CN108714891A - A kind of bionical scorpion tail of multi-joint of the autonomous distributed power of band - Google Patents
A kind of bionical scorpion tail of multi-joint of the autonomous distributed power of band Download PDFInfo
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- CN108714891A CN108714891A CN201810891119.0A CN201810891119A CN108714891A CN 108714891 A CN108714891 A CN 108714891A CN 201810891119 A CN201810891119 A CN 201810891119A CN 108714891 A CN108714891 A CN 108714891A
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- Prior art keywords
- joint
- periproct
- distributed power
- scorpion tail
- speed reducer
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- 241000239226 Scorpiones Species 0.000 title claims abstract description 55
- 238000005183 dynamical system Methods 0.000 claims abstract description 21
- 208000037873 arthrodesis Diseases 0.000 claims abstract description 3
- 239000003638 chemical reducing agent Substances 0.000 claims description 39
- 230000033001 locomotion Effects 0.000 claims description 9
- 238000005553 drilling Methods 0.000 claims description 7
- 239000003795 chemical substances by application Substances 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical group [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 2
- 238000004891 communication Methods 0.000 claims description 2
- 238000009432 framing Methods 0.000 claims description 2
- 229910021389 graphene Inorganic materials 0.000 claims description 2
- 230000001681 protective effect Effects 0.000 claims description 2
- 230000003014 reinforcing effect Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 2
- 239000011664 nicotinic acid Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 235000001968 nicotinic acid Nutrition 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 241000040710 Chela Species 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 229910001234 light alloy Inorganic materials 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 230000003278 mimic effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000001568 sexual effect Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
Abstract
A kind of bionical scorpion tail of multi-joint of the autonomous distributed power of band, including link, periproct are additionally provided with three-dimensional joint, two-dimentional joint, anal spine device, dynamical system, intelligent electric-controlled device；The three-dimensional arthrodesis is connected on link and with periproct, it is joined end to end successively by two-dimentional joint between each periproct, anal spine device is connected by two-dimentional joint with periproct, dynamical system is fixed in the cavity of periproct, respectively with three-dimensional joint, two-dimentional joint, anal spine device is electrically connected or piping connection, intelligent electric-controlled device is fixed in the cavity of link or/and periproct or/and anal spine device, and intelligent electric-controlled device is electrically connected with dynamical system, three-dimensional joint, two-dimentional joint, anal spine device respectively.The configuration of the present invention is simple, installation and removal are convenient；Failure is low, and reliability is high；It is widely used.
Description
Technical field
The present invention relates to Intelligent bionic machinery people's technical fields, and in particular to a kind of multi-joint of the autonomous distributed power of band is imitative
Raw scorpion tail.
Background technology
Since the 1950s, it has been recognized that biosystem is to open up one of main path of new technology,
Using organism as the source of creativity and innovation.People's chemistry, physics, mathematics and technology model carry out biosystem
In-depth study promotes the tremendous expansion of biology, and rapid progress is also achieved to the research of biological in vivo functionality mechanism.
Start to be used for improving engineering technology equipment old or that creation is new by the knowledge obtained from living nature.Biology starts to stride into each row
The ranks of each industry technological innovation and technological revolution, and first automatically control, aviation, the military services such as navigation achieve into
Work(.Then biology and engineering technology program are combined together, and are interpenetrated, and a newborn science is pregnant with --- and it is bionical
It learns.
As an independent subject, bionics is formally born in nineteen sixty September.It is the science of mimic biology.Definitely
Ground says that bionics is the various excellent features such as the structure for studying biosystem, speciality, function, energy conversion, information control,
And they are applied to technological system, improve existing engineering equipment, and create new technical process, building configuration,
The Comprehensive Science of the technological systems such as automation equipment.
The multiple degrees of freedom scorpion tail and anal spine of scorpion, this unique texture was evolved by more than one hundred million years, to attacking, grabbing
Taking in equal bio-robots functional development has important reference value.
Currently, in terms of bionic mechanical research and development, the document report for being related to bionical scorpion tail is few.
Chinese patent CN201720505618.2 discloses a kind of bionical scorpion Detecting Robot, wherein the tail portion is by more
A periproct is sequentially connected end to end in turn composition, and the rear end of the end and trunk that are located at the first periproct is hinged, is located at last precedence
The end of periproct is connected with camera.There are following defects for the tail portion of the patent：One）Power source concentrates on bionic machine body frame
On frame, the power of tail portion need to be provided by the dynamical system on robot body's frame, easily because of connection cables or hydraulic pipeline frequency
Numerous movement causes to wear and paralyse；Two）Monoblock type centrally connected power source is arranged on bionic machine human agent, there are the charging time it is long,
The low problem of charge efficiency；Three）Connection cables or/and hydraulic pipeline needed for the joint of bionical tail portion and robot body's frame
It must be connected directly, extremely inconvenient dismounting：Four）Investigation function of taking pictures mainly is completed in tail portion, has a single function；Five）The fortune of multi-joint
Dynamic range is in planar, cannot achieve three-dimensional multi-angle movement.
Invention content
The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a kind of simple in structure, dismounting side
Just, there is autonomous dynamic source, the bionical scorpion tail of multi-joint of the multivariant autonomous distributed power of band.
The technical solution adopted by the present invention to solve the technical problems is that a kind of multi-joint of the autonomous distributed power of band is bionical
Scorpion tail, including link, periproct are additionally provided with three-dimensional joint, two-dimentional joint, anal spine device, dynamical system, intelligent electric-controlled device；
Wherein quantity >=4 of periproct；The three-dimensional arthrodesis is connected on link and with periproct, passes through two between each periproct
Dimension joint joins end to end successively, and the anal spine device is connected by two-dimentional joint with periproct, and the dynamical system is fixed on
In the cavity of periproct, respectively with three-dimensional joint, two-dimentional joint, anal spine device be electrically connected or piping connection, intelligent electric-controlled device is consolidated
Be scheduled in the cavity of link or/and periproct or/and anal spine device, intelligent electric-controlled device respectively with dynamical system, three-dimensional joint,
Two-dimentional joint, the electrical connection of anal spine device.
Further, the three-dimensional joint includes speed reducer I, drive motor I, joint frame, speed reducer II, drive motor II,
The drive motor I is fixed on I end of speed reducer, and the drive motor II is fixed on II end of speed reducer, the speed reducer I,
Speed reducer II is fixed on the both ends of joint frame with non-parallel be staggered, and three-dimensional joint can be made to realize that three dimensions is swung；Two dimension
Joint III includes speed reducer III and the drive motor III for being fixed on its end, and two-dimentional joint III is made to realize that two dimensional surface is swung.
Further, the link is bolt-type link or buckle-type link or bolt type link, is facilitated band
The bionical scorpion tail of multi-joint of autonomous distributed power is quickly fastened on bio-robot main body frame.
Further, the periproct is the framing component with cavity, and dynamical system and intelligent electric-controlled device are installed in the cavity
Remaining space afterwards is filled with lightweight buoyancy material part, to increase the buoyancy of bionical scorpion tail in water；The gabarit of the periproct
Equipped with reinforcing rib and/or protective materials.
Further, the dynamical system includes mainly battery pack and/or solar energy film part, and the battery pack is lithium battery
Group or graphene battery group；The solar energy film part is arranged on the periproct.
Further, the intelligent electric-controlled device includes mainly controller, charge port and electric plug；Controller is fixed on periproct
Cavity in, the movement for controlling the joint；The charge port is arranged on link or anal spine device, for bionical
Battery pack charging inside scorpion tail；The electric plug is arranged on the link, is used for and bio-robot agent communication.
Further, the intelligent electric-controlled device is additionally provided with the aiding sensors being monitored to surrounding enviroment situation.
Further, the aiding sensors are temperature sensor, ultrasonic sensor, laser range finder, image recognition system
One or more of system etc..
Further, the drive motor is the servo motor of band brake or the stepper motor of band brake；The speed reducer is
Right angle reductor or RV speed reducers or worm-gear speed reducer.
Further, camera, supersonic generator, laser weapon, infrasound can be arranged on the anal spine device to occur
The devices such as device, jet pump, drilling mechanism assign its more function.
The bionical scorpion tail of multi-joint of the autonomous distributed power of band of the present invention carries intelligent electric-controlled device and dynamical system, can be with
The bionical scorpion tail self-movement of autonomous control；Bionical scorpion tail entirely through link can rapidly with bio-robot main body frame
It is fixedly connected, when needing repair demolition to maintain and replacing, can also realize and quickly remove and replace bionical scorpion tail.
In bionic mechanical scorpion motion process, the intelligent controller of bionical scorpion tail can be used as two-level controller, can be according to imitative
Controller in life tool scorpion main body（Primary controller）Control instruction, calculate and determine three-dimensional joint, two dimension on bionical scorpion tail
Joint, anal spine device kinematic parameter and movement locus.The drive motor of bionical scorpion tail is driven in the case where battery pack provides power support
It is swung in dynamic speed reducer band movable joint polarizers of big angle scope；Intelligent controller adjusts driving horse according to the electric signal of sensor simultaneously
Up to start and stop；And solar panel/the film being arranged on bionical scorpion tail, it may be implemented to charge to battery pack, reduce to external electrical
The dependence in source.
To sum up, compared with the prior art, the present invention has the positive effect that：1）More passes with autonomous distributed power
Save bionical scorpion tail, it is only necessary to which link and electric plug achieve that and be connected and communicate with bionic machine human agent, are not necessarily to a large amount of hydraulic pressure
The connection of pipeline and electric wiring, simple in structure, installation and removal are convenient；Pipeline wear-out failure is greatly reduced simultaneously, and complete machine can
It is improved by property；2）The joint action of bionical scorpion tail can realize that stagewise intelligent controller controls, relative to concentrating on bionic machine
The complexity of control system can be greatly reduced in integrated control on human agent；3）Distributed battery is set on bionical scorpion tail
Group and charge port are connected to without a large amount of electric wirings in main body, that is, improve reliability, and improve charge efficiency；It is bionical simultaneously
The solar panels or film being arranged on scorpion tail can charge to battery pack on the bionical scorpion tail at place, and reducing external energy needs
It asks；4）Life-detection instrument, camera, headlamp, laser gun, infrasonic wave generator, drilling equipment etc. can be set on bionical scorpion tail
Instrument goods tool assigns the multiple functions such as its life detection, camera shooting, illumination, transmitting laser, infrasound generation, can facilitate bionical
Mechanical scorpion is in the multiduty use of earthquake rescue, security protection, military investigation, field exploration etc..
Description of the drawings
Fig. 1 is the three dimensional structure diagram of the embodiment of the present invention 1；
Fig. 2 is the structural schematic diagram of the embodiment of the present invention 1；
Fig. 3 is the three dimensional structure diagram of the embodiment of the present invention 2；
Fig. 4 is the structural schematic diagram of the embodiment of the present invention 2；
Fig. 5 is the three dimensional structure diagram of the embodiment of the present invention 3；
Fig. 6 is the structural schematic diagram of the embodiment of the present invention 3；
Fig. 7 is the three dimensional structure diagram of anal spine device in the embodiment of the present invention 1,2 and 3.
Specific implementation mode
The present invention is further described in detail below with reference to the accompanying drawings and embodiments.
Embodiment 1
Referring to Fig.1, Fig. 2, the bionical scorpion tail of multi-joint of the autonomous distributed power of the present embodiment band include mainly link 1, three-dimensional pass
Section 2, periproct A, two-dimentional joint I 3, periproct B, two-dimentional joint II 4, periproct C, two-dimentional joint III 5, periproct D, two-dimentional joint IV 6, tail
Thorn device 7, dynamical system 8 and intelligent electric-controlled device 9；Three-dimensional joint 2 is fixed on link 1 and is connected with periproct A, periproct A,
Periproct B, periproct C, periproct D, anal spine device 7 pass sequentially through two-dimentional joint I 3, two-dimentional joint II 4, two-dimentional joint III 5, two dimension pass
IV 6 are saved to be connected；Dynamical system 5 is fixed in the cavity of periproct B, periproct C, periproct D, with three-dimensional joint 2, two-dimentional joint I 3,
Two-dimentional joint II 4, two-dimentional joint III 5, two-dimentional joint IV 6 be electrically connected, intelligent electric-controlled device 9 is fixed in the cavity of periproct A,
Respectively with dynamical system 8, three-dimensional joint 2, two-dimentional joint I 3, two-dimentional joint II 4, two-dimentional joint III 5, two-dimentional joint IV 6 and tail
Thorn device 7 is electrically connected.
Three-dimensional joint 2 includes mainly speed reducer I 201, drive motor I 202, joint frame 203, speed reducer II 204 and driving
Motor II 205, drive motor I 202 are fixed on I 201 end of speed reducer, and drive motor II 205 is fixed on II 204 end of speed reducer
Portion, speed reducer I 201, speed reducer II 204 are staggered with 90 degree is fixed on the both ends of joint frame 203, and three-dimensional joint 2 can be made real
Existing three dimensions is swung；Two-dimentional joint I 3 includes mainly speed reducer III 301 and the drive motor III 302 for being fixed on its end；Two
Dimension joint II 4 includes mainly speed reducer IV 401 and the drive motor IV 402 for being fixed on its end, and two-dimentional joint III 5 includes mainly
Speed reducer V 501 and the drive motor V 502 for being fixed on its end, two-dimentional joint IV 6 include mainly speed reducer VI 601 and fix
Drive motor VI 602 in its end can make two-dimentional joint I 3, two-dimentional joint II 4, two-dimentional joint III 5, two-dimentional joint IV 6 real
Existing two dimensional surface is swung；
Anal spine device 7 is mainly comprising anal spine apparatus structure part 701, drive motor 702, speed reducer 703, formulation reservoir 705, pendulum
Dynamic cylinder 706 and injection anal spine 707, wherein anal spine device 7 can be when receiving attack instruction, to enemy's spraying medicine and piercing
Enemy's body squeezes into medicament.
Link 1 is fixed bolt hole equipped with card slot, is used for the bionical scorpion tail of the multi-joint with autonomous hydraulic pressure distributed power
Quickly it is fastened on bio-robot main body frame；Periproct A, periproct B, periproct C and periproct D are the frame structure with cavity
Part facilitates cavity inside arrangement dynamical system 8, intelligent electric-controlled device 9.
Dynamical system 8 includes mainly battery pack I 801, battery pack II 802, battery pack III 803；Dynamical system 8 passes through driving
Drive motor I 202, drive motor II 205, drive motor III 302, drive motor IV 402, drive motor V 502, drive motor
VI 602 rotate forward, invert, locking, and realization is to three-dimensional joint 2, two-dimentional joint I 3, two-dimentional joint II 4, two-dimentional joint III 5, two-dimentional pass
Save IV 6 movement and stopping.
Intelligent electric-controlled device 9 includes mainly intelligent controller 901, charger 902, electric plug 903, intelligent controller 901
It is fixed in the framework of periproct A, according to drive motor I 202, drive motor II 205, drive motor III 302, drive motor IV
402, the electric signal that drive motor V 502, drive motor VI 602 are fed back, 5 joint precise motions of control biomimetics scorpion tail；It fills
Electric appliance 902 is arranged in anal spine device 7, and for charging to bionical scorpion tail, electric plug 903 is arranged on link 1, is used for and bionical
Robot body communicates.
The abnormity component with cavity is made in periproct A, periproct B, periproct C and the preferred high-strength light alloys of periproct D, to reduce
Bionical scorpion cabrage amount and sports energy consumption.Drive motor I 202, drive motor II 205, drive motor III 302, drive motor IV
402, drive motor V 502, drive motor VI 602, can locking and feedback electric signals using the servo motor of band brake.It is described to subtract
Fast machine I 201, speed reducer II 204, speed reducer III 301, speed reducer IV 401, speed reducer V 501, speed reducer VI 601 are subtracted using RV
Fast machine.Battery pack I 801, battery pack II 802, battery pack III 803 use rechargeable lithium battary.
The bionical scorpion tail of multi-joint of the autonomous hydraulic pressure distributed power of band of the present invention carries intelligent electric-controlled device 9 and dynamical system 8,
It can be with the bionical scorpion tail self-movement of autonomous control；Bionical scorpion tail entirely through link 1 can rapidly with bio-robot master
Body frame is fixedly connected, and when needing repair demolition to maintain and replacing, can also be realized and quickly be removed and replace bionical scorpion tail；Bionical
In robot kinematics, the intelligent controller of bionical scorpion tail can be used as two-level controller, can be according on bionic machine human agent
Controller（Primary controller）Control instruction, calculate and determine that three-dimensional joint 2 on bionical chela, two-dimentional joint I 3, two dimension are closed
The kinematic parameter and movement locus for saving II 4, two-dimentional joint III 5 and two-dimentional joint IV 6, realize the rotating forward, reversion and locking in joint.
Anal spine device 7 includes mainly anal spine apparatus structure part 701, drive motor 702, speed reducer 703 and anal spine drilling rod
704, wherein anal spine drilling rod 704 can be drilled and be attacked under the action of drive motor 702.
Embodiment 2
With reference to Fig. 3, Fig. 4, the bionical scorpion tail of multi-joint of the autonomous distributed power of the present embodiment band, with differing only in for embodiment 1：
The abnormity component with cavity is made using aluminium alloy in periproct A, periproct B, periproct C and periproct D, and periproct is internally provided with anti-
The damping material part of impact reduces the impact damage for receiving attack；Anal spine device 7 includes mainly anal spine apparatus structure part
701, drive motor 702, speed reducer 703 and anal spine drilling rod 704, wherein anal spine drilling rod, can be under the action of drive motor 702
Row probing and attack；Intelligent electric-controlled device 9 mainly include intelligent controller 901, and wirelessly carry out charging and it is bionical
Robot body communicates.
Embodiment 3
With reference to Fig. 5, Fig. 6, Fig. 7, the bionical scorpion tail of multi-joint of the autonomous distributed power of the present embodiment band only exists with the difference of embodiment 1
In：Link 1 uses fixed pin holes form, for quickly connecting；Periproct A, periproct B, periproct C and periproct D use titanium alloy system
At the abnormity component with cavity, wherein periproct C Surface is provided with sun membrane C4 for collecting solar energy.Battery pack I 801,
Battery pack II 802, battery pack III 803 are arranged in the cavity of periproct A, periproct C, periproct D, and intelligent controller 901 is arranged in tail
In the cavity for saving B;Using laser lotus flower anal spine structure occurs for anal spine device 7, mainly comprising anal spine apparatus structure part 701, driving
Motor 702, speed reducer 703, petal piece 707, driving pull rod 708, drive disk 709, laser mounting disc 710, can pacify in laser
Laser, infrasonic sound wave launcher are installed in sabot, after the opening of petal piece 707, laser is carried out to enemy or secondary wave is attacked,
Under petal piece contraction state, contact sexual assault can be carried out as drill bit.
Those skilled in the art can be carry out various modifications to the present invention and modification, if these modifications and variations are at this
Within the scope of invention claim and its equivalent technologies, then these modifications and variations are also within protection scope of the present invention.
The prior art that the content not being described in detail in specification is known to the skilled person.
Claims (10)
1. a kind of bionical scorpion tail of multi-joint of autonomous distributed power of band, including link, periproct, which is characterized in that be additionally provided with three
Tie up joint, two-dimentional joint, anal spine device, dynamical system, intelligent electric-controlled device；Wherein quantity >=4 of periproct；The three-dimensional
Arthrodesis is connected on link and with periproct, is joined end to end successively by two-dimentional joint between each periproct, the anal spine
Device is connected by two-dimentional joint with periproct, and the dynamical system is fixed in the cavity of periproct, respectively with three-dimensional joint, two
Joint, the electrical connection of anal spine device or piping connection are tieed up, intelligent electric-controlled device is fixed on link or/and periproct or/and anal spine dress
In the cavity set, intelligent electric-controlled device is electrically connected with dynamical system, three-dimensional joint, two-dimentional joint, anal spine device respectively.
2. the bionical scorpion tail of multi-joint as described in claim 1 with autonomous distributed power, which is characterized in that the three-dimensional joint
Including speed reducer I, drive motor I, joint frame, speed reducer II and drive motor II, the drive motor I is fixed on speed reducer I
End, the drive motor II are fixed on II end of speed reducer, and the speed reducer I, speed reducer II are staggered admittedly with non-parallel
The both ends of joint frame are scheduled on, three-dimensional joint can be made to realize that three dimensions is swung；Wherein two-dimentional joint III is including speed reducer III and admittedly
It is scheduled on the drive motor III of its end, two-dimentional joint III is made to realize that two dimensional surface is swung.
3. the bionical scorpion tail of multi-joint as claimed in claim 1 or 2 with autonomous distributed power, which is characterized in that the connection
Frame is bolt-type link or buckle-type link or bolt type link, is facilitated the multi-joint with autonomous distributed power is bionical
Scorpion tail is quickly fastened on bio-robot main body frame.
4. the bionical scorpion tail of multi-joint of the autonomous distributed power of band as described in one of claim 1-3, which is characterized in that the tail
Section is the framing component with cavity, and the remaining space after dynamical system and intelligent electric-controlled device, filling are installed in the cavity
There is lightweight buoyancy material part, to increase the buoyancy of bionical scorpion tail in water；The gabarit of the periproct is equipped with reinforcing rib and/or prevents
Protective material.
5. the bionical scorpion tail of multi-joint of the autonomous distributed power of band as described in one of claim 1-4, which is characterized in that described dynamic
Force system includes mainly battery pack and/or solar energy film part, and the battery pack is lithium battery group or graphene battery group；It is described
Solar energy film part is arranged on the periproct.
6. the bionical scorpion tail of multi-joint of the autonomous distributed power of band as described in one of claim 1-5, which is characterized in that the intelligence
Energy electric control gear includes mainly controller, charge port and electric plug；Controller is fixed in the cavity of periproct, described for controlling
The movement in joint；The charge port is arranged on link or anal spine device, for charging to the battery pack inside bionical scorpion tail；
The electric plug is arranged on the link, is used for and bio-robot agent communication.
7. the bionical scorpion tail of multi-joint of the autonomous distributed power of band as described in one of claim 1-6, which is characterized in that the intelligence
Energy electric control gear is additionally provided with the aiding sensors being monitored to surrounding enviroment situation.
8. the bionical scorpion tail of multi-joint as claimed in claim 7 with autonomous distributed power, which is characterized in that the auxiliary sensing
Device is one or more of temperature sensor, ultrasonic sensor, laser range finder, image identification system.
9. the bionical scorpion tail of multi-joint as claimed in claim 2 with autonomous distributed power, which is characterized in that the drive motor
For the servo motor of band brake or the stepper motor of band brake；The speed reducer is that harmonic wave speed reducing machine or right angle reductor or RV subtract
Fast machine or worm-gear speed reducer.
10. the bionical scorpion tail of multi-joint of the autonomous distributed power of band as described in one of claim 1-9, which is characterized in that described
Anal spine device on camera, supersonic generator, laser weapon, infrasonic wave generator, jet pump, drilling mechanism etc. can be set
Device.
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