CN209690781U - Field rides amphibious imitative scorpion safety protection robot - Google Patents
Field rides amphibious imitative scorpion safety protection robot Download PDFInfo
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- CN209690781U CN209690781U CN201920315928.7U CN201920315928U CN209690781U CN 209690781 U CN209690781 U CN 209690781U CN 201920315928 U CN201920315928 U CN 201920315928U CN 209690781 U CN209690781 U CN 209690781U
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Abstract
Field rides amphibious imitative scorpion safety protection robot, including bionical skeleton, flexible wear-resistant material, distributed inflatable bladders device, power supply system, central intelligent control system, autonomous dynamic intelligence machine leg, autonomous dynamic intelligence machine saw pincers, autonomous dynamic intelligence machine tail and the tooth-like intelligence machine mouth of autonomous dynamic, bionical skeleton includes keel, both ends are equipped with the shoulder bone and elastic main rib of anchoring joint, flexible wear-resistant material respectively with the keel, elastic main rib, shoulder bone and anchoring joint support are connected to form bionical scorpion body, power supply system and central intelligent control system are fixed in the bionical skeleton.The utility model structure is simple, and convenient for manufacture, and its structural stability and impact resistance are strong；The movement being suitable under complicated landform landforms；It can amphibious use by water；Rider personnel safety can be escorted, the requirement of security work is reached；Effective support can be provided for the field exploration of people, tourism, investigation or rescue work.
Description
Technical field
The utility model relates to safety protection robot technical fields, and in particular to a kind of amphibious imitative scorpion security machine of field riding
People.
Background technique
Current people's lives, field are gradually stepped into field exploration, field study, tour in the field or field survivorship experience
Activity is with greater need for the safeguarding work in face of work and personnel for focusing on complicated landform.It is examined in previous field survivorship or exploration
In examining or travelling, people often carry some security protection equipment in case of need.With the development of present scientific information technology,
Safety protection robot quietly emerges as the synthesis of artificial intelligence and automatic controller technology, but is also mostly used in fixed assets
Security protection patrol, in outdoor sports, not yet discovery can in face of complicated ground terrain environment, when the water surface or river obstruct quietly
Cross the safety protection robot of water and energy effective guarantee personnel's personal safety.
Summary of the invention
Technical problem to be solved in the utility model is to overcome the shortcomings of the prior art and background technique, provides one kind
Can quietly be crossed in face of complicated ground terrain environment, when the water surface or river obstruct water and can effective guarantee personnel's personal safety,
It is rided suitable for the outdoor sports such as field study, exploration, tourism, existence experience, the field that personnel ride instead of walk and personnel escort amphibious
Imitative scorpion safety protection robot.
The utility model solve its technical problem the technical solution adopted is that: field rides amphibious imitative scorpion safety protection robot,
Including bionical skeleton, flexible wear-resistant material, distributed inflatable bladders device, power supply system, central intelligent control system, autonomous
Power intelligence machine leg, autonomous dynamic intelligence machine saw pincers, autonomous dynamic intelligence machine tail and the tooth-like intelligence machine of autonomous dynamic
Mouth；
The bionical skeleton includes keel, both ends shoulder bone and elastic main rib equipped with anchoring joint, and the shoulder bone fixation is in institute
The upper front end of keel is stated, the anchoring joint at shoulder bone both ends is connected with the support of autonomous dynamic intelligence machine saw pincers, described
Elastic main rib is fixed on the lower part of keel, the support phase of the anchoring joint at elastic main rib both ends and the autonomous dynamic intelligence machine leg
Connection, the lower front of the keel and rear end are respectively equipped with anchoring joint, the anchoring joint of the lower front of keel and it is described from
The support of the tooth-like intelligence machine mouth of active force is connected, the anchoring joint in heel portion and the autonomous dynamic intelligence machine tail
Support is connected；
The flexible wear-resistant material is connected to form bionical scorpion with the keel, main rib, shoulder bone and anchoring joint support respectively
The gas source power part of body, the distribution inflatable bladders device is fixed on bionical skeletal internal, and the distribution is inflatable
The distribution of its flexible piece air bag of airbag apparatus is embedded in surrounding and the top of the bionical scorpion body；
The power supply system and central intelligent control system are fixed in the bionical skeleton, the power supply system, distribution
Formula inflatable bladders device is electrically connected with the central intelligent control system respectively, the power supply system respectively with autonomous dynamic intelligence
Battery pack, battery pack, the battery pack of the tooth-like intelligence machine mouth of autonomous dynamic of autonomous dynamic intelligence machine saw pincers of energy machine leg
It is electrically connected between the battery pack of autonomous dynamic intelligence machine tail；The central intelligent control system is intelligent with autonomous dynamic respectively
Intelligent controlling device, the tooth-like intelligence machine of autonomous dynamic that intelligent controlling device, the autonomous dynamic intelligence machine saw of machine leg clamp
The intelligent controlling device electrical connection and/or wireless connection of the intelligent controlling device and autonomous dynamic intelligence machine tail of mouth.
Further, the autonomous dynamic intelligence machine leg is the three of included battery pack and dynamical system and intelligent controlling device
To six axis legged mobile robots；The autonomous dynamic intelligence machine saw pincers are included battery pack and dynamical system and intelligent controlling device
Two axis to five axis and there are saw and/or pincers and defence to block the saw jaw type robot of function；The tooth-like intelligence of autonomous dynamic
Machine mouth is that robot is nibbled by the engagement robot or extension type of included battery pack and dynamical system and intelligent controlling device；Institute
State three axis to eight axis whip tail formula machines that autonomous dynamic intelligence machine tail is included battery pack dynamical system and intelligent controlling device
People.
Further, the central intelligent control system includes central control unit, motion control device, detection identification dress
Set, navigation positional device and Weapons Control Unit, the motion control device, detection identification device, navigation positional device and
Weapons Control Unit is electrically connected with central control unit respectively.
Further, the motion control device respectively with the intelligent controlling device of the autonomous dynamic intelligence machine leg, from
The intelligent controlling device of active force intelligence machine saw pincers, the intelligent controlling device of the tooth-like intelligence machine mouth of autonomous dynamic and active certainly
The intelligent controlling device of power intelligence machine tail is electrically connected.
Further, the bionical skeleton is equipped with the keel of 1~3 arch or annular.
Further, the bionical skeleton is additionally provided with several auxiliary ribs, to reinforce the intensity and structural stability of bionical skeleton,
The keel of bionical skeleton, main rib depending on feelings are additionally provided with protective plate, decoration muscle, equipment fixing seat and agnail on auxiliary rib.
Further, it is additionally provided on the bionical skeleton at image recognition and fortune and is filled at device, and/or radio frequency identification and fortune
Set, and/or laser radar and fortune at device, and/or millimetre-wave radar and fortune at device, and/or infrared distance measurement sensing and fortune
Device, and/or infrared perspective dress at device, and/or spectrum analyzer and fortune at device, and/or life detectors (instrument) and fortune
Set and fortune at device, and/or thermal imaging device and fortune device and/or sound wave detecting/poly- sound monitor and fortune at device；It is described
Image recognition and fortune at device, and/or milli at device, and/or laser radar and fortune at device, and/or radio frequency identification and fortune
Device at device, and/or life detectors (instrument) and fortune at device, and/or infrared distance measurement sensing and fortune at metre wave radar and fortune,
And/or it is filled at device, and/or thermal imaging device and fortune at device, and/or infrared perspective device and fortune at spectrum analyzer and fortune
Set, and/or sound wave detecting/poly- sound monitor and fortune at device be fixed in bionical skeleton or outside bionical skeleton, and known by detection
Other device is electrically connected with central control unit, and environmental information and vital movement information that each device detects are passed through detection in real time
Identification device communicates row information of going forward side by side with central intelligent control system and merges.
Further, it is fixed that device, and/or Beidou navigation at the fortune of instant positioning map building are additionally provided on the bionical skeleton
Device at device, and/or gyroscope and fortune at position and fortune；Device, and/or Beidou are led at the fortune of the instant positioning map building
Device can be optionally fixed in bionical skeleton or outside bionical skeleton at device, and/or gyroscope and fortune at boat positioning and fortune, and
Connect by navigation positional device with central control unit, with detect environmental information or combining target that identification device detects or
Mission bit stream carries out path planning and location navigation.
Further, it is additionally provided with air cannon device on the bionical skeleton, and/or throws net capture device, and/or extra-high voltage
Hit/electric discharge device, and/or infrasound aimed launcher, and/or electromagnetic pulse aimed launcher, and/or microwave orientation hair
Injection device, and/or firearm device；The air cannon device, and/or throwing net capture device, and/or super-pressure electric shock/electric discharge
Device, and/or infrasound aimed launcher, and/or electromagnetic pulse aimed launcher, and/or microwave aimed launcher,
And/or firearm device is optionally fixed in bionical skeleton or outside bionical skeleton, and with the controller and weapon control of each device
Device is to be electrically connected.
Further, settable laser aid, and/or ultrasonic directional transmitting dress on the autonomous dynamic bionic machine tail
It sets, the controller of the laser aid, and/or ultrasonic directional emitter is with Weapons Control Unit to be electrically connected.
Further, the power supply system includes generating set and/or master battery pack and energy monitoring managing device and charging
Device, the energy monitoring managing device can real-time monitoring generating set operation and power output state and/or each battery pack fill
Discharge condition and temperature can also saw pincers in intelligent controlling device, the autonomous dynamic intelligence machine of autonomous dynamic intelligence machine leg
The intelligent controlling device of the tooth-like intelligence machine mouth of intelligent controlling device, autonomous dynamic and the battery pack of autonomous dynamic intelligence machine tail
When power supply trouble is filled in appearance, the battery pack of disengagement failure component simultaneously realizes power supply by generating set and/or master battery pack, guarantees
Power supply duration, also independently by generating set and/or charging unit can fill when any battery electric quantity is low
Electricity.
Further, the charging unit mainly includes line charge electric installation and wireless charging device, and/or solar energy hair
Electric installation, and/or strong electromagnetic pulse are converted into electrical energy devices, and/or strong microwave is converted into electrical energy devices, and/or high voltage induction
It is converted into electrical energy devices.
Further, the central intelligent control system can also be equipped with wireless communication device and/or input and display device and/
Or phonetic controller, input and display device can be remotely controlled or passed through with wireless communication device by remote computer or remote control panel
Or phonetic controller or control panel controls nearby on the spot.
Further, the central intelligent control system is interactive voice control system and/or manual, automatically semi-autonomous control
System processed and/or long-distance remote control system.
Further, the distributed inflatable bladders device mainly includes air charging system and distributed air bag, and described fills
Device of air is connect with distributed air bag with pipe, and the air charging system is electrically connected with central intelligent control system and power supply system respectively
It connects.
Further, the flexible wear-resistant material is flexible wear rubber, flexible wear plastics, one in flexible wear cloth
Kind is several.
The course of work:
The utility model is had 8 autonomous dynamic intelligence machines of self-movement function by central control system coordinated control
People's leg, 2 autonomous dynamic intelligent robot saw pincers, the tooth-like intelligence machine mouth of 1 autonomous dynamic and 1 autonomous dynamic intelligent machine
The movement matching model of device people's tail.Concrete function is executed by remote computer or voice controller or remote control panel or control panel
Automatically and manually operation mode is arranged in carry out task publication；The image of imitative scorpion safety protection robot, laser radar, millimetre-wave radar,
Posture ranging sensing, navigation positional device, life-detection instrument, spectrum analyzer, infrared perspective device, thermal imaging device, sound wave
One or more of the acquired information of detecting/poly- sound monitoring device are transmitted in respective arithmetic processor after calculation process, by detecting
Identification device and navigation positional device or environment measuring and navigation system are transmitted to the center control dress of central intelligent control system
It sets, provides multi-environment information for the automatic or manual intervention operation of imitative scorpion safety protection robot.
According to task publication and environmental information collected, letter is carried out by the central control unit of central intelligent control system
Breath, which is merged and exported, controls coordination of tasks to the intelligent controlling device of leg, tail, mouth and pincers saw, is received by motion control device and right
Each distributed power leg intelligent controlling device, pincers saw intelligent controlling device, tail intelligent controlling device and mouth intelligent controlling device carry out
Control driving, the sensor feedback real-time status through being arranged on each component simultaneously make closed loop adjustment in real time, realize Fang Xie robot
The walking of upright, partly vertical and low level any direction the forward-reverse of short transverse or state of running, while can also be clamped by saw,
The collective effects such as leg and tail realize the motion states such as upright, rolling, climbing；It, can be by center when encountering river or needing to cross water
Distributed inflatable bladders device is inflated and realizes high buoyancy in water by control device, while hollow leg, tail and saw pincers being cooperated to connect
It connects section and carries out buoyant lift and driving disposition, easily realize the function of crossing water.
The environment measuring information of scorpion safety protection robot is imitated according to this, the barrier for removing front can be sawed by pincers, simultaneously
Danger classes is judged by multi-sensor fusion technology when encountering lawless people or feral animals, is carried out according to danger classes classification
The calling of different weapons, to reach deterrence or blocking or attack, protection field personnel safety.
The utility model have it is following the utility model has the advantages that
1, using bionical skeleton, flexible wear connector and central control system and the autonomous dynamic intelligent machine that can be anchored
Device people leg/pincers/tail, mechanism is simpler, and convenient for manufacture, and its structural stability and impact resistance are strong, is adaptable to complicated open country
External environment.
2, with central control system coordinated control have can independent operation function autonomous dynamic intelligent robot leg/pincers/
Tail implements the movement matching model of each robot, is easy to implement grading control sequencing motor pattern, convenient for guaranteeing imitative scorpion machine
The intelligence of people's movement is precisely controlled, precisely realize it is each to advance, the acrobatics and tumblings such as retreat, turn round, seethe, climb, it is suitable
Movement under complicated landform landforms；Equipped with distributed inflatable bladders, the comfort of rider not only can be improved, can also easily cross
Water becomes a kind of Fang Xie robot that water route is amphibious.
3, the function of the multi-sensor fusion technology and a variety of non-killing livestock property weapons and 12 intelligent robots that use, to open country
Unknown danger in external environment, the especially deterrent of lawless people or feral animals are good, can escort rider personnel safety, reach
The requirement of security work.
4, the imitative scorpion machine for crossing water is such as walked, runs, climbs, bounces or rided to the motor pattern for being applicable in complicated landform landforms
People, to the adaptability of different terrain landforms and rivers and lakes, can meet personnel ride instead of walk, personnel's security, be people field exploration,
Tourism, investigation or rescue work provide a kind of effective support.
Detailed description of the invention
Fig. 1 is the general structure schematic diagram of the utility model embodiment；
Fig. 2 is the frame diagram of the central intelligent control system in Fig. 1；
Fig. 3 is the frame diagram of the motion control device in Fig. 1；
Fig. 4 is the frame diagram of the Weapons Control Unit in Fig. 1；
Fig. 5 is the frame diagram of the detection identification device in Fig. 1；
Fig. 6 is the frame diagram of the navigation positional device in Fig. 1；
Fig. 7 is the frame diagram of the power supply system in Fig. 1；
Fig. 8 is the structural schematic diagram of the bionical skeleton in Fig. 1.
In figure, the bionical skeleton of 1-, 101- keel, 102- elasticity main rib, the auxiliary rib of 103-, 104- shoulder bone, 107- equipment are fixed
Seat, 108- agnail, 2- flexible wear-resistant material, 3- distribution inflatable bladders device, 4- power supply system, 41- generating set, 42-
Master battery pack, 43- energy monitoring managing device, 44- charging unit, 441- wired charging device, 5- central intelligent control system,
51- central control unit, 52- motion control device, 53- detection identification device, 54- navigation positional device, 55- weapon control dress
It sets, 56 wireless communication devices, 57 input and display devices, 58 phonetic controllers, 6- autonomous dynamic intelligence machine leg, 61- leg anchor
Interface, 7- autonomous dynamic intelligence machine saw pincers, 71- saw pincers anchoring joint, 8- autonomous dynamic intelligence machine tail, 81- stern anchor interface, 9-
The tooth-like intelligence machine mouth of autonomous dynamic, 91- mouth anchoring joint.
Specific embodiment
1~Fig. 7 and specific embodiment are described in further detail the utility model with reference to the accompanying drawing.
The present embodiment include bionical skeleton 1, flexible wear-resistant material 2, distributed inflatable bladders device 3, power supply system 4,
Central intelligent control system 5, autonomous dynamic intelligence machine leg 6, autonomous dynamic intelligence machine saw pincers 7, autonomous dynamic intelligence machine
Tail 8 and the tooth-like intelligence machine mouth 9 of autonomous dynamic.
Bionical skeleton 1 includes the shoulder bone 104 that 101, both ends of annular keel with agnail 108 are equipped with saw pincers anchoring joint 71
The high-strength elastic main rib 102 of leg anchoring joint 61 is equipped with four both ends, shoulder bone 104 is fixed on the upper front end of keel 101, shoulder bone
The saw pincers anchoring joint 71 at 104 both ends is connected with the support of autonomous dynamic intelligence machine saw pincers 7 respectively, and elastic main rib 102 is spaced
Be fixed on the lower part of keel 101, the leg anchoring joint 61 at elastic 102 both ends of main rib respectively with eight autonomous dynamic intelligence machine legs 6
Support be connected, the lower fronts of keel 101 is equipped with mouth anchoring joint 91, and rear end is equipped with stern anchor interface 81, the front of keel 101
The mouth anchoring joint 91 of lower section is connected with the support of the tooth-like intelligence machine mouth 91 of autonomous dynamic, and the stern anchor of 101 rear end of keel connects
Mouth 81 is connected with the support of autonomous dynamic intelligence machine tail 8.
Flexible wear-resistant material 2 be flexible wear rubber, respectively with keel 101, main rib 102, shoulder bone 104 and each anchoring joint branch
Seat is connected to form bionical scorpion body.
The gas source power part of distributed inflatable bladders device 3 is fixed on bionical skeletal internal, distributed inflatable gas
The distribution of its flexible piece air bag of bag apparatus 3 is embedded in surrounding and the top of bionical scorpion body.
Power supply system 4 and central intelligent control system 5 are fixed in bionical intraskeletal equipment fixing seat 107, power supply system
System 4, distributed inflatable bladders device 3 are electrically connected with central intelligent control system 5 respectively, and power supply system 4 is respectively and from actively
The battery pack (not showing in figure, be located in leg) of power intelligence machine leg 6, autonomous dynamic intelligence machine saw the battery pack of pincers 7 (in figure not
Show, be located in saw pincers), the battery pack of the tooth-like intelligence machine mouth 9 of autonomous dynamic (not showing in figure, after being located in mouth) and autonomous dynamic
It is electrically connected between the battery pack (not showing in figure, be located in tail) of intelligence machine tail 8.
Central intelligent control system 5 in bionical skeleton 1 (does not show in figure with leg intelligent controlling device respectively, is located at leg
It is interior), saw pincers intelligent controlling device (do not show in figure, be located at saw pincers in), mouth intelligent controlling device (do not show in figure, be located at mouth in after)
(do not show, be located in tail) electrical connection in figure with tail intelligent controlling device.
Autonomous dynamic intelligence machine leg 6 is five axis with Multifunctional foot and hydraulic power and lithium battery group and intelligent control board
With it is a variety of walking, jump, climbing etc. multiple functions legged mobile robot；Autonomous dynamic intelligence machine saw pincers 7 for tep reel saw,
The four axis arm robots with attack and protection of Power Tong tooth and intelligent control board and lithium battery group；Autonomous dynamic intelligent machine
Device tail 8 be final quotaion be opened and closed with lotus shape and thereon the turntable of installation laser emitter and ultrasonic transmitter, carry it is hydraulic
Six Zhou Wei formula robots of power and intelligent control board, lithium battery group；Autonomous dynamic intelligence machine mouth 9 is with engagement type shearing
The Zui Shi robot of mouth, hydraulic power and lithium battery group and intelligent control board.
Central intelligent control system 5 mainly includes central control unit 51, motion control device 52, detection identification device
53, navigation positional device 54, Weapons Control Unit 55, wireless communication device 56, input and display device 57, phonetic controller
58, the motion control device 52, detection identification device 53, navigation positional device 54, Weapons Control Unit 55, wireless communication dress
Set 56, input and display device 57, phonetic controller 58 is electrically connected with central control unit 51 respectively.Motion control device 52 divides
7 intelligent controlling device is not clamped with the intelligent controlling device 63 of autonomous dynamic intelligence machine leg 6, autonomous dynamic intelligence machine saw
73, the intelligent controlling device of the intelligent controlling device 93 of the tooth-like intelligence machine mouth 9 of autonomous dynamic and autonomous dynamic intelligence machine tail 8
83 electrical connections.
Bionical skeleton 1 is additionally provided with several auxiliary ribs 103, to reinforce the intensity and structural stability of bionical skeleton 1, Bionics Bone
The keel 101 of frame 1, main rib 102 are additionally provided with protective plate, decoration muscle, equipment fixing seat 107 and agnail 108 on auxiliary rib 103.
Device, millimetre-wave radar and fortune device, laser radar and fortune at are additionally provided at image recognition and fortune on bionical skeleton 1
Locate device at device and infrared distance measurement sensing and fortune；Device, milli at device, laser radar and fortune at the image recognition and fortune
At metre wave radar and fortune device and infrared distance measurement sensing and fortune at device be fixed on bionical skeleton, and by detection identification device
53 are electrically connected with central control unit 51, and environmental information and vital movement information that each device detects are passed through detection in real time and known
Other device 53 communicates row information of going forward side by side with central intelligent control system 5 and merges.
Device at the fortune of instant positioning map building is additionally provided on bionical skeleton 1, at Beidou navigation positioning and fortune device and
Device at gyroscope and fortune, device, gyroscope and fortune at device, Beidou navigation positioning and fortune at the fortune of instant positioning map building
Place's device is fixed in bionical skeleton 1, and is connect by navigation positional device 54 with central control unit 51, with detection identification dress
Set the environmental information or combining target or mission bit stream progress path planning and location navigation that 53 detect.
Air cannon device and infrasound directional transmissions dress are additionally provided in the middle part of the autonomous dynamic intelligence machine mouth of bionical skeleton 1
Set, be additionally provided in the middle part of bionical skeleton 1 telescoping shoring column for install throwing net capture device；The air cannon device is thrown net and is caught
It catches device and infrasound aimed launcher is electrically connected with the controller of each device with Weapons Control Unit 55；It is described from
Laser aid and ultrasonic directional emitter on active force bionic machine tail 8 are with Weapons Control Unit 55 to be electrically connected.
Power supply system 4 includes generating set 41 and master battery pack 42, energy monitoring managing device 43 and charging unit 44, institute
Stating energy monitoring managing device 43 can the operation of real-time monitoring generating set and the charge and discharge of power output state and the battery pack of each component
Electricity condition and temperature, can also be in autonomous dynamic intelligence machine leg 6, autonomous dynamic intelligence machine saw pincers 7, the tooth-like intelligence of autonomous dynamic
Battery pack when occurring filling power supply trouble of machine mouth 9, autonomous dynamic intelligence machine tail 8, the battery pack of disengagement failure component is simultaneously led to
It crosses generating set 42 and realizes power supply, guarantee power supply duration, can also independently pass through generating set when any battery electric quantity is low
42 carry out boost charge.
Charging unit 44 is wired charging device；The distribution inflatable bladders device 3 mainly include air charging system and
Distributed air bag, the air charging system are connect with distributed air bag with pipe, air charging system respectively with central intelligent control system and
Power supply system electrical connection.
Those skilled in the art can carry out various modifications to the utility model embodiment and modification, if these are modified
With modification within the scope of the claims of the present invention and its equivalent technology, then these modifications and variations are also still practical at this
Within the protection scope of new patent.
The prior art that the content being not described in detail in specification is known to the skilled person.
Claims (9)
1. field rides amphibious imitative scorpion safety protection robot, which is characterized in that including bionical skeleton, flexible wear-resistant material, distribution
Inflatable bladders device, power supply system, central intelligent control system, autonomous dynamic intelligence machine leg, autonomous dynamic intelligence machine
Saw pincers, autonomous dynamic intelligence machine tail and the tooth-like intelligence machine mouth of autonomous dynamic；
The bionical skeleton includes keel, both ends shoulder bone and elastic main rib equipped with anchoring joint, and the shoulder bone fixation is in the dragon
The upper front end of bone, the anchoring joint at shoulder bone both ends are connected with the support of autonomous dynamic intelligence machine saw pincers, the elasticity
Main rib is fixed on the lower part of keel, and the anchoring joint at elastic main rib both ends is connected with the support of the autonomous dynamic intelligence machine leg
It connects, the lower front of the keel and rear end are respectively equipped with anchoring joint, the anchoring joint of the lower front of keel and described autonomous
The support of the tooth-like intelligence machine mouth of power is connected, the branch of the anchoring joint in heel portion and the autonomous dynamic intelligence machine tail
Seat is connected；
The flexible wear-resistant material is connected to form bionical scorpion with the keel, elastic main rib, shoulder bone and anchoring joint support respectively
The gas source power part of body, the distribution inflatable bladders device is fixed on bionical skeletal internal, and the distribution is inflatable
The distribution of its flexible piece air bag of airbag apparatus is embedded in surrounding and the top of the bionical scorpion body；
The power supply system and central intelligent control system are fixed in the bionical skeleton, and the power supply system, distribution can
Air bag device is electrically connected with the central intelligent control system respectively, the power supply system respectively with autonomous dynamic intelligent machine
The battery pack of device leg, the battery pack of autonomous dynamic intelligence machine saw pincers, the battery pack of the tooth-like intelligence machine mouth of autonomous dynamic and from
It is electrically connected between the battery pack of active force intelligence machine tail；The central intelligent control system respectively with autonomous dynamic intelligence machine
Intelligent controlling device, the autonomous dynamic intelligence machine of leg saw the intelligent controlling device, the tooth-like intelligence machine mouth of autonomous dynamic that clamp
The electrical connection of the intelligent controlling device of intelligent controlling device and autonomous dynamic intelligence machine tail and/or wireless connection.
2. field according to claim 1 rides amphibious imitative scorpion safety protection robot, which is characterized in that the autonomous dynamic intelligence
Energy machine leg is three to six axis legged mobile robots of included battery pack and dynamical system and intelligent controlling device；The autonomous dynamic
Intelligence machine saw pincers for two axis to five axis of included battery pack and dynamical system and intelligent controlling device and have saw and/or pincers and
The saw jaw type robot of function is blocked in defence；The tooth-like intelligence machine mouth of autonomous dynamic be included battery pack and dynamical system and
Robot is nibbled by the engagement robot or extension type of intelligent controlling device；The autonomous dynamic intelligence machine tail is from charged pool
Three axis to eight Zhou Bianwei formula robots of group dynamical system and intelligent controlling device.
3. field according to claim 1 or 2 rides amphibious imitative scorpion safety protection robot, which is characterized in that the center intelligence
The system of can control includes central control unit, motion control device, detection identification device, navigation positional device and weapon control dress
It sets, the motion control device, detection identification device, navigation positional device and Weapons Control Unit are filled with center control respectively
Set electrical connection；Motion control device intelligent controlling device, the autonomous dynamic with the autonomous dynamic intelligence machine leg respectively
The intelligent controlling device of intelligence machine saw pincers, the intelligent controlling device of the tooth-like intelligence machine mouth of autonomous dynamic and autonomous dynamic intelligence
The intelligent controlling device of machine tail is electrically connected.
4. field according to claim 1 or 2 rides amphibious imitative scorpion safety protection robot, which is characterized in that the Bionics Bone
Frame is equipped with the keel of 1~3 arch or annular.
5. field according to claim 1 or 2 rides amphibious imitative scorpion safety protection robot, which is characterized in that the Bionics Bone
Be additionally provided on frame at image recognition and fortune at device, and/or radio frequency identification and fortune device at device, and/or laser radar and fortune,
And/or it is filled at device, and/or life detectors and fortune at device, and/or infrared distance measurement sensing and fortune at millimetre-wave radar and fortune
Set, and/or spectrum analyzer and fortune at device, and/or thermal imaging device and fortune at device, and/or infrared perspective device and fortune
Locate device at device and/or sound wave detecting/poly- sound monitoring and fortune；Device, and/or radio frequency are known at the image recognition and fortune
Device, and/or infrared distance measurement at device, and/or millimetre-wave radar and fortune at device, and/or laser radar and fortune not and at fortune
Device, and/or infrared at device, and/or spectrum analyzer and fortune at device, and/or life detectors and fortune at sensing and fortune
At arrangement for perspective and fortune at device, and/or thermal imaging device and fortune device, and/or sound wave detecting/poly- sound monitor and fortune at device
It is fixed in bionical skeleton or outside bionical skeleton, and be electrically connected by detecting identification device with central control unit, by each device
The environmental information and vital movement information detected passes through detection identification device in real time and communicates and go forward side by side with central intelligent control system
Row information fusion.
6. field according to claim 1 or 2 rides amphibious imitative scorpion safety protection robot, which is characterized in that the Bionics Bone
Device, and/or gyroscope at device, and/or Beidou navigation positioning and fortune are additionally provided at the fortune of instant positioning map building on frame
And device at fortune；Device, and/or top at device, and/or Beidou navigation positioning and fortune at the fortune of the instant positioning map building
Device can be optionally fixed in bionical skeleton or outside bionical skeleton at spiral shell instrument and fortune, and be controlled by navigation positional device and center
Device connection processed, to detect the environmental information or combining target or mission bit stream progress path planning and determine that identification device detects
Position navigation.
7. field according to claim 1 or 2 rides amphibious imitative scorpion safety protection robot, which is characterized in that the Bionics Bone
It is additionally provided with air cannon device, and/or throwing net capture device, and/or super-pressure electric shock/electric discharge device on frame, and/or infrasound is fixed
To emitter, and/or electromagnetic pulse aimed launcher, and/or microwave aimed launcher, and/or firearm device；It is described
Air cannon device, and/or throw net capture device, and/or super-pressure electric shock/electric discharge device, and/or infrasound directional transmissions dress
It sets, and/or electromagnetic pulse aimed launcher, and/or microwave aimed launcher, and/or firearm device is optionally fixed on
In bionical skeleton or outside bionical skeleton, and with the controller of each device with Weapons Control Unit to be electrically connected.
8. field according to claim 1 or 2 rides amphibious imitative scorpion safety protection robot, which is characterized in that described from actively
Settable laser aid, and/or ultrasonic directional emitter on power bionic machine tail, the laser aid, and/or ultrasonic wave
The controller of aimed launcher is with Weapons Control Unit to be electrically connected.
9. field according to claim 1 or 2 rides amphibious imitative scorpion safety protection robot, which is characterized in that the power supply system
System includes generating set and/or master battery pack and energy monitoring managing device and charging unit, the energy monitoring managing device
Can real-time monitoring generating set operation and power output state and/or each battery pack charging and discharging state and temperature, can also be autonomous
Intelligent controlling device, intelligent controlling device, the autonomous dynamic of autonomous dynamic intelligence machine saw pincers of power intelligence machine leg are tooth-like
When the intelligent controlling device of intelligence machine mouth and the battery pack of autonomous dynamic intelligence machine tail occur filling power supply trouble, disengagement failure
The battery pack of component simultaneously realizes power supply by generating set and/or master battery pack, guarantees power supply duration, can also be in any battery
When group electricity is low, boost charge is independently carried out by generating set and/or charging unit；The central intelligent control system is also
Equipped with wireless communication device and/or input and display device and/or phonetic controller.
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| CN201920315928.7U CN209690781U (en) | 2019-03-13 | 2019-03-13 | Field rides amphibious imitative scorpion safety protection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112722110A (en) * | 2020-12-25 | 2021-04-30 | 张月崧 | Intelligent dart-keeping machine dog |
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2019
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112722110A (en) * | 2020-12-25 | 2021-04-30 | 张月崧 | Intelligent dart-keeping machine dog |
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