CN103863539B

CN103863539B - A kind of nature bred turtle device

Info

Publication number: CN103863539B
Application number: CN201410090819.1A
Authority: CN
Inventors: 卢小平
Original assignee: Individual
Current assignee: Individual
Priority date: 2014-03-12
Filing date: 2014-03-12
Publication date: 2017-03-01
Anticipated expiration: 2034-03-12
Also published as: CN103863539A

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

Bionic swimming device

Technical Field

The invention relates to a bionic swimming device capable of swimming in water and crawling on land and a driving method thereof.

Background

In recent years, the bionic swimming device which can swim in water and crawl on land has been widely researched in technology and made great progress, but mainly aims at scientific research, and has the advantages of high cost, complex propelling mechanism, high energy consumption and being not beneficial to popularization and practicality.

For the turtles which are researched more in amphibious bionics, the turtles can only move in a single environment, or a traditional rotary wheel driving mode is adopted, so that interestingness and vividness are lacked.

Disclosure of Invention

In view of the above-mentioned drawbacks, it is an object of the present invention to provide a device for simulating the swimming of turtles in water and the crawling on land without using a motor drive.

The technical scheme adopted by the invention for realizing the purpose is as follows: a bionic swimming device comprises a body capable of swimming, at least two drivers, at least two propellers which are effectively connected with the drivers, a battery and a control circuit, and is characterized in that: the drivers are arranged on two sides of the body, each driver comprises a coil and a magnet which correspond to each other and is driven due to the interaction of the coil and the magnet, the propeller is made of flexible materials, extends out of the body and is bent or bent backwards, the propeller is linked with the drivers and swings relative to the body,

the battery supplies power to the control circuit, and the on-off, direction and on-off time of the current in the coil can be controlled through the control circuit, so that the direction and action time of the force of the interaction between the coil and the magnet are controlled, and the direction and action time of the action of the driver are controlled.

Preferably, each side of the body is provided with a driver, each driver comprises a shaft extending from the inside of the body to the outside and forward, and the shaft forms an angle of 40-80 degrees with the longitudinal axis of the body in the swing middle position.

Preferably, the body has an inner cavity surrounded by a sealed housing, the battery, coil and magnet are disposed in the inner cavity of the sealed housing, the shaft is sealingly penetrated through the sealed housing by a flexible sealing member, the flexible sealing member is fixed in an inner and outer double-layer rigid bushing, the inner surface of the outer wall of the flexible sealing member is tightly sleeved on the outer wall of the rigid inner bushing, and the outer surface of the outer wall of the flexible sealing member is tightly attached to the inner wall of the rigid outer bushing.

Further, the rigid outer bushing has boss structure that limits itself from rotating about the axis.

Preferably, the body has an inner cavity surrounded by a sealed housing, the shaft is provided with a propeller at one end outside the body, and the shaft is provided with one of (a) the coil or (b) the magnet at one end inside the sealed housing, the other of (a) the coil or (b) the magnet is fixedly arranged in the body, and the coil and the magnet can effectively interact to drive the driver to swing.

Preferably, the end of the shaft outside the body is provided with a propeller support, the propeller is mounted on the propeller support, a shaft-shaped structure perpendicular to the shaft axis is arranged on the propeller support, and the shaft-shaped structure is limited in a gap between the sealing shell and the bushing, so that the shaft of the driver can only swing in one direction; or,

the shaft is provided with a support at one end of the shaft in the inner cavity of the seal shell, the coil (a) or the magnet (b) is arranged on the support, the support is provided with a shaft-shaped structure perpendicular to the axis, and the shaft-shaped structure is limited in a gap between the seal shell and the rigid bushing, so that the shaft can only swing around the fixed axis.

Preferably, the coil support has an annular or semi-annular support for fixing the coil, a connecting shaft end and a positioning structure for positioning and winding the coil lead, the connecting shaft end is provided with a shaft hole for the shaft to pass through, and the shaft end of the shaft is fixed in the shaft hole of the connecting shaft end.

Preferably, the body has a generally planar bottom surface from which protrude support points, which may be integrally formed with the bottom surface or may be bumps or posts fixedly attached to the bottom surface.

Preferably, the propeller comprises a body and a flexible support structure which is inclined backwards and downwards and is positioned at the bottom of the body, when the propeller is not subjected to a restraining force from below, the lowest point of the flexible support structure is lower than the lowest point of the body, when the propeller slides forwards relative to a walking plane, the flexible support structure is subjected to resistance of the walking plane and inclines backwards and downwards, and when the propeller slides backwards relative to the walking plane, the flexible support structure deforms upwards to jack up the body of the bionic swimming device.

Preferably, the control circuit comprises a plurality of negative conductive springs, the negative conductive springs penetrate through the sealing shell from the inner cavity of the sealing shell to the battery compartment, and the negative conductive springs are in circuit contact with or welded on the PCB plate at one side of the inner cavity of the sealing shell.

The bionic device can swim in water and also can walk on land. When swimming in water, the propellers on both sides of the body swing and stroke relative to the body to advance the body. When the vehicle runs on land and the propeller swings forwards relative to the body, the backward friction force enables the arc-shaped flexible supporting structure at the bottom of the propeller to bend backwards and deform, and at the moment, the arc-shaped flexible supporting structure can normally slide; when the propeller swings backwards relative to the body, the arc-shaped flexible supporting structure is extruded by friction force to generate forward bending compression deformation, upward component force generated by the deformation acts on the propeller and the bionic swimming device, downward reaction force applied to the arc-shaped flexible supporting structure is increased along with the increase of the acting force, the friction force applied to the arc-shaped flexible supporting structure is also increased, meanwhile, the pressure of supporting points distributed below the floating body is reduced, the friction force applied to the supporting points is also reduced, and when the sum of the friction force applied to the arc-shaped flexible supporting structure is larger than the sum of the friction force applied to the supporting points below the floating body, the floating body can move forwards by taking the arc-shaped flexible supporting structure as a fulcrum.

The bionic swimming device of the invention vividly simulates the actions of the sea turtle in nature or the biological activities with similar motion characteristics with the sea turtle, and the user can conveniently and quickly realize the functions of advancing, retreating, turning left and right, crawling, jumping and the like through various control means. The invention has simple structure, low energy consumption, high flexibility and strong reliability, and supports remote control and self-programming control.

The invention is further described with reference to the following figures and examples.

Drawings

FIG. 1 is a top view of the bionic swimming device

FIG. 2 is a front view of the bionic swimming device

FIG. 3 is a bottom view of the bionic swimming device

FIG. 4 is a side view of the bionic swimming device

FIG. 5 is a top view of the bionic swimming device with the upper shell removed

FIG. 6 is a transverse cross-sectional view A-A of the bionic swimming device of FIG. 1

FIG. 7 is a partial cross-sectional view taken along line D-D of FIG. 5 of the bionic swimming device

FIG. 8 is a side cross-sectional view of the bionic swimming device

FIG. 9 is an enlarged view E of the screw position of the bionic swimming device of FIG. 8

FIG. 10 is an enlarged partial view of the bionic swimming device FIG. 5 middle actuator

FIG. 11 is a cross-sectional view C-C of the bionic swimming device of FIG. 10

FIG. 12 is a cross-sectional view F-F of the bionic swimming device of FIG. 11

FIG. 13 is an isometric view of the inferior shell of the bionic swimming device

FIG. 14 is an isometric view of the sealing member outer sleeve of the bionic swimming device

FIG. 15 is a front view of the bionic swimming device in the blade installation direction

FIG. 16 is an isometric view of a propeller support of the bionic swimming device

FIG. 17 is an isometric view of a coil support of the bionic swimming device

Detailed Description

Referring to fig. 1 to 17, the bionic swimming device of the present invention is a bionic turtle. The bionic turtle is provided with a floating body 1 and a sealed shell, so that the floating body is of a floatable structure. The sealed shell is formed by ultrasonic assembly or glue bonding of an upper shell 10 and a lower shell 11, the sealing element 2 is clamped between the upper shell and the lower shell, and the drive control circuit 4 is arranged in an inner cavity of the sealed shell.

At least two drivers 3 are symmetrically distributed on the left and right sides of the buoyant body 1. Each driver 3 includes a coil and a magnet corresponding to each other, and is driven due to the interaction of the coil and the magnet. In this embodiment, the coil is fixed to the bracket, and the magnet is fixed to the housing. Each drive 3 also comprises a shaft 35. The shaft 35 extends from the seal housing interior through the central bore of the flexible seal 23 and out of the seal housing. At one end of the shaft 35 outside the sealed housing, a propeller, i.e. a blade 34, is fixed by means of a propeller bracket 36. The paddles 34 on both sides are respectively linked with the corresponding shafts 35 and perform swinging motion in the same advancing direction relative to the floating body. The paddle 34 is a flexible component that fits with the propeller support 36 in a flip-back manner, and can be loaded and unloaded under the action of external force, but is not prone to falling off.

The shaft 35 hermetically penetrates through the sealed shell through the flexible sealing element 23, the flexible sealing element 23 is fixed in the inner and outer double-layer rigid bushings, the inner wall of the outer ring of the flexible sealing element 23 is tightly sleeved on the outer wall of the rigid inner bushing 22, the outer wall of the flexible sealing element 23 is tightly attached to the inner wall of the rigid outer bushing 21, the outer bushing 21 is hermetically connected with the sealed shell through ultrasonic welding or glue, the outer bushing 21 is provided with a boss structure 21a which is matched with the flat groove positions of the upper and lower shells to prevent circumferential rotation, and a space formed between a hole 21b of the outer bushing and the shell and the flexible sealing element 23 just accommodates a swinging shaft 36a of a propeller support 36.

The shaft 35 extends from the inside of the sealed shell to the front outside the body, and when the shaft is in the swinging middle position, an angle of 40-80 degrees is formed between the shaft and the longitudinal axis of the floating body.

One end of the shaft 35 within the sealed housing mounts one of (a) a coil or (b) a magnet. The two axes are located on the same plane. In a preferred construction, as shown in fig. 10, 11, 12, 17, etc., the coil support 33 has a ring-shaped or semi-ring-shaped support for holding the coil 31, a coupling end 33a, and a positioning structure 33b for positioning the lead wires of the wound coil. The shaft end 33a is provided with a shaft hole for the shaft 35 to pass through, and the shaft end of the shaft 35 is fixed in the shaft hole of the shaft end 33 a.

The coil 31 is an annular coil, two magnets 32 are symmetrically arranged on two sides of the annular coil, the polarities of opposite surfaces of the two magnets 32 are the same, and the outer diameter of each magnet is smaller than the diameter of an inner hole of the coil 31, so that the magnets can be sucked into the inner hole of the coil.

When the drive control circuit 4 supplies current to the coil 31, the magnetic field generated in the coil 31 interacts with the magnetic fields generated by the two magnets 32 to generate an attractive force on one side of the coil 31 and a repulsive force on the other side of the coil 31, which causes the coil 31 and coil support 33 to turn or tilt towards one of the magnets 32, causing the other end of the shaft 35 to oscillate in the opposite direction to the movement of the coil and support. When the direction of the current in the coil is changed, the direction of the force applied by the coil is changed, and the shaft 35 moves in the opposite direction. Therefore, as the current in the coil 31 is continuously changed, the polarity of the magnetic field in the coil is changed, and the shaft 35 is moved in a swing manner. The swinging of the shaft 35 will drive the blades 34 to swing, thereby pushing the floating body 1 to move.

Since the actuator 3 is mounted on the flexible seal 23, when the coil is energized, a force is generated which interacts with the magnet and, when acted upon, swings back and forth about the swing axis 36a of the propeller support 36. Since the swing shaft 36a of the propeller bracket 36 is defined in the hole 21b of the outer liner 21, the swing member can only swing about the shaft 36 a.

In the preferred embodiment, two sets of wing-shaped blades 34 which are bilaterally symmetrical and can swing back and forth relative to the body are arranged at the front of the floating body 1, different driving forces can be obtained by controlling the back and forth swinging speed and time of the blades 34, and therefore the bionic turtle can be propelled to move in water. The paddles 34 are made of a flexible material, extend outward from the body and assume a rearwardly curved or bent configuration. By rearward, it is meant that the outboard end of the blade 34 is located rearward of the axis of the inboard end of the blade 34 (i.e., the extension of the shaft 35). As shown in fig. 3, in the third implementation of the blade, in the second aft state, the outboard end of the blade 34 is located behind the inboard end, and the blade is curved in an aft arc as in 34. In the second rearward state, the outboard end of the blade 34 is forward of the inboard end, and the blade is curved rearwardly as at 34B. In the third rearward state, the paddle 34 extends obliquely forward and then extends horizontally in a bent state such as 34A. In all three modes, the body can be advanced by the paddling action generated by the swinging of the paddle.

Preferably, there are 2 front support points 11a and 2 rear support points 11b at the bottom of the floating body 1, and the wing-like paddle 34 has an arc-shaped flexible support structure 34a at the bottom obliquely backward with respect to the body. The arc-shaped flexible supporting structure 34a is lower than the planes of the front supporting point 11a and the rear supporting point 11 b. When the paddle 34 swings forwards relative to the floating body 1 in a walking state, the walking plane generates backward friction force on the paddle to enable the arc-shaped flexible supporting structure 34a to deform backwards, and at the moment, the paddle 34 shows a sliding state; when the paddle 34 swings backward relative to the floating body 1, the arc-shaped flexible supporting structure 34a is subjected to forward bending compression deformation due to the resistance of the walking plane, the deformation generates upward supporting force due to the requirement of restoration by the deformation of the flexible material and acts on the paddle 34, and as the upward acting force increases, the downward reaction force applied to the arc-shaped flexible supporting structure 34a also increases, the friction force applied to the arc-shaped flexible supporting structure 34a also increases, meanwhile, the gravity borne by the front supporting points 11a distributed below the floating body 1 is reduced, the friction force borne by the front supporting points 11a is also reduced, when the sum of the frictional forces received by the two side arc-shaped flexible supporting structures 34a is larger than the sum of the frictional forces received by the front supporting point 11a and the rear supporting point 11b under the floating body, the floating body 1 is supported and moved forward with the arc-shaped flexible supporting structure 34a as a fulcrum.

As shown in fig. 5, 6 and 7, the driving control circuit 4 is connected to a negative conductive spring 42 on the PCB 41, the negative conductive spring 42 presses against the negative electrode of the battery 44, and the PCB 41 is connected to two other positive conductive springs 43 pressing against the side surface, i.e. the positive electrode, of the battery 44, so as to provide a continuous current to the driving control circuit 4.

The machine thread screw 19 penetrates through the battery door 12, then penetrates through the PP gasket 17 in a tight fit manner, and then is locked with the nut 18, the nut 18 connected with the machine thread screw 19 is fixed in the hole structure in the lower shell 11, the outlet end of the hole structure is tightly matched with the sealing rubber plug 15, and glue is filled between the rubber plug and the lower shell to achieve the sealing effect; and a sealing rubber ring 16 is also tightly pressed between the battery door 12 and the lower case 11.

The driving control circuit 4 comprises two conductive rubber columns 45, the two conductive rubber columns 45 extend out of the shell from the inner cavity of the sealed shell, and the conductive rubber columns 45 trigger corresponding operation when the device is in water; the land movement mode may be triggered by manual touch when not in water.

The conductive rubber column 45 is made of a flexible material, is easily sealed with the housing through interference fit, and is contacted with the PCB 41 under certain pressure to achieve the purpose of conductivity, so that the process and the structure are simplified.

If the battery 44 is replaced by a rechargeable battery, and corresponding interfaces, elements and structures are added and modified, the product can be charged only when the power is off without replacing the battery, so that the one-time purchase cost is higher, but the subsequent use cost is lower.

Specific control and operation

Replacement of battery

Completely loosening the two machine thread screws 19, opening the battery door 12, taking out the used battery 44, correctly installing a new battery according to the positive and negative electrode marks of the battery, covering the battery door 12 after confirming that the sealing rubber ring 16 is installed in place, and locking the two machine thread screws 19.

Control of

The bionic swimming device can adopt various remote control modes, and can also be automatically controlled by a program, or various sensors which can sense acousto-optic change or touch and the like and a microprocessor which can process signals of the sensors are arranged in the floating body, so that the bionic swimming device can sense the outside and execute different actions.

Movement of

By changing the direction and frequency of the pulse current of the driving coil 31, the motion mode of the bionic swimming device can be changed:

moving in water directly: when the two coils act synchronously, a straight-going effect is formed;

retreating in water: when the two coils are electrified and move straight, the reverse phase will generate the backward effect;

turning for small bending: when only a single blade acts rapidly, the effect of small turning can be generated;

turning for large bending: when only a single blade acts slowly or two blades move in a differential speed mode, the effect of large turning can be generated;

land crawling: when the phase difference between the electrified current of the two coils and the waveform is 180 degrees, the creeping effect can be generated;

land jumping: when the two coil currents have the same waveform and the same phase, the effect of jumping is generated.

Different combinations of energization directions and energization times (pulse widths) in the two sets of coils are made, and other different actions or action combinations can be obtained.

Advantages of the invention

The bionic swimming device can vividly simulate the actions of the turtle of advancing, turning, gliding and crawling on the ground in water, and can be controlled or remotely controlled by various driving circuit programs.

As described in the embodiments of the present invention, other driving and controlling methods of the bionic swimming device having the same or similar structure as the present invention are within the scope of the present invention.

Claims

1. A bionic swimming device comprises a body capable of swimming, at least two drivers, at least two propellers which are effectively connected with the drivers, a battery and a control circuit, and is characterized in that: each driver is arranged on two sides of the body and comprises a shaft, the shaft extends outwards and forwards from the inside of the body, the shaft forms an angle of 40-80 degrees with the longitudinal axis of the body when in the middle position of swinging, each driver also comprises a coil and a magnet which correspond to each other and are driven due to the interaction of the coil and the magnet,

the propeller extends out of the body and is in a backward bending or bending state, the propeller is linked with the driver and swings relative to the body, the propeller is made of flexible materials and comprises a body and a flexible supporting structure which is positioned at the bottom of the body and inclines backwards and downwards, when the bionic swimming device walks on a plane, the propeller moves forwards relative to the walking plane, the flexible supporting structure is inclined backwards and downwards under the resistance of the walking plane, when the propeller moves backwards relative to the walking plane, the flexible supporting structure deforms upwards to jack up the body of the bionic swimming device,

2. A biomimetic swimming device according to claim 1, wherein: the body has an inner cavity surrounded by a sealed shell, the battery, the coil and the magnet are arranged in the inner cavity of the sealed shell, the shaft penetrates through the sealed shell in a sealing mode through a flexible sealing element, the flexible sealing element is fixed in an inner layer rigid bushing and an outer layer rigid bushing, the inner surface of the outer wall of the flexible sealing element is tightly sleeved on the outer wall of the rigid inner bushing, and the outer surface of the outer wall of the flexible sealing element is tightly attached to the inner wall of the rigid outer bushing.

3. A biomimetic swimming device according to claim 2, wherein: the rigid outer bushing has boss structure that limits itself from rotating about the axis.

4. A biomimetic swimming device according to claim 1, wherein: the body is provided with an inner cavity which is wrapped by a sealed shell, one end of the shaft, which is positioned outside the body, is provided with a propeller, one end of the shaft, which is positioned inside the inner cavity of the sealed shell, is provided with one of the coil or the magnet, and the other of the coil or the magnet is fixedly arranged inside the body and can effectively interact with the magnet to drive the driver to swing.

5. A biomimetic swimming device according to claim 2, wherein: the end of the shaft, which is positioned outside the body, is provided with a propeller bracket, the propeller is arranged on the propeller bracket, a shaft-shaped structure which is perpendicular to the axis of the shaft is arranged on the propeller bracket, and the shaft-shaped structure is limited in a gap between the sealing shell and the bushing, so that the shaft of the driver can only swing in one direction; or,

the shaft is characterized in that a support is arranged at one end of the shaft, which is positioned in the inner cavity of the seal shell, the coil or the magnet is arranged on the support, a shaft-shaped structure perpendicular to the axis is arranged on the support, and the shaft-shaped structure is limited in a gap between the seal shell and the rigid bushing, so that the shaft can only swing around the fixed axis.

6. The biomimetic swimming device of claim 5, wherein: the support for fixing the coil is provided with an annular or semi-annular support for fixing the coil, a connecting shaft end and a positioning structure for positioning and winding a coil lead, wherein the connecting shaft end is provided with a shaft hole for the shaft to pass through, and the shaft end of the shaft is fixed in the shaft hole of the connecting shaft end.

7. A biomimetic swimming device according to claim 1, wherein: the body has a generally flat bottom surface from which protrude support points which may be integrally formed with the bottom surface or which may be bumps or posts fixedly attached to the bottom surface.

8. A biomimetic swimming device according to claim 2, wherein: the control circuit comprises a plurality of negative conductive springs, the negative conductive springs penetrate through the sealing shell from the inner cavity of the sealing shell to the battery compartment, and the negative conductive springs are in circuit contact with or welded on the PCB plate at one side of the inner cavity of the sealing shell.