CN218170402U

CN218170402U - Bionic mechanical turtle

Info

Publication number: CN218170402U
Application number: CN202222334903.6U
Authority: CN
Inventors: 秦俊; 陈敬龙; 张昱芃; 刘莉; 尧亚雯; 张天赐
Original assignee: Jiujiang University
Current assignee: Jiujiang University
Priority date: 2022-09-02
Filing date: 2022-09-02
Publication date: 2022-12-30
Anticipated expiration: 2032-09-02

Abstract

A bionic mechanical turtle comprises a first mounting plate and a second mounting plate, wherein four horizontal driving steering engines are mounted between the first mounting plate and the second mounting plate, the driving end of each horizontal driving steering engine protrudes out of the top of the first mounting plate and is rotatably connected with a horizontal swing arm, a vertical driving steering engine is mounted outside the horizontal swing arm, the driving end of the vertical driving steering engine is rotatably connected with a vertical swing arm, a connecting rod elastic assembly is mounted between the outside of the vertical swing arm and the top of the horizontal swing arm, and a sole is arranged at the bottom of the connecting rod elastic assembly; install the flexible subassembly of head and the tail on the first mounting panel, the flexible subassembly of head and the tail's one end is connected with the head, and the other end and end connection. In this application, drive head and afterbody simultaneously through flexible subassembly of head and tail and extend and contract, through the concerted action between horizontal drive steering wheel, horizontal swing arm, vertical drive steering wheel, vertical swing arm and the connecting rod elastic component, drive the sole and extend and contract the action, realize walking promptly and hinder the function more.

Description

Bionic mechanical turtle

Technical Field

The application relates to the technical field of bionic machinery, in particular to a bionic mechanical turtle.

Background

The bionic machinery is designed and manufactured by simulating the form, structure and control principle of organisms, has more concentrated functions and higher efficiency and has biological characteristics. At present, the head, the tail and the four limbs of the existing mechanical tortoise on the market can not finish the stretching action.

SUMMERY OF THE UTILITY MODEL

Based on this, the purpose of this application is to provide a bionic mechanical tortoise, make its head, afterbody, and four limbs can accomplish flexible action.

A bionic mechanical turtle comprises a first mounting plate and a second mounting plate, wherein four horizontal driving steering engines are mounted between the first mounting plate and the second mounting plate, the driving end of each horizontal driving steering engine protrudes out of the top of the first mounting plate and is rotatably connected with a horizontal swing arm, a vertical driving steering engine is mounted outside the horizontal swing arm, the driving end of the vertical driving steering engine is rotatably connected with a vertical swing arm, a connecting rod elastic assembly is mounted between the outside of the vertical swing arm and the top of the horizontal swing arm, and a sole is arranged at the bottom of the connecting rod elastic assembly;

the first mounting plate is provided with a head-tail telescopic assembly, one end of the head-tail telescopic assembly is connected with the head, and the other end of the head-tail telescopic assembly is connected with the tail.

Compared with the prior art, in the application, the head and the tail are driven to extend and contract simultaneously through the head-tail telescopic assembly, the soles are driven to extend and contract through the coordination effect among the horizontal driving steering engine, the horizontal swing arm, the vertical driving steering engine, the vertical swing arm and the connecting rod elastic assembly, and the walking and obstacle crossing functions are achieved.

Further, the connecting rod elastic assembly comprises a first connecting rod, the middle part of the first connecting rod is rotatably connected with the vertical swing arm;

the top of the first connecting rod is rotatably connected with the first vertex of the triangular plate, the bottom of the first connecting rod is rotatably connected with one end of a connecting plate, the other end of the connecting plate is rotatably connected with the bottom of the second connecting rod, and the sole is arranged at the bottom of the connecting plate;

the top of the second connecting rod is rotationally connected with the second vertex of the triangular plate, and the third vertex of the triangular plate is rotationally connected with the top of the horizontal swing arm through a third connecting rod;

and a spring is arranged between the first connecting rod and the second connecting rod and is in a stretching state, one end of the spring is arranged at the middle rotating pair of the first connecting rod, and the other end of the spring is arranged at the top rotating pair of the second connecting rod.

Furthermore, the head-tail telescopic assembly comprises a bottom driving steering engine arranged on the first mounting plate, the driving end of the driving steering engine protrudes out of the top of the first mounting plate and is connected with a driving gear, the driving gear is meshed with a first rack and a second rack respectively, the tail end of the first rack is connected with the head, and the tail end of the second rack is connected with the tail.

Further, the rotating speed of the driving steering engine is 180rad/min.

Further, be equipped with the treater on the first mounting panel, install on the second mounting panel with treater electric connection's camera.

Furthermore, when the vertical swing arm is in a horizontal state, an included angle between the sole and the ground is 60 degrees, and the spring is in a stretching state.

Drawings

FIG. 1 is a schematic structural diagram of a bionic mechanical turtle in the present application;

FIG. 2 is a schematic view of the leg structure of FIG. 1;

fig. 3 is a schematic view of the leg structure of fig. 2.

Description of the main element symbols:

the following detailed description will further illustrate the present application in conjunction with the above-described figures.

Detailed Description

To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Several embodiments of the present application are presented in the figures. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 and fig. 2, in an embodiment of the present application, a bionic mechanical turtle is provided, which includes a first mounting plate 10 and a second mounting plate 11, four horizontal driving steering engines (100/200/300/400) are mounted between the first mounting plate 10 and the second mounting plate 11, a driving end of each horizontal driving steering engine protrudes out of a top of the first mounting plate 10 and is rotatably connected with a horizontal swing arm 12, a vertical driving steering engine (500/600/700/800) is mounted outside the horizontal swing arm 12, a driving end of the vertical driving steering engine is rotatably connected with a vertical swing arm 13, a connecting rod elastic assembly 14 is mounted between an outside of the vertical swing arm 13 and a top of the horizontal swing arm 12, and a sole 15 is disposed at a bottom of the connecting rod elastic assembly 14;

a head-tail telescopic assembly 16 is mounted on the first mounting plate 10, one end of the head-tail telescopic assembly 16 is connected with the head 17, and the other end of the head-tail telescopic assembly is connected with the tail 18.

It should be noted that, in the application, the head 17 and the tail 18 are driven to extend and contract simultaneously by the head-tail telescopic assembly 16, the vertical driving steering engine, the vertical swing arm 13, the connecting rod elastic assembly 14 and the sole 15 are driven to swing in the horizontal direction by the horizontal driving steering engine and the horizontal swing arm 12, the connecting rod elastic assembly 14 and the sole 15 are driven to swing in the vertical mode by the vertical driving steering engine and the vertical swing arm 13, and the walking and obstacle crossing functions are realized by extending and contracting in the swinging process.

Referring to fig. 1 and 2, the link elastic assembly 14 includes a first link 141 having a middle portion rotatably connected to the vertical swing arm 13;

the top of the first connecting rod 141 is rotatably connected with the first vertex of the triangular plate 142, the bottom of the first connecting rod is rotatably connected with one end of a connecting plate 143, the other end of the connecting plate 143 is rotatably connected with the bottom of a second connecting rod 144, and the sole 15 is arranged at the bottom of the connecting plate 143;

the top of the second connecting rod 144 is rotatably connected with the second vertex of the triangular plate 142, and the third vertex of the triangular plate 142 is rotatably connected with the top of the horizontal swing arm 12 through a third connecting rod 145;

a spring 146 is arranged between the first link 141 and the second link 144, the spring 146 is in a stretching state, and one end of the spring is installed at the middle revolute pair of the first link 141, and the other end of the spring is installed at the top revolute pair of the second link 144.

It should be noted that, in the present application, when the vertical swing arm 13 is in the horizontal state, the included angle between the sole 15 and the ground is 60 °, and at this time, under the action of gravity of the whole leg structure, the spring 146 is in the stretching state, so as to play a role of vibration reduction, and at the same time, the spring 146 can limit the degree of freedom of the six-bar linkage mechanism, the six-bar linkage mechanism is composed of the vertical swing arm 13, the first link 141, the second link 144, the third link 145, the triangle 142 and the connecting plate 143. When the vertical driving steering engine drives the vertical swing arm 13 to lift, the sole 15 is enabled to be approximately parallel to the ground through the six-link mechanism, so that the stability of the sole 15 when the ground is landed is guaranteed.

Preferably, the upper section of the first connecting rod 141 is 34.45mm, the lower section of the first connecting rod is 54.55mm, the connecting plate 143 is 12mm, the second connecting rod 144 is 85mm, the side length of the triangle 142 is 28mm, 16.64mm and 16.64mm, the third connecting rod 145 is 45mm, and the vertical swing arm 13 is 46mm.

Referring to fig. 1, the head-tail telescopic assembly 16 includes a driving steering engine (blocked by the first mounting plate 10, not shown in the figure) arranged at the bottom of the first mounting plate 10, a driving end of the driving steering engine protrudes out of the top of the first mounting plate 10 and is connected with a driving gear 161, the driving gear 161 is respectively engaged with a first rack 162 and a second rack 163, a tail end of the first rack 162 is connected with the head 17, and a tail end of the second rack 163 is connected with the tail 18, that is, the driving gear 161 drives the first rack 162 and the second rack 163 to move at the same time, so as to achieve simultaneous extension and contraction of the head 17 and the tail 18.

Further, the rotating speed of the driving steering engine is 180rad/min, when the first rack 162 and the second rack 163 extend or contract, the driving steering engine rotates for 5 circles, and the whole process is completed within 2 s.

Referring to fig. 1, a processor 19 (model number Jetson Nano 2G) is disposed on the first mounting plate 10, and a camera 20 electrically connected to the processor 19 (USB port) is mounted on the second mounting plate 11. The camera 20 is used for collecting external image signals, and the processor 19 is used for image recognition and positioning.

Furthermore, be equipped with microcontroller (Arduino) and steering wheel drive plate (PCA 9685) that are responsible for controlling the steering wheel motion on the second mounting panel 11, both are blocked by first mounting panel.

It should be noted that, in this application, the number 21, 22, 23, and 24 ports of the processor are respectively connected to the number 6, 7, 8, and 9 digital ports of the microcontroller, and the number 2 and 6 ports of the processor are respectively connected to the positive electrode and the negative electrode of the microcontroller to supply power to the microcontroller. And 5V, GND, no. 4 and No. 5 analog ports of the microcontroller are respectively connected with VCC, GND, SDA and SCL interfaces of the steering engine driving plate. The yellow line, the red line and the brown line of the steering engine are respectively connected with the yellow port, the red port and the black port of the steering engine driving plate. The processor converts the image recognition result into high and low levels of the No. 21, 22, 23 and 24 ports of the microcontroller, sends high and low level signals to the No. 6, 7, 8 and 9 digital ports of the microcontroller, controls the steering engine to move, and realizes the forward movement, left turning, right turning, retraction of limbs and heads of the mechanical tortoise into the board or extension of the tortoise out of the board. After the processor detects that the person falls down, the GPIO port of the processor drives the active buzzer to send out alarm sound, so that the falling person can be rescued in time.

Further, in this application, adopt 18650 lithium cells, five sections are established ties and are stepped down to 5V through the voltage reduction module and give the treater power supply, and two sections are established ties and are stepped down to 6.5V through the voltage reduction module and give the steering wheel drive plate power supply for the drive steering wheel. Then, a modified YOLO v 5.0 program is run in the processor to identify and locate the target. The processor sends high and low levels to the microcontroller according to an image recognition result, and then controls the steering engine to move through the steering engine driving plate, so that the forward, left-turning, right-turning and stretching actions of the mechanical turtle are realized.

It is clear that the photos of the green vegetables, the tiger and the people falling over are taken under various light backgrounds and various shooting angles, wherein 500 photos are taken in each case, and the total number of the photos is 1500. Wherein 80% is used as a training set, 20% is used as a determination set, and labelImg-master open source software is used for labeling the targets in the pictures. Further, a 5m model of the YOLO is used, the optimal parameters of the deep neural network are obtained through improved training of a YOLO v 5.0 program, then a detection program of the YOLO v 5.0 is started, and the target is detected in real time. The YOLO v 5.0 can identify the target, calculate the position where the target appears and guide the mechanical tortoise to walk straight or turn.

Further, the control logic of the present application is: when no target exists, the ports 21, 22, 23 and 24 of the processor respectively send low, low and low potentials to the digital ports 6, 7, 8 and 9 of the microcontroller, the mechanical balanus, the tail and the four limbs extend out of the board, and then the four limbs stand still;

when the tiger is detected, the port 21 of the processor sends out a high potential, and the mechanical tortoise retracts into the board. When no tiger exists and vegetables appear right ahead, the ports 21, 22, 23 and 24 of the processor respectively send low, high and low potentials to the digital ports 6, 7, 8 and 9 of the microcontroller, and the mechanical tortoise moves straight away;

when no tiger exists and vegetables appear at the right front, the ports 21, 22, 23 and 24 of the processor respectively send low, high, low and low potentials to the digital ports 6, 7, 8 and 9 of the microcontroller, and the mechanical tortoise turns to the right;

when no tiger is present and vegetables appear on the left front, the ports 21, 22, 23 and 24 of the processor respectively send low, high and low potentials to the digital ports 6, 7, 8 and 9 of the microcontroller, and the mechanical tortoise turns left;

when a person falls down, the ports 21, 22, 23 and 24 of the processor respectively send low, low and high potentials to the digital ports 6, 7, 8 and 9 of the microcontroller, the buzzer sends out alarm sounds, and the microcontroller sends out instructions to the steering engine driving plate after receiving corresponding signals to control the steering engine to move so as to realize the preset action of the mechanical tortoise.

Referring to fig. 1, the installation angles of the steering engine 100, the steering engine 200, the steering engine 300, and the steering engine 400 are 110 degrees, 70 degrees, and 110 degrees, respectively, and the forward lifting angles are: 150 degrees, 110 degrees, 30 degrees and 70 degrees, and the angles in the retraction plate are respectively 0 degree, 180 degrees and 0 degree. The mounting angles of the steering gears 500, 600, 700 and 800 are all 50 degrees, the leg lifting angle is 100 degrees, the standing angle is 5 degrees, and the retraction angle in the plate is 120 degrees.

The control mode of the straight walking is as follows: the steering engine 300 is horizontal, the steering engine 700 stands, the steering engine 200 is lifted in front, the steering engine 600 stands, the steering engine 800 and the steering engine 500 are lifted, the steering engine 100 and the steering engine 400 are lifted in front, the steering engine 800 and the steering engine 500 stand, the steering engine 700 and the steering engine 600 are lifted, and then the steering engine 300 and the steering engine 200 are lifted in front. The straight walking can be realized by circulating the action;

the control mode of the right turn is as follows: steering engine 300 is horizontal, steering engine 700 stands, steering engine 200 is lifted forward, steering engine 600 stands, then steering engine 800 and steering engine 500 are lifted, steering engine 100 is lifted forward, and steering engine 400 is rotated backward. Then steering engine 800 and steering engine 500 stand, steering engine 700 and steering engine 600 are lifted, and then steering engine 300 turns backwards while steering engine 200 is lifted forwards. The right turn can be realized by circulating the action;

the control mode of the left turn is as follows: steering engine 300 is horizontal, steering engine 700 stands, steering engine 200 is lifted forward, steering engine 600 stands, then steering engine 800 and steering engine 500 are lifted, steering engine 100 is rotated backward, and simultaneously steering engine 400 is lifted forward. Then steering engine 800 and steering engine 500 stand, steering engine 700 and steering engine 600 are lifted, and then steering engine 300 is lifted forward while steering engine 200 is rotated backward. The left turn can be realized by circulating the action;

the retraction control method is as follows: steering engine 500, steering engine 600, steering engine 700, and steering engine 800 are raised. Then, the steering gear 300 and the steering gear 100 are retracted into the plate. Steering engine 400 and steering engine 200 are then retracted into the plate. Then, the steering engine is driven to rotate clockwise, and the head and the tail are retracted into the plate;

the extending control mode is as follows: steering gear 400 and steering gear 200 are extended. Then, the steering gear 300 and the steering gear 100 are extended. Then, steering engine 700, steering engine 500, steering engine 800, and steering engine 600 swing down, and the limbs land and stand still. Then, the steering engine is driven to rotate anticlockwise, and the head and the tail extend out of the board.

In conclusion, in the application, the actions of the mechanical tortoise are controlled through machine vision, and a manual or remote control mode is not used, so that the control mode is more intelligent, and the intelligent level is closer to that of a real tortoise. The visual identification effect of the method can reach the level of human eyes, can identify vegetables, tigers and people, and is better than a common machine visual algorithm which can only identify colors and shapes;

the leg structure of the mechanical tortoise is improved by skillfully utilizing a multi-connecting-rod and spring mechanism, the motion form of the leg structure is closer to that of a real tortoise, and the leg structure has certain obstacle crossing capability;

the intelligent alarm device can accurately identify the falling of people and give an alarm, can accompany the old people and can also ensure the personal safety of the old people, and has good practical value and huge market potential.

In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other. The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The utility model provides a bionic machinery tortoise, includes first mounting panel and second mounting panel, its characterized in that: four horizontal driving steering engines are arranged between the first mounting plate and the second mounting plate, the driving end of each horizontal driving steering engine protrudes out of the top of the first mounting plate and is rotatably connected with a horizontal swing arm, a vertical driving steering engine is arranged outside the horizontal swing arm, the driving end of each vertical driving steering engine is rotatably connected with a vertical swing arm, a connecting rod elastic assembly is arranged between the outside of each vertical swing arm and the top of the corresponding horizontal swing arm, and a sole is arranged at the bottom of each connecting rod elastic assembly;

2. The bionic mechanical turtle as claimed in claim 1, wherein the link elastic assembly comprises a first link whose middle part is rotatably connected with the vertical swing arm;

the top of the first connecting rod is rotationally connected with the first vertex of the triangular plate, the bottom of the first connecting rod is rotationally connected with one end of a connecting plate, the other end of the connecting plate is rotationally connected with the bottom of the second connecting rod, and the sole is arranged at the bottom of the connecting plate;

3. The bionic mechanical turtle as claimed in claim 1, wherein the head-tail extension assembly comprises a bottom driving steering engine disposed on the first mounting plate, a driving end of the driving steering engine protrudes out of the top of the first mounting plate and is connected with a driving gear, the driving gear is respectively engaged with a first rack and a second rack, a tail end of the first rack is connected with the head, and a tail end of the second rack is connected with the tail.

4. The biomimetic mechanical turtle according to claim 1, wherein the rotation speed of the drive steering engine is 180rad/min.

5. The bionic mechanical turtle as claimed in claim 1, wherein a processor is disposed on the first mounting plate, and a camera electrically connected to the processor is disposed on the second mounting plate.

6. The bionic mechanical turtle as claimed in claim 2, wherein the vertical swing arm and the six-bar linkage mechanism formed by the first link, the second link, the third link, the triangle and the connecting plate, when the vertical swing arm is in a horizontal state, an included angle between the sole and the ground is 60 °, and the spring is in a stretching state.