CN205273662U - For military use bionical operation robot based on bionics principle - Google Patents
For military use bionical operation robot based on bionics principle Download PDFInfo
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- CN205273662U CN205273662U CN201620019561.0U CN201620019561U CN205273662U CN 205273662 U CN205273662 U CN 205273662U CN 201620019561 U CN201620019561 U CN 201620019561U CN 205273662 U CN205273662 U CN 205273662U
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Abstract
The utility model relates to a for military use bionical operation robot based on bionics principle, including the organism, the organism has an airborne platform of the different operation modules of demountable installation, the organism outside install can realize the robot at six bionical walking legs of creeping, switching over between flight and three kinds of wheeled motion states, central processing module is installed to the organism, with data transmission module, orientation module, sensor module and the motor control module that central processing module is connected, motor control module with control the motor module that the machine people moved and be connected, every bionical walking leg reaches swing back and forth's support leg about can realizing, the wheel that rolls is installed to support leg's lower part, and rotatable style of the shoe is installed enough in the outside of the wheel that rolls, support leg's mid -mounting flight rotor. The utility model discloses applicablely not only avoided the loss of energy in various road surfaces, more promoted the trafficability characteristic can, have the characteristics that environmental suitability is strong, can use the scientific investigation, arrange explode, places such as emergency rescue and disaster relief, military surveillance.
Description
Technical field
The utility model belongs to robot technology field, is specifically related to a kind of military bionical fighter robot based on bionics principle.
Background technology
Modern war is exactly the war of in the high-tech in fact, and the trial of strength of military strength is the trial of strength of weaponry to a great extent. Under these conditions, the various military robot that the mankind can be replaced to perform operation task arises at the historic moment. On the one hand, due to operation variation multiterminal, battlefield surroundings is intricate, when performing military mission, may run into or smooth or rugged road surface, it is also possible to running into the road conditions that such as trench, ditch etc. are difficult to walk, military robot is proposed very high requirement by ability by this. On the other hand, the robot produced at present is single wheeled or single track type motion structure mostly. Single wheeled construction robot, less energy intensive, mobility strong, it can be difficult to through complicated road conditions, environmental compatibility is poor; Single robot of track type mechanism, obstacle detouring ability increases, but its power consumption is higher, and the waste of generate energy on smooth road surface, maneuverability is poor. In addition, in the environment that some are severe, during as run into the obstacle such as stream, trench, major part robot will be difficult to pass through, and affects the performance of its operational performance. Therefore, for the road surface situation of complexity, design one and there is multi-motion modes, can effectively avoid the loss of energy, the robot again with the very strong obstacle detouring traffic capacity, for complete variation fight and prospecting task, reduce loss of life and personal injury tool have very important significance.
Practical novel content
The purpose of this utility model is to solve above-mentioned technical problem and provide a kind of military bionical fighter robot based on bionics principle.
For achieving the above object, the utility model adopts following technical scheme:
A kind of military bionical fighter robot based on bionics principle, comprise body, described body has the machine carrying platform that can remove and install different operation modules, it is provided with six outside described body and realizes robot only at the bionic walking leg creeped, fly and switch between wheeled three kinds of kinestates, described body is provided with central processing module, transfer module, locating module, sensor assembly and the motor control module being connected with described central processing module, described motor control module is connected with the motor module of control machine human action; Wherein, every bionic walking leg comprises can realize leg-supporting that is upper and lower and front and back swing, and the bottom of described leg-supporting is provided with scroll wheel, and the outside of described scroll wheel is provided with rotating hoof type foot, and flight rotor is installed at the middle part of described leg-supporting.
The top of described leg-supporting connects leg-supporting oscillating control device, described leg-supporting oscillating control device comprise for realize described rotor aircraft open or closed the first rotation mechanism, for realizing the 2nd rotation mechanism that described leg-supporting swings up and down, the connection section that described first rotation mechanism is formed by two web plates with described 2nd rotation mechanism is connected, and described connection section is connected by the 3rd rotation mechanism realizing swinging before and after described leg-supporting with described body.
Described leg-supporting comprises two pieces of back up pads being oppositely arranged, every block back up pad connects two hoof type foots by hoof type foot rotation axis, described in each, hoof type foot connects described back up pad by an expansion link, and described scroll wheel is arranged between described two back up pads by wheel shaft; When described hoof type foot is in raised configuration, described scroll wheel contacts with bearing surface.
The hollow cup motor of described flight rotor is arranged between described two back up pads, and the water screw connecting described hollow cup motor is positioned at the outside of a described back up pad.
Described sensor assembly comprises gyro module, infrared detection module, video sensor.
Described transfer module connects remote control module by wireless module, the upper computer that described remote control module comprises control end module and is connected with described control end module, and described control end module is connected with described transfer module.
Described central processing module is connected with described locating module by CAN, it is achieved data exchange, and described locating module adopts military Big Dipper locating module.
Described central processing module have the I for carrying out connecting from different operation module O Interface module.
The outside surface of described robot is coated with pseudo-charging sheet material layers.
The extension and contraction control arm that described machine carrying platform comprises turnbarrel and is connected with described turnbarrel, the top of described turnbarrel is provided with operation module and carries frame, and described operation module is carried frame and is connected with the other end of described contracting control arm.
The utility model utilizes six bionical leg structures to realize the movement of robot on smooth road surface and the walking on rough ground, flight rotor structure is utilized to complete the flight controlling of robot, by machine carrying platform can realize fighting the installation of module by disassembling function, the design of three kinds of athletic postures improves the environmental compatibility of this robot, different modularization operation modules makes this robot can complete the scouting of variation, explosive, hit, the operation tasks such as portable, solve current field operations robot obstacle detouring poor-performing, the problem that mode of motion is single.
Accompanying drawing explanation
The schematic diagram of the bionical fighter robot that Fig. 1 provides for the utility model embodiment under the state of creeping;
Bionical fighter robot schematic diagram under flight state that Fig. 2 provides for the utility model embodiment;
Fig. 3 for the utility model embodiment provide the schematic diagram of bionic walking leg of bionical fighter robot;
Fig. 4 for the utility model embodiment provide bionical fighter robot triped gait walking schematic diagram;
Fig. 5 show the workflow schematic diagram of this novel bionical fighter robot;
Fig. 6 show the schematic diagram of the Controlling System of this novel bionical fighter robot.
Embodiment
Below, in conjunction with example, substantive distinguishing features of the present utility model and advantage are further described, but the utility model is not limited to listed embodiment.
Shown in Fig. 1-6, a kind of military bionical fighter robot based on bionics principle, comprise body 100, described body has the machine carrying platform 10 that can remove and install different operation modules 30, it is provided with six outside described body to realize robot only and creeping, the bionic walking leg 20 flown and switch between wheeled three kinds of kinestates, shown in Figure 6, described body is provided with central processing module, the transfer module being connected with described central processing module, locating module, sensor assembly and motor control module, described motor control module is connected with the motor module of control machine human action, shown in Fig. 1-3, wherein, every bionic walking leg comprises can realize leg-supporting that is upper and lower and front and back swing, and the bottom of described leg-supporting is provided with scroll wheel 23, the outside of described scroll wheel is provided with rotating hoof type foot 24, and flight rotor is installed at the middle part of described leg-supporting.
Described motor module comprises multiple motor, for realizing motion control, mainly utilize PWM width modulation to realize the control to motor speed, motor carries the sensor feedback status signals such as encoder, thus realize the PID to motor and control, thus realize the control of the kinestate of robot.
Traditional wheeled or crawler belt is not suitable for mountain region and many obstacles ground and advances, and six biped robots can be walked on these road surfaces, turned round, across obstacle, the feature that the area of the foot foothold of six foot structures is little makes it that maneuvering ability in hollow mountain region and adaptability is stronger, there is higher obstacle detouring ability, robot whole machine balancing degree can be kept simultaneously.
The walking movement of six leg structures is realized by triped gait. Triped gait is two groups of legs (the middle leg of the foreleg of body side, back leg and another side) of odex, and the action of three legs being namely in support triangle shape is completely the same, is all in and swings mutually or be all in support phase. The triped gait of the utility model robot moves as shown in Figure 4.
It is below in detail triped gait is explained:
Shown in Figure 4, when robot starts to move, first left front leg 201 and left side rear 203, in right side, leg 205 forms triangular supports, to ensure that robot center of gravity is being in trilateral, has stability, not easily falls down. In right front leg 204 and right side rear 206 and left side, leg 202 lifts, and prepares forward rocking motion. In left side, leg 202, right front leg 204 and right side rear 206 are forward across step. Owing to leg 204 in leg in left side 202, right side and swinging across step of right side rear 206 have made leg 205 in the left front leg 201 supported and left side rear 203, right side carry out the swing of certain angle, supporting while robot body, robot body also moves forward half step-length S.
Collective of robot advances after half step-length S, leg 202 in the left side swung, right front leg 204 and right side rear 206 are put down rapidly, take over left front leg 201 and left side rear 203, in right side, leg 205 forms new gusseted, being that the position of centre of gravity of robot is stable is in leg 202 in left side, right front leg 204 and right side rear 206 3 support in the A-frame that leg is formed, left front leg 201 and left side rear 203, in right side, leg 205 has lifted and has entered swing state, carry out forward across the preparation of step, left front leg 201 and left side rear 203, in right side, No. 205, leg is led leg and is swung across step forward, leg 202 in left side, right front leg 204 and supporting body one side, right side rear 206 one side band mobile robot body make its half step-length S that moves forward again, more than motion is a complete cycle.
In specific implementation, the top of described leg-supporting connects leg-supporting oscillating control device, described leg-supporting oscillating control device comprise for realize described rotor aircraft open or closed the first rotation mechanism 26, for realizing the 2nd rotation mechanism 27 that described leg-supporting swings up and down to walk, the connection section 29 that described first rotation mechanism is formed by two web plates with described 2nd rotation mechanism is connected, and described connection section is connected by the 3rd rotation mechanism 28 realizing swinging before and after described leg-supporting with described body 100.
In the utility model, described first rotation mechanism and described 2nd rotation mechanism, the 3rd rotation mechanism all can adopt servo driving rotation axis to realize, this steering gear electric-machine can angle angle rotate, and the speed governing of steering wheel is that the frequency by controlling motor obtains. General control signal frequency is more high, and it is more fast that motor turns, and frequency is more low, and what turn is more slow. The steering wheel of standard has three control lines, is respectively: power supply, and control. Supply lead and ground wire are for providing the energy needed for inner d.c. motor and control circuit, and voltage is usually between 4V 6V. The direct impulse signal of input one-period, the high level time of this cyclic pulse signal is usually between 1ms 2ms, and low level time should between 5ms to 20ms. The open and close of rotor aircraft is realized by the first rotation mechanism. By handling steering wheel running, drive six foot junctions to rotate around the axle of the first rotation mechanism, it is achieved six rotor mechanisms opening or closed.
Wherein, described leg-supporting comprises two pieces of back up pads being oppositely arranged 21, every block back up pad connects two hoof type foots 24 by hoof type foot rotation axis, described in each, hoof type foot 24 connects described back up pad 21 by an expansion link 241, and described scroll wheel 23 is arranged between described two back up pads 21 by wheel shaft; When described hoof type foot 24 is in raised configuration, described scroll wheel 23 and bearing surface, or ground contact, it is achieved wheel type movement, when described be in down state when described hoof type foot 24 time, described hoof type foot 24 contacts with ground, now realizes creep operation.
Wherein, described expansion link 241 is the mechanism realizing wheel type movement pattern and six-foot crawling motion mode-conversion. When expansion link shrinks, driving the hoof type foot of six foots to move up, scroll wheel contacts with ground, turns into wheel type movement pattern; Expansion link extends, and drives the hoof type foot of six foot structures to gather downwards, and hoof type foot contacts ground, and scroll wheel and ground depart from, and turn into six-foot crawling pattern.
Wherein, the hollow cup motor 22 of described flight rotor is arranged between described two back up pads 21, and the water screw 25 connecting described hollow cup motor 22 is positioned at the outside of a described back up pad 21.
Owing to every bionic walking leg being installed a flight rotor, thus form six rotor flight structures so that robot has outstanding low speed performance and VTOL performance, is adapted in complicated urban environment and investigates; Be of compact construction design, and control texture is also comparatively simple; Ensureing under the prerequisite that cabinet size is suitable, six rotor wing unmanned aerial vehicles make use of the structure space of body better than four rotor wing unmanned aerial vehicles, add the number of rotor, improve carrying capacity, the maximum pulling force that power system provides for body is promoted, and gross weight is not caused significant increase, therefore improve the thrust-weight ratio of whole aircraft, it is convenient to the control of robot flight state.
In the utility model, described sensor assembly can be comprise the modules such as gyro module, infrared detection module, video sensor, and gyro module has the function of perception robot balance attitude, robot pose can be made adjustment in conjunction with central processor MCU. Infrared detection sensor mainly realizes under night-environment the detection to surrounding objects. Video sensor is mainly as visual sensing, and reflection road surface situation, specifically can install as required, not limit above-mentioned sensor assembly in real time.
In specific implementation, described transfer module connects remote control module by wireless module, the upper computer that described remote control module comprises control end module and is connected with described control end module, described control end module is connected with described transfer module. Wherein, described control end module can be connected by data line with described upper computer or with the data cube computation of USB interface, it is achieved the transmitting function of data or order.
Concrete, described central processing module is connected with described locating module by CAN, it is achieved data exchange, and described locating module adopts military Big Dipper locating module. Described central processing module can be MCU controller, or other controller realizes. Military Big Dipper locating module can realize the real-time location-aware to robot body, reaches operation object.
Further, connect from the data port of different operation modules to realize central authorities' process, realize the transfer control of data, in the utility model, described central processing module have the self-defined I for carrying out connecting from different operation module O Interface module, as picked out part pin from central processing module MCU, as control pin when changing machine carrying platform and data interface. Such as when carrying sniper rifle, it is necessary to make-up trigger action accurately aiming etc. control, it is necessary to have extra pin and data interface.
Further, in order to hidden needs of fighting, in the utility model, the outside surface of described robot is coated with pseudo-charging sheet material layers.
In order to more effectively control the control of operation module, in the utility model, shown in Figure 1, the extension and contraction control arm 13 that described machine carrying platform 10 comprises turnbarrel 11 and is connected with described turnbarrel, the top of described turnbarrel 10 is provided with operation module and carries frame 12, described operation module is carried frame 12 and is connected with the other end of described contracting control arm 13, carries frame side in described operation module and is provided with image collecting device 14. The operation module that can realize being installed on it like this carries out 360 degree of rotations and stretches, it is achieved carry out the realization of corresponding fight function without dead angle.
Machine carrying platform has dismountable function, it is possible to according to the different operation modules needing replacing different, has bearing assembly, can rotate around base, it is achieved the comprehensive detection without dead angle in turnbarrel; Extension and contraction control arm is by the flexible change realizing luffing angle; Image collecting device can obtain real time video image, passes supervisory control desk back by Big Dipper locating module, and convenient operation end is to the control of robot. Dismountable machine carrying platform is realized with coordinating of threaded hole by screw, it is possible to carries out the replacing of operation module easily, embodies the feature of modular design, as can as required respectively installation snipe module and reconnaissance module, laser guidance module etc.
Preferably, in the utility model, described transmission over radio module adopts high-power wireless transmission module, carried out data transmission by the upper computer of the control end module that is connected with computer and control, control end module is connected with computer upper computer by USB, it may also be useful to upper computer software, it may be achieved exchange with the data of transfer module, thus realize control end to the collection of robot vision signal, each sensing data, and the control to its motion.
The material of robot of the present utility model at employing hard aluminium alloy, can have hardness strength good, the feature of easy machine-shaping, and meanwhile, hard aluminium alloy is due to lighter weight, it is possible to greatly alleviate robot own wt, is convenient to the flight of six rotor states.
Preferably, the long 110cm of the utility model, wide 110cm, high 80cm, walking states low bottom-disc height is 50cm centimetre, has stronger cross-country performance.
During use, by the control end module of robot access power supply, insert computer by USB, open upper computer; According to the operation module fought and need selection machine to carry; By image collecting device real-time Transmission road surface situation, mode of motion is selected; Arrive specified location.
When operation task is assigned, the machine carrying platform suitable according to this operation task choosing, determines the position of target simultaneously, plans course in conjunction with BEI-DOU position system. Detect surrounding environment by image collecting device, according to the selection can passed through and make operation scheme, to arrive point of destination fast, complete operation task.
The utility model has following feature:
1) utilizing bionics principle, simulation six-foot crawling principle has carried out this design, has satisfactory stability and environmental compatibility;
2) integrate multi-motion mode: wheel type movement can effectively reduce energy consumption, flat road surface has good flexible type; Six-foot crawling motion can easily realize cross-country, has good environmental compatibility on complex road surface; Six rotor flight motions have good adaptability on the road surface that some are impassable, breach the limitation of tradition mobile apparatus people's single movement pattern.
3) modular design: machine carrying platform has can disassembling function, it is possible to change operation module according to different operation tasks, has the advantage saving cost, diverse in function.
4) Material selec-tion: adopt camouflage material application, has the disguise of height, adapts to different operation environment.
The military bionical fighter robot of the utility model, it is possible to be applicable to various road surface, not only avoid the loss of energy, more improve its through performance, there is the feature of environmental compatibility. At present, the motion pattern of robot of China is comparatively single, it is difficult to adapting to the task that some misfortune dangers are heavy, the utility model has filled up the blank of this one side of China, can well being applied to each places such as scientific investigation, explosive, rescue and relief work, military reconnaissance, application prospect is extensive.
Can find out, the utility model have creep, fly, wheel type movement three kinds of athletic postures, not only adapt to walk on single smooth or rugged structurizing road surface, more adapt to smooth and rugged and deposit, the work of the unstructured moving grids of soft and hard alternation, under the environment that some are severe, by conversion athletic posture, it is achieved the flight function of robot; Have modularization machine carrying platform and good can disassembling function, operation module can be changed according to different war fighting requirements, easy and simple to handle, powerful, by the control of triped gait, creep forward guarantee six achieving of reptile structural stability of foot simultaneously; By elongation and the shortening of expansion link, it is achieved that the conversion of six foot structure wheel type movement and moving type motion; Utilize the running of high pulling torque steering wheel, it is achieved hoisting of six foot leg-supportings, complete the conversion of ground kinestate to six rotor flight states; Machine carrying platform is coordinated by threaded hole and screw, it is possible to carry out the replacing of operation module easily, meets the operational need of variation. These works, as engineering machinery, can not only replace the mankind to meet the military mission of various danger, also can be applied to widely in the places such as scientific investigation, sampling, environmental improvement, and application prospect is extensive.
The above is only preferred implementation of the present utility model; it is noted that for those skilled in the art, under the prerequisite not departing from the utility model principle; can also making some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (10)
1. the military bionical fighter robot based on bionics principle, it is characterized in that, comprise body, described body has the machine carrying platform that can remove and install different operation modules, it is provided with six outside described body and realizes robot only at the bionic walking leg creeped, fly and switch between wheeled three kinds of kinestates, described body is provided with central processing module, transfer module, locating module, sensor assembly and the motor control module being connected with described central processing module, described motor control module is connected with the motor module of control machine human action; Wherein, every bionic walking leg comprises can realize leg-supporting that is upper and lower and front and back swing, and the bottom of described leg-supporting is provided with scroll wheel, and the outside of described scroll wheel is provided with rotating hoof type foot, and flight rotor is installed at the middle part of described leg-supporting.
2. according to claim 1 based on the military bionical fighter robot of bionics principle, it is characterized in that, the top of described leg-supporting connects leg-supporting oscillating control device, described leg-supporting oscillating control device comprises the first rotation mechanism opening or closing for realizing described rotor aircraft, for realizing the 2nd rotation mechanism that described leg-supporting swings up and down, the connection section that described first rotation mechanism is formed by two web plates with described 2nd rotation mechanism is connected, described connection section is connected by the 3rd rotation mechanism realizing swinging before and after described leg-supporting with described body.
3. according to claim 2 based on the military bionical fighter robot of bionics principle, it is characterized in that, described leg-supporting comprises two pieces of back up pads being oppositely arranged, every block back up pad connects two hoof type foots by hoof type foot rotation axis, described in each, hoof type foot connects described back up pad by an expansion link, and described scroll wheel is arranged between described two back up pads by wheel shaft; When described hoof type foot is in raised configuration, described scroll wheel contacts with bearing surface.
4. according to claim 3 based on the military bionical fighter robot of bionics principle, it is characterized in that, the hollow cup motor of described flight rotor is arranged between described two back up pads, and the water screw connecting described hollow cup motor is positioned at the outside of a described back up pad.
5. according to claim 4 based on the military bionical fighter robot of bionics principle, it is characterised in that, described sensor assembly comprises gyro module, infrared detection module, video sensor.
6. according to claim 5 based on the military bionical fighter robot of bionics principle, it is characterized in that, described transfer module connects remote control module by wireless module, the upper computer that described remote control module comprises control end module and is connected with described control end module, described control end module is connected with described transfer module.
7. based on the military bionical fighter robot of bionics principle according to the arbitrary item of claim 1-6, it is characterized in that, described central processing module is connected with described locating module by CAN, it is achieved data exchange, and described locating module adopts military Big Dipper locating module.
8. according to claim 7 based on the military bionical fighter robot of bionics principle, it is characterised in that, described central processing module have the I for carrying out connecting from different operation module O Interface module.
9. based on the military bionical fighter robot of bionics principle according to claim 1 or 8, it is characterised in that, the outside surface of described robot is coated with pseudo-charging sheet material layers.
10. according to claim 9 based on the military bionical fighter robot of bionics principle, it is characterized in that, the extension and contraction control arm that described machine carrying platform comprises turnbarrel and is connected with described turnbarrel, the top of described turnbarrel is provided with operation module and carries frame, and described operation module is carried frame and is connected with the other end of described contracting control arm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620019561.0U CN205273662U (en) | 2016-01-11 | 2016-01-11 | For military use bionical operation robot based on bionics principle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620019561.0U CN205273662U (en) | 2016-01-11 | 2016-01-11 | For military use bionical operation robot based on bionics principle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106364584A (en) * | 2016-09-22 | 2017-02-01 | 上海理工大学 | Spider detection bionic robot |
| CN107127760A (en) * | 2017-07-12 | 2017-09-05 | 清华大学 | A kind of track combined anthropomorphic robot of foot |
| CN107539386A (en) * | 2016-06-23 | 2018-01-05 | 中国人民解放军军械工程学院 | A kind of flat creeping system based on multiple mounted cam |
| CN107627306A (en) * | 2016-10-05 | 2018-01-26 | 张选琪 | Assist from fighter robot |
| CN109624629A (en) * | 2019-02-15 | 2019-04-16 | 苏州融萃特种机器人有限公司 | Climbing robot based on flight vector |
-
2016
- 2016-01-11 CN CN201620019561.0U patent/CN205273662U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107539386A (en) * | 2016-06-23 | 2018-01-05 | 中国人民解放军军械工程学院 | A kind of flat creeping system based on multiple mounted cam |
| CN107539386B (en) * | 2016-06-23 | 2019-08-20 | 中国人民解放军军械工程学院 | A kind of flat creeping system based on multiple mounted cam |
| CN106364584A (en) * | 2016-09-22 | 2017-02-01 | 上海理工大学 | Spider detection bionic robot |
| CN107627306A (en) * | 2016-10-05 | 2018-01-26 | 张选琪 | Assist from fighter robot |
| CN107127760A (en) * | 2017-07-12 | 2017-09-05 | 清华大学 | A kind of track combined anthropomorphic robot of foot |
| CN109624629A (en) * | 2019-02-15 | 2019-04-16 | 苏州融萃特种机器人有限公司 | Climbing robot based on flight vector |
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