CN1537703A

CN1537703A - Amphibious biotic robot fortoise

Info

Publication number: CN1537703A
Application number: CNA2003101081099A
Authority: CN
Inventors: 安孙; 孙安; 吴斌; 高雪官
Original assignee: Shanghai Jiaotong University
Current assignee: Shanghai Jiaotong University
Priority date: 2003-10-23
Filing date: 2003-10-23
Publication date: 2004-10-20
Anticipated expiration: 2023-10-23
Also published as: CN1272146C

Abstract

An amphibious bionic robot tortoise featurs that it is front-back symmetric and left-right symmetric. Its foot is connected to the first flexible axle which is linked to the second flexible axle via flexible axle jointer. The another end of the second flexible axle is connected to the driven gear of a gear set. Said foot is also connected to a short axle whose another end is connected to supporter on shell. Said foot is also connected to a long axle whose another end is linked to a circu9lar table fixed to bottom plate of shell. The first flexible axle is connected between said circular table and the drive gear connected to the mainshaft of step motor.

Description

The Amphibious bionics Mechanical tortoise

Technical field

The present invention relates to a kind of structural form of tortoise, robot of forms of motion of imitating, specifically is a kind of Amphibious bionics Mechanical tortoise.Belong to robot bionic and learn the field.

Background technology

Bionics is born in the sixties in 20th century, is the edge subject that bioscience and engineering combine, and through the development in four, 50 years, modern bionics extended to a lot of fields, and robotics is one of its main combination and application.It is from bionical angle robot to be studied that robot bionic is learned, and is robot field's important branch.The research of this respect causes various countries' correlative study personnel and expert's very big interest and concern, and has obtained a large amount of gratifying results and positive progress.Yet, both at home and abroad in adapting to water movable or creep on land only be adapted to bio-robot research many under the single environment, but aspect water route Amphibious bionic robot research fewer.

Find by literature search, by Meng Xianyuan chief editor, China Machine Press publishes in June, 1994, and " modern mechanism handbook volume two has been introduced a kind of tortoise creeping toy structure for the 297th page, this structure is made up of six-bar mechanism and two rocking bars, end at rocking bar is equipped with four groups of forks, make the tortoise pin, the tortoise pin drives with clockwork spring.This tortoise is simple in structure, can only creep forward, and the tortoise pin skids easily when creeping, and can not realize amphibious motion.

Summary of the invention

The present invention is directed to the deficiencies in the prior art and defective, based on bionics principle, by observation and research to the life habit of ecological tortoise, design feature, motion mode, a kind of Amphibious bionics Mechanical tortoise is provided, make its structural form with ecological tortoise and forms of motion, can in water, move about and creep by land, can be used as amphibious land and water scientific exploration instrument.

The present invention realizes according to following technical scheme, this bionic machine tortoise structurally is symmetrical all around, comprising: foot, major axis, minor axis, round platform, flexible shaft end (), (two), (three) and (four), the strand of trackslipping, gap teeth wheels, flexible axle (), (two) and (three), a type support, inner casing, shell and stepper motor.Its connected mode is: foot is connected with flexible axle (), flexible axle (one) is connected with flexible axle (two) by flexible shaft end (), (two), flexible shaft end (one) and (two) are separately fixed at the outside and the inside of shell, and the other end of flexible axle (two) is connected by the driven pulley of flexible shaft end (three) and gap teeth wheels; Foot also is connected with minor axis, and the other end of minor axis is connected with a type support on being fixed on shell; Foot also is connected with major axis, the other end of major axis passes the strand of trackslipping that is fixed on the shell and is connected with round platform, round platform is fixed on the shell bottom plate, round platform also is connected with flexible axle (three), the other end of flexible axle (three) is connected by the driving wheel of flexible shaft end (four) and gap teeth wheels, and the driving wheel of gap teeth wheels is connected with the output shaft of the stepper motor that is fixed on the inner casing the inside.Inner casing is sealed in housings with the hydrosol.

Foot comprises: foot's fulcrum, wing plate, interior axle, outer shaft, ear () and (two) and rolling bearing () and (two).Connected mode: foot's fulcrum is fastenedly connected by nut, bolt and wing plate one end, the other end of wing plate is fastenedly connected by nut, bolt and interior axle one end, the other end of interior axle stretches out outer shaft, this end is a spiral interface, connect flexible axle (), interior axle links to each other with (two) with the rolling bearing () of outer shaft by two ends, outer shaft and interior axle can be made 360 degree and relatively rotate flexibly, ear (one), (two) are by being bolted on the outer shaft, ear (one), (twos') the other end links to each other with major axis with minor axis respectively, can relatively rotate.

The strand of trackslipping comprises: stack shell, rotate axial region () and (two), axle sleeve () and (two), gripper shoe () and (two), O RunddichtringO () and (two), copper sheathing () and (two).Connected mode: in stack shell, installed two O RunddichtringOs () and (two) additional, major axis is nested in the stack shell the inside by two O RunddichtringOs () and (two), there are two to rotate axial region () and (two) on the stack shell, itself and stack shell one-shot forming, rotating axial region () is connected with (two) with axle sleeve () respectively with (two), and on rotation axial region () and (two), stud with one deck copper sheathing (), (two) respectively, axle sleeve links to each other with gripper shoe, and gripper shoe is installed on the shell by bolt and nut again.

Round platform comprises: prominent axle, the down prominent axle of disk, bearing () and (two) and bearing holder (housing, cover) on gripper shoe, cabane plate, disk, the disk.Connected mode: an end of major axis passes the strand of trackslipping that is fixed on the shell and links to each other with prominent axle on the disk, and cabane plate and disk are supported by gripper shoe and be fixing; Cabane plate is fixed by bolts to above the gripper shoe, and place at the 30 degree angles that tilt, and the disk bottom of prominent axle down is with a bearing holder (housing, cover), and passes cabane plate by two bearings, connects flexible axle (three), can do 360 degree relative motions between disk and the cabane plate.

The present invention is combined into one tortoise foot, major axis, minor axis, the strand of trackslipping, flexible axle and intermittent gear group and realizes the amphibious motion of bionic machine tortoise, adopts flexible axle to come transferring power.When moving about in water, the foot of Mechanical tortoise at first keeps flat, and outwards launches foot and health keeping parallelism; Then, foot stretches forward; When extending at the most preceding, foot overturns downwards, makes it to become and the approximately perpendicular vertical state of direction of advance; Regain backward then, when foot slided into rearmost point, foot overturn and returns to return to parastate; At last, foot is got back to initial state, finishes once circulation.By land, Mechanical tortoise relies on the flat casing base plate that whole health is close to the ground substantially, promotes whole body forward motion by two front foots then.

Compared with prior art, compact conformation of the present invention is active in one's movements, and can be used for amphibious scientific research.This bio-robot is widely used, it can be used for the performance in recreation, science popularization field, can be used as the usefulness of amphibious scientific exploration again, owing to structurally have amphibious motor function, mix intelligentized control system again, can also be with militarily, as the information scouting in front, the advance soldier who makes beach landings.Also can develop various toys after its designs simplification, the microminiaturization.

Description of drawings

The general structure schematic diagram of Fig. 1, bionic machine tortoise

The foot structure schematic diagram of Fig. 2, bionic machine tortoise

The structure schematic diagram that tangles that trackslips of Fig. 3, bionic machine tortoise

The frustum cone structure schematic diagram of Fig. 4, bionic machine tortoise

The specific embodiment:

As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the present invention includes: foot 1, major axis 2, minor axis 3, round platform 4,

flexible shaft end

5,6,7 and 8, strand 9, gap teeth wheels 10,

flexible axle

11,12 and 13, a type support 14, inner casing 15, shell 16, stepper motor 17 trackslip.Foot 1 is connected with flexible axle 11, and flexible axle 11 is connected with flexible axle 12 by

flexible shaft end

5,6, and

flexible shaft end

5 and 6 is separately fixed at the outside and the inside of shell 16, and the driven pulley that the other end of flexible axle 12 passes through flexible shaft end 7 and gap teeth wheels 10 is connected; Foot 1 is connected with minor axis 3, and the other end of minor axis 3 is connected with a type support 14 on being fixed on shell 16; Foot 1 also is connected with major axis 2, the other end of major axis 2 passes the trackslipping strand 9 that is fixed on the shell 16 and is connected with round platform 4, round platform 4 is fixed on shell 16 base plates, round platform 4 also is connected with flexible axle 13, the other end of flexible axle 13 is connected by the driving wheel of flexible shaft end 8 and gap teeth wheels 10, and the driving wheel of gap teeth wheels 10 is connected with the output shaft of stepper motor 17.The inner casing 15 usefulness hydrosols are sealed in shell 16 the insides.

Foot 1 comprises: foot's fulcrum 18, wing plate 19, interior axle 20, outer shaft 21, ear 22,23 and rolling bearing 24,25.Its connected mode is: foot's fulcrum 18 is fastenedly connected by nut, bolt and wing plate 19 1 ends, the other end of wing plate 19 is fastenedly connected by nut, bolt and interior axle 20 1 ends, the other end of interior axle 20 stretches out outer shaft 21, this end is a spiral interface, connect flexible axle 11, in axle 20 link to each other with the rolling bearing 24,25 of outer shaft 21 by two ends, outer shaft 21 can be made 360 degree with interior axle 20 and relatively rotate flexibly, ear 22,23 is by being bolted on the outer shaft 21, the other end of ear 22,23 links to each other with major axis 2 with minor axis 3 respectively, can relatively rotate.

The strand 9 of trackslipping comprises: stack shell 26, rotation axial region 27 and 28, axle sleeve 29 and 30, gripper shoe 31 and 32, O RunddichtringO 33 and 34, copper sheathing 35 and 36.Connected mode: in stack shell 26, installed two O RunddichtringOs 33 and 34 additional, major axis 2 is nested in stack shell 26 the insides by two O RunddichtringOs 33 and 34, there are two to rotate axial region 27 and 28 on the stack shell 26, itself and stack shell 26 one-shot formings, rotating axial region 27 is connected with 30 with axle sleeve 29 respectively with 28, stud with one deck copper sheathing 35,36 respectively rotating on the axial region 27 and 28, axle sleeve 29,30 links to each other with gripper shoe 31,32 respectively, and gripper shoe 31,32 is installed on the shell 16 by bolt and nut.

Round platform 4 comprises: prominent axle 40, the down prominent axle 41 of disk, bearing 42,43 and bearing holder (housing, cover) 44 on gripper shoe 37, cabane plate 38, disk 39, the disk.Its connected mode: an end of major axis 2 passes the strand 9 of trackslipping that is fixed on the shell 16 and links to each other with prominent axle 40 on the disk, and cabane plate 38 and disk 39 are supported by gripper shoe 37 and be fixing; Cabane plate 38 is fixed by bolts to above the gripper shoe 37, place at inclination 30 degree angles, and the bottom that disk is prominent down 41 is with a bearing holder (housing, cover) 44, and passes cabane plate 38 by bearing 42,43, connect flexible axle 13, can do 360 degree relative motions between disk 39 and the cabane plate 38.

Claims

1, a kind of Amphibious bionics Mechanical tortoise, comprise: foot (1), shell (16), it is characterized in that also comprising: major axis (2), minor axis (3), round platform (4), flexible shaft end (5), (6), (7) and (8), the strand of trackslipping (9), gap teeth wheels (10), flexible axle (11), (12) and (13), a type support (14), inner casing (15), stepper motor (17), left-right symmetry before and after on the structure, foot (1) is connected with flexible axle (11), flexible axle (11) is by flexible shaft end (5), (6) be connected with flexible axle (12), flexible shaft end (5) and (6) are separately fixed at the outside and the inside of shell (16), the other end of flexible axle (12) is connected by the driven pulley of flexible shaft end (7) and gap teeth wheels (10), foot (1) is connected with minor axis (3), the other end of minor axis (3) is connected with a type support (14) on being fixed on shell (16), foot (1) also is connected with major axis (2), the other end of major axis (2) passes the strand (9) of trackslipping that is fixed on the shell (16) and is connected with round platform (4), round platform (4) is fixed on shell (16) base plate, round platform (4) also is connected with flexible axle (13), the other end of flexible axle (13) is connected by the driving wheel of flexible shaft end (8) and gap teeth wheels (10), the driving wheel of gap teeth wheels (10) is connected with the output shaft of stepper motor (17), and inner casing (15) is sealed in shell (16) the inside with the hydrosol.

2, Amphibious bionics Mechanical tortoise according to claim 1, it is characterized in that, foot (1) comprising: foot's fulcrum (18), wing plate (19), interior axle (20), outer shaft (21), ear (22), (23) and rolling bearing (24), (25), its connected mode is: foot's fulcrum (18) passes through nut, bolt and wing plate (19) one ends are fastenedly connected, the other end of wing plate (19) passes through nut, bolt and interior axle (20) one ends are fastenedly connected, the other end of interior axle (20) stretches out outer shaft (21), this end is a spiral interface, connect flexible axle (11), interior axle (20) and the rolling bearing (24) of outer shaft (21) by two ends, (25) link to each other, outer shaft (21) can be made 360 degree with interior axle (20) and relatively rotate flexibly, ear (22), (23) by being bolted on the outer shaft (21), ear (22), (23) the other end links to each other with major axis (2) with minor axis (3) respectively, can relatively rotate.

3, Amphibious bionics Mechanical tortoise according to claim 1, it is characterized in that, the strand of trackslipping (9) comprising: stack shell (26), rotate axial region (27) and (28), axle sleeve (29) and (30), gripper shoe (31) and (32), O RunddichtringO (33) and (34), copper sheathing (35) and (36), its connected mode: in stack shell (26), installed two O RunddichtringOs (33) and (34) additional, major axis (2) is nested in stack shell (26) the inside by two O RunddichtringOs (33) and (34), there are two to rotate axial region (27) and (28) on the stack shell (26), itself and stack shell (26) one-shot forming, rotating axial region (27) is connected with (30) with axle sleeve (29) respectively with (28), on rotation axial region (27) and (28), stud with one deck copper sheathing (35) respectively, (36), axle sleeve (29), (30) respectively with gripper shoe (31), (32) link to each other gripper shoe (31), (32) be installed on the shell (16) by bolt and nut.

4, Amphibious bionics Mechanical tortoise according to claim 1, it is characterized in that, round platform (4) comprising: gripper shoe (37), cabane plate (38), disk (39), prominent axle (40) on the disk, disk is prominent axle (41) down, bearing (42), (43) and bearing holder (housing, cover) (44), its connected mode: an end of major axis (2) passes the strand (9) of trackslipping that is fixed on the shell (16) and links to each other with prominent axle (40) on the disk, cabane plate (38) and disk (39) are supported by gripper shoe (37) and are fixing, cabane plate (38) is fixed by bolts to above the gripper shoe (37), place at inclination (30) degree angle, the disk bottom of prominent axle (41) down is with a bearing holder (housing, cover) (44), and by bearing (42), (43) pass cabane plate (38), connect flexible axle (13), do 360 degree relative motions between disk (39) and the cabane plate (38).