set in current box, arrange rubbish filtering net after current box before current box；Consolidate limb action drive mechanism in spam filters and can drive the quadruped locomotion of Chelomia mydas (Linnaeus).；The control system of design controls sink-float mechanism, water pump, limb action drive mechanism and propeller works.Present configuration is new reasonable, with low cost compared to other bionical Chelomia mydas (Linnaeus).s, and amusement of holding concurrently in one with cleaning function, has market potential and is worth in the place such as aquarium, swimming pool.
Description
The application is application number 201310113224.9, the applying date: 2013-04-03, the divisional application of title " Turtle robot ".
Technical field
The present invention relates to a kind of underwater combined with amusement based on cleaning, be a kind of Turtle robot.
Background technology
At present, similar form has: aquatic bionic Chelomia mydas (Linnaeus). diving robot, bionic machine Chelomia mydas (Linnaeus). etc..
Aquatic bionic Chelomia mydas (Linnaeus). robot current situation
1. a bionic type Turtle robot of Peking University.This bionic machine Chelomia mydas (Linnaeus). has two-stage freedom degree Qi Zhi mechanism, can realize the three-dimensional motion of complexity, and this is a Turtle robot based on bionic coatings, and it is simple by butter layer sealing mechanism, reliable and stable in water exercise, and flexibly, mobility is good in motion.The aquatic Fish of main analog and whale globefish class bionical wave propulsion mode, can be applicable to underwater unmanned detector.
2. the researcher of Swiss Federal Institute of Technology is with Chelomia mydas (Linnaeus). as prototype, has made one " Chelomia mydas (Linnaeus). " diving robot.Two fins of its front end have at a relatively high mechanical reduction degree, arbitrarily can rotate at three dimensions, allow its trip speed reach 2 meter per seconds.Additionally, robot further provided with some equipment is easily accomplished task for scientific research, help scientist under complicated marine environment.
3. Northwestern Polytechnical University imitates Chelomia mydas (Linnaeus). flapping wing underwater robot.This robot is that a kind of imitative Chelomia mydas (Linnaeus). advances, uses flapping wing to advance and band gliding function, have high maneuverability, efficiently, low-resistance low noise, low-power consumption, the Multi-purpose underwater robot of oceangoing voyage journey.It has flapping wing and advances and two kinds of mode of operations of glide.When flapping wing advances, flutter water by the main wing of robot both sides and produce thrust, promote robot to advance, then adjust navigation attitude by the rear rudder of both sides, and by the various duties of the direction of propulsion of two flapping wings and rudder are combined, it is possible to achieve the various simple or complicated motion of robot.During glide, flapping wing quits work, and by gravity and the position of centre of gravity of regulation robot, can realize the underwater gliding of robot.By carrying various special equipment in this robot, the application of the aspects such as marine resources exploration, marine environment investigation also can be carried out.
Mainly for scientific research, there is cost high in above-mentioned aquatic bionic Chelomia mydas (Linnaeus)., design complexity, the problem being unfavorable for promoting to masses.On the other hand, integrate practical the most rare with the bionic machine fish entertained, on market, aquarium, swimming pool etc. are almost without the similar imitative Chelomia mydas (Linnaeus). machine appearance entertaining and having certain function, and wherein cleaning function helps to extend exchange water cycle, saving water resource.While bringing entertainment effect, also reaffirm the importance of environmental protection, saving water resource, promote that youngsters and children understands sea, recognize marine creature, help to increase experience.Recently the appearance of some bionic machine fish becomes a big attraction, the sense of reality brought by it, has attracted the eyeball of a lot of spectators, has even been difficult to distinguish truth from false.It is the most welcomed by the people that the appearance of these Biomimetic Fishs also illustrates that machinery is viewed and admired in amusement, has the biggest market development space.Turtle robot changes spectators and only possesses amusement function to bionic machine fish and underwater cleaning tool can only realize the understanding of cleaning action, electric-mechanic control system, the practical theory complementary with amusement is elaborated again to modern, the most also the development person for vast machine fish provide the most wide thinking, allow them can design more installations integrating practicality and amusement as inspiration.Therefore these works have bigger market prospect and promotional value.
Summary of the invention
It is an object of the invention to provide a kind of rational in infrastructure, service behaviour is novel, can be used for clearing up the Turtle robot of rubbish in water.
The technical solution of the present invention is:
A kind of Turtle robot, is characterized in that: include the spam filters below the cuboid plastic casing as Turtle robot health and cuboid plastic casing；The sink-float mechanism making Turtle robot health rise and fall is set in cuboid plastic casing, cuboid plastic casing outer wall consolidates multiple water pump along plastic casing three EDS maps, the drainage direction of multiple water pumps include left and right, after；In spam filters, consolidation drives the limb action drive mechanism of quadruped locomotion；Spam filters includes current box, consolidates and current suck the propeller set in current box, arrange rubbish filtering net after current box before current box；One control system controls sink-float mechanism, water pump, limb action drive mechanism and the work of propeller.
Described sink-float mechanism includes that head stretches out plastic casing and carries out the syringe of discharging water, injector cartridge is fixed on fixing aluminium sheet, it is fixedly mounted with sink-float on fixing aluminium sheet and drives motor, the piston rod of syringe is fixing with mobile aluminium sheet to be connected, mobile aluminium sheet is fixing with tooth bar to be connected, and sink-float drives the output shaft gear of motor to engage with tooth bar.
Filling lead on fixing aluminium sheet, the slide block of lead is fixedly connected on mobile aluminium sheet by aluminum corner brace.
Blocking a plastic grid on plastic casing inner bottom plating, injector cartridge is fixed on fixing aluminium sheet, and fixing aluminium sheet is fixed on plastic grid by bolt and nut, and syringe card is within a grid, it is achieved horizontal location.
Described limb action drive mechanism includes the guide rail being fixed in spam filters, extremity drive steering wheel to be fixedly connected on guide rail, extremity drive the output shaft of steering wheel to be connected with steering wheel, the structure that two ends of steering wheel are connected drives symmetrically structure centered by the output shaft of steering wheel by extremity, this symmetrical structure includes the first rod member that one end is connected turnably with steering wheel, the other end of the first rod member is connected turnably with slide block, one end of slide block and the second rod member connects turnably, the other end and the 3rd rod member of the second rod member connect turnably, 3rd rod member is being connected with the 4th rod member turnably near the second rod member junction, 4th rod member is perpendicular to guide rail direction and is fixed on guide rail.Described slide block can be in slide on rails or rolling.
Box that base plate that rubbish filtering net is converted into by soft glass is with holes and the filter cloth being contained on hole form, and this drainage screen is arranged at the water export of current box by hasp；Current box is provided with current deflecting plate.
Described control system is distance type control system, and including main control module, main control module is connected with wireless receiving module, and main control module is connected with motor drive module.
Present configuration is new reasonable, with low cost compared to other bionical Chelomia mydas (Linnaeus).s, and amusement of holding concurrently in one with cleaning function, has market potential and is worth in the place such as aquarium, swimming pool.Can promote that youngsters and children understands sea, recognize marine creature, help to increase experience, while bringing entertainment effect, in its clean water, the function of rubbish can reduce water circulation, thus saving water resource.The present invention uses cuboid plastic casing and spam filters as the health of Chelomia mydas (Linnaeus)., devises the extremity of the Turtle robot that can move；Devise left and right, the motion in first three direction and sink-float mechanism；Devise water is processed, the filter for installation of junk-free；Remote controller is combined with single-chip microcomputer, it is achieved that the control to Turtle robot.
Main innovation point of the present invention
Function innovation:
In the face of current submarine mechanical function is single-minded, towards scientific research, cost of manufacture is high, the present situation that on market, games for play is few under water simultaneously, we simulate the feature of Chelomia mydas (Linnaeus). in ocean, avoid the most bionical the brought high cost of pursuit, devise a with low cost, gathered garbage-cleaning and Turtle robot that amusement is integrated, have abundant recreational while have certain practicality.This Turtle robot can forward and side-to-side movement, it is possible to realizes the filtration to water source.Currently without relevant report, it it is a basic innovation of the present invention.
Structure innovation:
1. about the motion of extremity, feature based on slider-crank mechanism, has carried out the positive and negative combination of slider-crank mechanism, has devised the structure of symmetrical expression simultaneously, by the positive and negative motor control with certain angle of steering wheel, the motion of Chelomia mydas (Linnaeus). extremity is made to reach concordance dexterously.
2. use the driving force that external pumping drainage moves as Chelomia mydas (Linnaeus)., on the one hand the space in Chelomia mydas (Linnaeus). body is saved, the most this water pump can avoid the high cost that imitative fin class device advances, and water flow jet ability is strong, ensure that enough motive forces, be conducive to overcoming the resistance of water, guide Chelomia mydas (Linnaeus). motion in water.
3. use the refuse collector of the detachable drainage screen of propeller type, by the drive of propeller, improve the efficiency of cleaning, the guiding of current deflecting plate and the feature of current is utilized to carry out the filtration of water, convenient collection rubbish, the water entering defecator is drained to drainage screen, leaches impurity therein, prevent the backflow of water and impact from taking away rubbish simultaneously.
4. what the design of Chelomia mydas (Linnaeus). sink-float used in avoiding the exploitation of other Turtle robot is realized by the multivariant motion of extremity, and uses some syringes to enter water and draining, it is achieved the sink-float of Chelomia mydas (Linnaeus)..Being connected especially by syringe cylinder and fixing aluminium sheet are fixing, mobile aluminium sheet is fixing with syringe piston rod to be connected, sink-float drive driven by motor to move aluminium sheet and realize moving back and forth of syringe piston rod, carry out draining and enter water, reach the purpose of sink-float.
Accompanying drawing explanation
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the agent structure schematic diagram of one embodiment of the invention
Fig. 2 is sink-float structural scheme of mechanism
Fig. 3 is limb action drive mechanism schematic diagram
Fig. 4 is the lateral plan of Fig. 3.
Fig. 5 is the frame for movement sketch of Fig. 3.
Fig. 6 is spam filters structural representation
Fig. 7 is water pump distribution schematic diagram
Fig. 8 is control system control flow chart of the present invention.
Fig. 9 is Control system architecture block diagram.
Figure 10 is single chip circuit figure.
Detailed description of the invention
A kind of Turtle robot, including as the cuboid plastic casing 1 of Turtle robot health and the spam filters of cuboid plastic casing lower end；The sink-float mechanism making Turtle robot health rise and fall is set in cuboid plastic casing, cuboid plastic casing outer wall consolidates multiple water pump 8 along plastic casing three EDS maps, the drainage direction of multiple water pumps include left and right, after；In spam filters, consolidation drives the limb action drive mechanism of quadruped locomotion；Spam filters includes current box, consolidates the propeller set 12 being sucked by current in current box, arrange rubbish filtering net 10 after current box before current box；One control system controls sink-float mechanism, water pump, limb action drive mechanism and the work of propeller.
Described sink-float mechanism includes that head stretches out plastic casing 1 and carries out the syringe 2 of discharging water, injector cartridge is fixed on fixing aluminium sheet 4, it is fixedly mounted with sink-float on fixing aluminium sheet 4 and drives motor 3, the piston rod of syringe is fixing with mobile aluminium sheet 7 to be connected, mobile aluminium sheet is fixing with tooth bar 5 to be connected, and sink-float drives the output shaft gear of motor 3 to engage with tooth bar 5.
Filling lead 8 on fixing aluminium sheet 4, the slide block 6 of lead is fixedly connected on mobile aluminium sheet 7 by aluminum corner brace.
Blocking a plastic grid 21 on plastic casing inner bottom plating, injector cartridge is fixed on fixing aluminium sheet 4, and fixing aluminium sheet 4 is fixed on plastic grid 21 by bolt and nut, and syringe is stuck in plastic grid 21, it is achieved horizontal location.
Described limb action drive mechanism includes the guide rail being fixed in spam filters, extremity drive steering wheel to be fixedly connected on guide rail, extremity drive the output shaft of steering wheel to be connected with steering wheel, the structure that two ends of steering wheel are connected drives symmetrically structure centered by the output shaft of steering wheel by extremity, this symmetrical structure includes the first rod member 17 that one end is connected turnably with steering wheel 16, the other end of the first rod member 17 is connected turnably with slide block 13, slide block 13 is connected turnably with one end of the second rod member 18, the other end and the 3rd rod member 20 of the second rod member 18 connect turnably, 3rd rod member is being connected with the 4th rod member 19 turnably near the second rod member junction, 4th rod member 19 is perpendicular to guide rail direction and is fixed on guide rail 14.Described symmetrical structure such as Fig. 3, refers to: steering wheel 16, two, left and right the first rod member 17 and two, left and right slide block 13 are centrosymmetric；Left and right two the second rod members 18, two, left and right the 3rd rod member 20, two, left and right the 4th rod members 19 are axisymmetricly.
Described slide block 13, as it is shown on figure 3, profile is circular, can slide on guide rail 14 or roll.
Box that base plate that rubbish filtering net is converted into by soft glass is with holes and the filter cloth being contained on hole form, and this drainage screen is arranged at the water export of current box by hasp；Current box is provided with current deflecting plate.
Described control system is distance type control system, and including main control module, main control module is connected with wireless receiving module, and main control module is connected with motor drive module.
Sink-float mechanical work principle
Plunging motion controls sink-float by remote controller and drives motor 3, motor output shaft pinion rotation, the tooth bar 5 being fixed on mobile aluminium sheet is made to move back and forth, and then drive mobile aluminium sheet and the reciprocating motion of syringe piston rod entirety, in order to prevent mobile aluminium sheet from producing crooked at the volley, devise mobile route guidance post 8, make syringe smoothly complete discharging water action.During syringe water suction, Turtle robot overall weight increases, and overall weight is more than buoyancy of water, and Chelomia mydas (Linnaeus). sinks；During syringe draining, the water in syringe reduces, and the overall weight of Turtle robot alleviates, and less than buoyancy of water, Chelomia mydas (Linnaeus). floats.
Limb motion mechanical work principle
The motion feature based on slider-crank mechanism of extremity, has carried out the positive and negative combination of slider-crank mechanism, has devised the structure of symmetrical expression simultaneously.Steering wheel has the positive and negative rotation of certain angle and drives two slide block 13 symmetrical expressions to move left and right, so that the 3rd rod member 20 symmetrical expression as extremity swings, makes the motion of Chelomia mydas (Linnaeus). extremity reach concordance and bionical effect, concrete mechanism such as Fig. 3 dexterously.
The motion of extremity is completely in water operation, need work problem in the water of solution steering wheel, the present invention uses the steering wheel that structure is less and compact, bigger in the surface tension of Shui Zhongshui, butter layer it is filled with inside steering wheel, making the gap within steering wheel be full of butter, that avoids water in water enters the steady operation keeping steering wheel, solves the problem that water proof seals as far as possible.
Spam filters operation principle
Garbage filtering device takes full advantage of the feature of current, the current direction defecator of some when Chelomia mydas (Linnaeus). moves, and blows in filtration with the cleaning propeller 12 being fixed on current box by water simultaneously, adds the flow velocity of current in defecator.Being provided with current deflecting plate 11 in current box, water flows through from current box, has current deflecting plate to guide the flow direction of water, rubbish filtering net 10 is set after current box, water flows directly into rubbish filtering net through the guiding of current deflecting plate, and impurity can prevent excessive by current band in box.Rubbish filtering net can be arranged on current box by hasp, can be with artificial unloading.
Direction control mechanism operation principle
At the affixed multiple external water pumps of Chelomia mydas (Linnaeus). external bonding, water pump, along three EDS maps of plastic casing surrounding, realizes left and right, the motion in first three direction respectively.Being electromagnetic type water pump in view of Chelomia mydas (Linnaeus). body interior finite volume and water pump, the circuit part of water pump fully seals, and rotor uses magnetic rotor, the magnetic field of exporting change makes rotor rotate, work can be soaked in water, therefore water pump is fixedly arranged at external, use remote controller control equally.When controlling one of them pumping drainage, its opposition produced can promote whole Turtle robot adverse movement, consolidates two water pumps, it is provided that enough onward impulses after Chelomia mydas (Linnaeus)..Multiple water pumps are respectively completed left and right, the motion in first three direction.
The control system of Turtle robot
Relevant control requirement based on Turtle robot, devises and has distant control function wireless controller.Based on Single Chip Microcomputer (SCM) program control, single-chip microcomputer accepts the instruction that remote controller sends, and completes corresponding action request, it is achieved the control mode that remote control combines with single-chip microcomputer.Control sink-float by remote controller and drive the rotating of motor, to realize the sink-float of Turtle robot；Control extremity by remote controller and drive the rotation of steering wheel, it is achieved the consistent swing of Chelomia mydas (Linnaeus). extremity.Controlled the rotation of cleaning propeller by remote controller, carry out the filter cleaning action at water source.
The hardware system that robot controls is mainly by remote controller wireless receiving module, supply module, main control module, motor drive module, relay module, power plant module etc., and wherein power plant module includes direct current generator, steering wheel etc..Its structured flowchart and relevant control flow such as Fig. 7.
Turtle robot main control module uses MCS-51 series STC89C52 single-chip microcomputer.This single-chip microcomputer is a kind of low-power consumption, high performance 8 CMOS-type single-chip microcomputers.Single-chip minimum system figure such as Fig. 8.
Claims (1)
1. a drone version Turtle robot, is characterized in that: include as Turtle robot health
Spam filters below cuboid plastic casing and cuboid plastic casing；Set in cuboid plastic casing
Put the sink-float mechanism making Turtle robot health rise and fall, cuboid plastic casing outer wall consolidates multiple edge
The water pump of plastic casing three EDS maps, the drainage direction of multiple water pumps include left and right, after；Rubbish
On filter, consolidation drives the limb action drive mechanism of quadruped locomotion；Spam filters includes water
Stream box, consolidates before current box and current is sucked the propeller set in current box, set after current box
Put rubbish filtering net；One control system controls sink-float mechanism, water pump, limb action driving machine
Structure and the work of propeller set；Described limb action drive mechanism includes being fixed on rubbish filtering
Guide rail on device, extremity drive steering wheel to be fixedly connected on guide rail, and extremity drive the output of steering wheel
Axle is connected with steering wheel, and the structure that two ends of steering wheel are connected with the output shaft of extremity driving steering wheel is
Center symmetrically structure, this symmetrical structure includes the first bar that one end is connected turnably with steering wheel
Part, the other end of the first rod member is connected turnably with slide block, slide block and one end of the second rod member
Connecting turnably, the other end and the 3rd rod member of the second rod member connect turnably, the 3rd bar
Part is being connected with the 4th rod member turnably near the second rod member junction, and the 4th rod member is perpendicular to
Guide rail direction is fixed on guide rail；Described slide block can be in slide on rails or rolling；Described sink-float
Mechanism includes that head stretches out plastic casing and carries out the syringe of discharging water, and injector cartridge is fixed on
Determine on aluminium sheet, fixing aluminium sheet is fixedly mounted with sink-float and drives motor, the piston rod of syringe and mobile aluminum
Plate is fixing to be connected, and mobile aluminium sheet is fixing with tooth bar to be connected, and sink-float drives the output shaft gear of motor
Engage with tooth bar；Filling lead on fixing aluminium sheet, the slide block of lead connects by aluminum corner brace is fixing
On mobile aluminium sheet；Blocking a plastic grid on plastic casing inner bottom plating, injector cartridge is fixed on
On fixing aluminium sheet, fixing aluminium sheet is fixed on plastic grid by bolt and nut, and syringe is stuck in
In grid, it is achieved horizontal location；Rubbish filtering net is the box that the base plate being converted into by soft glass is with holes
And the filter cloth composition being contained on hole, the water that this drainage screen is arranged on current box by hasp flows out
At Kou；Current box is provided with current deflecting plate；Described control system is distance type control system,
Including main control module, main control module is connected with wireless receiving module, and main control module drives with motor
Module connects；Single-chip microcomputer accepts the instruction that remote controller sends, and completes corresponding action request, real
The control mode that existing remote controller combines with single-chip microcomputer；Control sink-float by remote controller and drive motor
Rotating, to realize the sink-float of Turtle robot；Control extremity by remote controller and drive steering wheel
Rotate, it is achieved the consistent swing of Chelomia mydas (Linnaeus). extremity；The rotation of cleaning propeller is controlled by remote controller,
Carry out the filter cleaning action at water source；Turtle robot main control module uses MCS-51 series
STC89C52 single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510164546.5A CN104773271B (en) | 2013-04-03 | 2013-04-03 | Drone version Turtle robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310113224.9A CN103192966B (en) | 2013-04-03 | 2013-04-03 | Turtle robot |
| CN201510164546.5A CN104773271B (en) | 2013-04-03 | 2013-04-03 | Drone version Turtle robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310113224.9A Division CN103192966B (en) | 2013-04-03 | 2013-04-03 | Turtle robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104773271A CN104773271A (en) | 2015-07-15 |
| CN104773271B true CN104773271B (en) | 2017-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510164525.3A Expired - Fee Related CN104773270B (en) | 2013-04-03 | 2013-04-03 | Machine sea turtle for clearing garbage in water |
| CN201510164546.5A Expired - Fee Related CN104773271B (en) | 2013-04-03 | 2013-04-03 | Drone version Turtle robot |
| CN201310113224.9A Expired - Fee Related CN103192966B (en) | 2013-04-03 | 2013-04-03 | Turtle robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510164525.3A Expired - Fee Related CN104773270B (en) | 2013-04-03 | 2013-04-03 | Machine sea turtle for clearing garbage in water |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310113224.9A Expired - Fee Related CN103192966B (en) | 2013-04-03 | 2013-04-03 | Turtle robot |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106759197A (en) * | 2017-01-25 | 2017-05-31 | 山西省水利水电科学研究院 | Cleaning machine for garbage on water |
| CN110347169A (en) * | 2019-07-30 | 2019-10-18 | 南京昱晟机器人科技有限公司 | The control system of automatic obstacle avoiding and planning under underwater robot and its high-speed motion |
| CN112726535A (en) * | 2019-10-28 | 2021-04-30 | 昆山市久旺通智能工程有限公司 | Urban inland river intelligent cleaning robot based on internet of things control |
| CN110811911A (en) * | 2019-12-03 | 2020-02-21 | 广州天地智能科技有限公司 | Underwater starfish injection robot |
| CN112185230B (en) * | 2020-09-21 | 2022-04-26 | 山东工业职业学院 | Rack transmission swing arm mechanism |
| CN114747525B (en) * | 2022-04-11 | 2023-04-18 | 华南农业大学 | Free-moving feeding bionic turtle |
| CN115123502B (en) * | 2022-07-22 | 2023-06-09 | 深圳技术大学 | Turtle fin driving device and bionic turtle |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN103192966B (en) | 2015-08-12 |
| CN104773271A (en) | 2015-07-15 |
| CN104773270A (en) | 2015-07-15 |
| CN104773270B (en) | 2017-01-11 |
| CN103192966A (en) | 2013-07-10 |
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