CN113894807A - Bionic scorpion robot - Google Patents
Bionic scorpion robot Download PDFInfo
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- CN113894807A CN113894807A CN202111234673.XA CN202111234673A CN113894807A CN 113894807 A CN113894807 A CN 113894807A CN 202111234673 A CN202111234673 A CN 202111234673A CN 113894807 A CN113894807 A CN 113894807A
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- 241000239226 Scorpiones Species 0.000 title claims abstract description 55
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- 239000000523 sample Substances 0.000 claims abstract description 10
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- 230000005540 biological transmission Effects 0.000 claims description 38
- 210000000078 claw Anatomy 0.000 claims description 27
- 230000003592 biomimetic effect Effects 0.000 claims description 7
- 210000004744 fore-foot Anatomy 0.000 claims description 3
- 230000000474 nursing effect Effects 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 5
- 238000011835 investigation Methods 0.000 description 9
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- 238000010008 shearing Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- 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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- 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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a bionic scorpion robot, and belongs to the technical field of bionic equipment. It comprises a trunk; six groups of walking foot units are symmetrically arranged on two sides of the bottom of the trunk, and the walking foot units are used for executing walking action; the two groups of the clamp units are symmetrically arranged on two sides of the bottom of the front end of the trunk, and the clamp units are used for executing grabbing actions; the detection units are arranged on two sides of the top of the front end of the trunk and comprise infrared probes and sound wave receivers; the control part is arranged on the top surface of the middle part of the trunk, the control part controls each unit to execute corresponding actions, and the control part is also provided with a sound wave generator. The robot can adapt to the environment with poor light through the infrared probe of the detection unit, the detection and observation capability of the robot is improved, meanwhile, the robot can effectively avoid obstacles and improve the emergency capability of the robot by matching with sound wave detection, and the robot can adapt to most landform environments by combining the design of the walking foot unit.
Description
Technical Field
The invention belongs to the technical field of bionic equipment, and particularly relates to a bionic scorpion robot.
Background
With the development and continuous progress of the investigation equipment technology, the investigation robot is increasingly applied to military investigation, explosion elimination, disaster prevention and rescue and the like, has unique advantages compared with a common investigator, has stronger concealment by disguising the outer surface thereof, and acquires the information of the opposite side under the condition that the information is difficult to be found by the opposite side.
Most of the existing investigation robots all adopt a wheeled or crawler-type walking mode, the obstacle crossing performance is poor, the existing investigation robots cannot be suitable for the investigation environment with complex terrain, and on the other hand, the existing investigation robots have single functions, only can acquire and transmit information, and cannot be adjusted in time when meeting emergency.
With the development of bionics, the bionic robot is more applied to the field of investigation, the bionic robot is a robot which simulates biology and works according to the characteristics of the biology, the bionic robot is widely applied due to the advantage of good concealment, and the bionic robot which can adapt to the complex terrain environment is more popular.
An electronic machine crab is manufactured in Japan and Russia, and can be used for deep sea control and measurement, collecting rock sample, capturing benthos, and performing operations such as underwater electric welding; the united states developed a robotic tuna named charpy, consisting of 2843 parts, which can swim like a real fish by swinging the trunk and tail, and which can be used to work continuously for months under the sea to map ocean maps and detect underwater pollution and to photograph living things.
The scorpions in the nature are degraded in vision and underdeveloped in hearing, but can sense air vibration caused by the action of surrounding small insects to find a target through the organs of the abdomen and the hairs of the legs, and have strong predation capacity on the Serpentis with quick action, so that the bionic structure of the scorpions has wide application prospect in the field of detection.
Through retrieval, the Chinese patent publication number: CN 207593776U; the publication date is as follows: 7 months and 10 days in 2018; the utility model discloses a roadblock clearance robot of seventeen degrees of freedom's scorpion structure, including controlling arm, centre gripping pincers, quartering hammer, main part and track, the main part is vehicle body structure, controls the arm and connects in main part front end both sides, and the quartering hammer is connected in main part front end middle part, is provided with crushing head on the quartering hammer, and the centre gripping pincers have two, connect about on the arm, the track is located the main part left and right sides, and the main part rear end is provided with the battery, and the battery links to each other with the main at main part, sub-controller. The robot of this application has solved the problem that the robot function is single through carrying out bionical application to the scorpion, but its adoption crawler-type walking can't adapt to some special environment, and application scope is limited.
In addition, chinese patent publication no: CN 107053207A; the publication date is as follows: 8 month and 18 days 2017; the utility model discloses a bionical scorpion investigation robot, including the head, the trunk, the afterbody, walking leg and preceding claw, the trunk is shell structure, the head links to each other with the trunk front end, the afterbody is connected in the rear end of trunk, the well rear portion of trunk upper surface is provided with solar cell panel, solar cell panel links to each other with the battery, main control unit in the trunk is connected to the battery, the walking leg has eight, wherein four walking legs arrange the left side at the trunk after by going to in proper order, other four walking legs arrange the right side at the trunk after going to in proper order by going to, preceding claw has two, connect in the left and right sides of trunk front end through preceding articulated seat respectively, be provided with the electric drill before one of them, it is provided with the army sword before another to ask. The robot of this application uses multi-legged walking and makes improvements on the scorpion pincers, but it is well suited to performing reconnaissance tasks in environments where light is sufficient.
Disclosure of Invention
In order to solve at least one of the above technical problems, according to an aspect of the present invention, there is provided a biomimetic scorpion robot, including:
a torso;
six groups of walking foot units are symmetrically arranged on two sides of the bottom of the trunk, and the walking foot units are used for executing walking action;
the two groups of the clamp units are symmetrically arranged on two sides of the bottom of the front end of the trunk, and the clamp units are used for executing grabbing actions;
the detection units are arranged on two sides of the top of the front end of the trunk and comprise infrared probes and sound wave receivers;
the control part is arranged on the top surface of the middle part of the trunk, the control part controls each unit to execute corresponding actions, and the control part is also provided with a sound wave generator.
According to the bionic scorpion robot of the embodiment of the invention, optionally, the walking foot unit comprises:
the first steering engine is mounted at the bottom of the trunk;
one end of the first mounting seat is in transmission connection with a steering engine, and the first mounting seat horizontally rotates under the driving of the steering engine;
the second steering engine is arranged at the other end of the first mounting seat;
one end of the front foot is in transmission connection with the second steering engine, and the front foot is driven by the second steering engine to vertically rotate.
According to the bionic scorpion robot of the embodiment of the invention, optionally, the front foot comprises:
one end of the connecting foot is in transmission connection with the second steering engine;
the steering engine III is arranged at the other end of the connecting foot;
and the toe is in transmission connection with the steering engine III, and the toe vertically rotates under the driving of the steering engine III.
According to the bionic scorpion robot of the embodiment of the invention, optionally, the jaw unit comprises:
the steering engine IV is arranged at the bottom of the trunk;
one end of the mounting seat II is in transmission connection with the steering engine IV, and the mounting seat II horizontally rotates under the four-drive of the steering engine IV;
a fifth steering engine which is arranged at the other end of the second mounting seat;
and one end of the mechanical claw is in transmission connection with the five steering engines, the mechanical claw vertically moves under the drive of the five steering engines, and the other end of the mechanical claw executes grabbing actions.
According to the bionic scorpion robot of the embodiment of the invention, optionally, the mechanical claw comprises:
one end of the connecting arm is in transmission connection with the steering engine V;
a sixth steering engine which is arranged at the other end of the connecting arm;
and the three-jaw manipulator is in transmission connection with the six steering engines and rotates under the driving of the six steering engines.
According to the bionic scorpion robot of the embodiment of the invention, optionally, the three-claw manipulator comprises:
the center of the end part of the three-jaw cylinder is in transmission connection with a six output shaft of the steering engine;
and three claw teeth are respectively in transmission connection with three output ends of the three-claw cylinder.
According to the bionic scorpion robot provided by the embodiment of the invention, optionally, the root parts of the inner sides of the claw teeth are formed with the blade parts.
The bionic scorpion robot according to the embodiment of the invention optionally further comprises a tail unit arranged at the top of the rear end of the trunk, and the tail unit is provided with a camera.
According to the bionic scorpion robot of the embodiment of the invention, optionally, the tail unit further comprises:
one end of the fixed column is fixedly connected with the top surface of the tail part of the trunk;
a seventh steering engine which is arranged at the other end of the fixed column;
one end of the connecting column is in transmission connection with a seventh steering engine, and the connecting column is driven by the seventh steering engine to vertically rotate;
the eighth steering engine is arranged at the other end of the connecting column;
the camera is in transmission connection with the steering engine.
Advantageous effects
Compared with the prior art, the invention at least has the following beneficial effects:
(1) according to the bionic scorpion robot, the infrared probe of the detection unit can adapt to environments with poor light, the detection and observation capacity of the robot is improved, meanwhile, the robot can effectively avoid obstacles and improve the emergency capacity of the robot by matching with sound wave detection, and the robot can adapt to most land environment terrains by combining the design of the walking foot unit;
(2) according to the bionic scorpion robot, the walking foot unit is designed to imitate the feet of the scorpion, three joints are formed in the walking foot unit, and each joint is driven by the steering engine, so that the robot can walk and move, and the trunk can be flexibly adjusted in height to meet different terrain environment requirements;
(3) according to the bionic scorpion robot, the steering engines in the forceps unit are matched with the structural design, so that the bionic scorpion robot can perform actions on different positions and directions and position heights in front of the robot;
(4) according to the bionic scorpion robot, the jaw unit can perform grabbing action, rotating action and shearing action, the structure of the jaw unit is simple and compact, and the functions are diversified;
(5) according to the bionic scorpion robot, the tail unit is designed to imitate the tail of the scorpion, and the camera is arranged at the top end, so that enough visual field is ensured to capture image information around the robot;
(6) according to the bionic scorpion robot, the tail unit can flexibly lift under the drive of the seventh steering engine, so that avoidance can be timely performed according to different heights of terrain environments, the camera can circumferentially rotate for 360 degrees under the drive of the eighth steering engine, and the camera has a more comprehensive acquisition range by matching with the seventh steering engine.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below, and it is apparent that the drawings in the following description only relate to some embodiments of the present invention and are not limiting on the present invention.
FIG. 1 shows a schematic diagram of the bionic scorpion robot structure of the invention;
FIG. 2 shows a schematic structural view of the walking foot unit of the present invention;
FIG. 3 is a schematic view of the construction of the jaw unit of the present invention;
FIG. 4 shows a schematic diagram of the tail unit structure of the present invention;
reference numerals:
1. a torso;
2. a walking foot unit; 20. a first steering engine; 21. a first mounting seat; 22. a second steering engine; 23. a forefoot; 230. a connecting foot; 231. a steering engine III; 232. toe;
3. a jaw unit; 30. a steering engine IV; 31. a second mounting seat; 32. a fifth steering engine; 33. a gripper; 330. a connecting arm; 331. a sixth steering engine; 332. a three-jaw manipulator; 333. a three-jaw cylinder; 334. claw teeth; 3340. a blade part;
4. a detection unit;
5. a control unit;
6. a tail unit; 60. a camera; 61. fixing a column; 62. a steering engine seven; 63. connecting columns; 64. and an eighth steering engine.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "a," "an," "two," and similar referents in the description and claims of this patent application does not indicate any order, quantity, or importance, but rather is used to distinguish one element from another.
Example 1
The bionic scorpion robot of the embodiment comprises:
a trunk 1;
six groups of walking foot units 2 are symmetrically arranged on two sides of the bottom of the trunk 1, and the walking foot units 2 are used for executing walking action;
two groups of clamp units 3 are symmetrically arranged on two sides of the bottom of the front end of the trunk 1, and the clamp units 3 are used for executing grabbing actions;
two groups of detection units 4 are arranged on two sides of the top of the front end of the trunk 1, and the detection units 4 comprise infrared probes and sound wave receivers;
and the control part 5 is arranged on the top surface of the middle part of the trunk 1, the control part 5 controls each unit to execute corresponding actions, and the control part 5 is also provided with a sound wave generator.
As shown in fig. 1, the bionic scorpion robot of the embodiment is provided with six groups of walking foot units 2 in a profiling scorpion leg structure, and three groups of walking foot units are respectively arranged at two sides of a trunk 1, so that compared with a traditional wheel type or crawler type walking mode, the bionic scorpion robot can be suitable for more terrain environments by the cooperation of the six groups of walking foot units 2; the forceps unit 3 of the embodiment is a copying scorpion forceps structure, and two groups are respectively arranged on two sides of the front end of the trunk 1, so that tasks such as sample grabbing and collecting can be performed in the process of executing work; in the embodiment, a group of detection units 4 are respectively arranged at two eye positions of the scorpion corresponding to the trunk 1, an infrared probe and an acoustic receiver are arranged in the detection units 4, and the acoustic receiver is matched with an acoustic generator arranged at the control part 5 for use; in the present embodiment, the control unit 5 controls each unit to execute actions, each unit is electrically connected to the control unit 5, and the control unit 5 in the present embodiment is a single chip microcomputer.
In the embodiment, the sound wave generator and the sound wave receiver are used in a matched manner, so that the predation mode of the scorpions in the nature is simulated, and the robot can automatically avoid obstacles under the processing of the control part 5 through the returned sound waves; meanwhile, the infrared probe is combined, so that the robot gets rid of the defects that the environment cannot be detected and the corresponding reaction cannot be made when the visibility is low, the ring piece detection capability of the robot is excellent, and the robot can adapt to most land environment terrains.
Example 2
The bionic scorpion robot of the embodiment is further improved on the basis of the embodiment 1, and the walking foot unit 2 comprises:
the first steering engine 20 is mounted at the bottom of the trunk 1;
one end of the first mounting seat 21 is in transmission connection with the first steering engine 20, and the first mounting seat 21 is driven by the first steering engine 20 to horizontally rotate;
the second steering engine 22 is mounted at the other end of the first mounting seat 21;
one end of the front foot 23 is in transmission connection with the second steering engine 22, and the front foot 23 is driven by the second steering engine 22 to vertically rotate.
As shown in fig. 2, the first steering engine 20 can drive the first mounting seat 21 to rotate back and forth in a horizontal plane, so as to drive the front feet 23 to move back and forth, thereby realizing the walking function of the robot; the second steering engine 22 can drive the front feet 23 to rotate in the vertical plane, so that the height of the trunk 1 can be adjusted, and the trunk 1 is controlled to be at a proper height position from the ground according to different terrains.
Example 3
The bionic scorpion robot of the embodiment is further improved on the basis of the embodiment 1 or 2, and the front foot 23 comprises:
one end of the connecting foot 230 is in transmission connection with the second steering engine 22;
a third steering gear 231 which is arranged at the other end of the connecting foot 230;
and the toe 232 is in transmission connection with the third steering engine 231, and the toe 232 vertically rotates under the driving of the third steering engine 231.
As shown in fig. 2, in the forefoot 23 of this embodiment, the toe 232 can be driven by the third steering engine 231, and the height position of the trunk 1 is further adjusted, and the third steering engine 231 cooperates with the second steering engine 22, so that the height adjustment of the walking foot unit 2 in the vertical direction has a higher degree of freedom.
The walking foot unit 2 of this embodiment, profile modeling scorpion foot design has formed three joints in the walking foot unit 2, and every joint all passes through steering engine drive, can ensure on the one hand that the robot can the walking motion, and on the other hand can carry out nimble altitude mixture control to truck 1 to adapt to different terrain environment demands.
Example 4
The bionic scorpion robot of the embodiment is further improved on the basis of the embodiment 1-3, and the jaw unit 3 comprises:
a fourth steering engine 30 which is arranged at the bottom of the trunk 1;
one end of the second mounting seat 31 is in transmission connection with the fourth steering engine 30, and the second mounting seat 31 is driven by the fourth steering engine 30 to horizontally rotate;
a fifth steering engine 32 which is mounted at the other end of the second mounting seat 31;
one end of the mechanical claw 33 is in transmission connection with the five steering engines 32, the mechanical claw 33 moves vertically under the driving of the five steering engines 32, and the other end of the mechanical claw 33 executes grabbing actions.
As shown in fig. 3, the fourth steering engine 30 can drive the second mounting seat 31 to rotate on the horizontal plane, and further drive the mechanical claw 33 to rotate in the horizontal plane, so that the mechanical claw 33 can grab objects in different directions in front of the robot according to position requirements; the fifth steering engine 32 drives the mechanical claw 33 to rotate in the vertical plane, so that the mechanical claw 33 can grab objects in front of the robot at different heights according to position requirements.
Example 5
The bionic scorpion robot of the embodiment is further improved on the basis of the embodiment 1-4, and the mechanical claw 33 comprises:
one end of the connecting arm 330 is in transmission connection with the fifth steering engine 32;
a sixth steering engine 331 which is mounted at the other end of the connecting arm 330;
and the three-jaw manipulator 332 is in transmission connection with the six steering engines 331, and the three-jaw manipulator 332 rotates under the driving of the six steering engines 331.
As shown in fig. 3, in the gripper 33 of the present embodiment, the three-jaw robot 332 performs a gripping operation, and further, the steering engine six 331 is provided to drive the three-jaw robot 332 to rotate, so as to adjust the gripper 33 to an optimal gripping angle, or perform a special operation task on a gripped object, such as screwing the object.
Example 6
The bionic scorpion robot of the embodiment is further improved on the basis of the embodiment 1-5, and the three-claw mechanical arm 332 comprises:
the center of the end part of the three-jaw cylinder 333 is in transmission connection with a six 331 output shaft of the steering engine;
and three claw teeth 334 which are respectively in transmission connection with three output ends of the three-claw cylinder 333.
One end of the three-jaw cylinder 333 is provided with an output end, three output ends are arranged on the three-jaw cylinder in a delta shape, and the center of the other end of the three-jaw cylinder is in transmission connection with an output shaft of the steering engine six 331; the three claw teeth 334 are in transmission connection with the output ends of the three positions, the three claws are used together to realize grabbing action under the driving of the three-claw cylinder 333, and before the grabbing action is executed, the three-claw cylinder 333 is driven by the steering engine six 331 to rotate until the three claw teeth 334 are located at the optimal grabbing position.
Example 7
The bionic scorpion robot of the embodiment is further improved on the basis of the embodiments 1 to 6, and the blade portions 3340 are formed at the inner roots of the claw teeth 334.
More specifically, as shown in fig. 3, in the present embodiment, the blade portions 3340 are formed at the root portions of the opposite side surfaces of the two opposing jaw teeth 334, the three-jaw cylinder 333 is capable of driving the three jaw teeth 334 individually, and the two jaw teeth 334 provided with the blade portions 3340 are driven to share, thereby enabling the robot 33 to perform a shearing operation.
Example 8
The bionic scorpion robot of the embodiment is further improved on the basis of the embodiment 1-7, and further comprises a tail unit 6, wherein the tail unit 6 is arranged at the top of the rear end of the trunk 1, and a camera 60 is arranged on the tail unit 6.
The tail unit 6 of the present embodiment is configured to follow the tail of the scorpion, and the camera 60 provided on the top of the tail unit 6 can capture the image information around the robot with a sufficient view.
Example 9
The bionic scorpion robot of the embodiment is further improved on the basis of the embodiment 1-8, and the tail unit 6 further comprises:
a fixed column 61, one end of which is fixedly connected with the top surface of the tail part of the trunk 1;
a steering engine seventh 62 which is arranged at the other end of the fixed column 61;
one end of the connecting column 63 is in transmission connection with the steering engine seventh 62, and the connecting column 63 is driven by the steering engine seventh 62 to vertically rotate;
a steering engine eight 64 which is arranged at the other end of the connecting column 63;
the camera 60 is in transmission connection with eight 64 steering engines.
As shown in fig. 4, the fixed column 61 is vertically fixed on the top surface of the tail of the trunk 1, the seven steering engine 62 can drive the connecting column 63 to rotate on the vertical surface, so that the height position of the camera 60 is changed, avoidance can be timely performed according to different heights of terrain environments, meanwhile, the eight 64 steering engine can drive the camera 60 to circumferentially rotate by 360 degrees, and the seven steering engine 62 is matched, so that the camera 60 has a more comprehensive acquisition range.
The examples described herein are merely illustrative of the preferred embodiments of the present invention and do not limit the spirit and scope of the present invention, and various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the design concept of the present invention shall fall within the protection scope of the present invention.
Claims (9)
1. A bionic scorpion robot is characterized by comprising:
a torso;
six groups of walking foot units are symmetrically arranged on two sides of the bottom of the trunk, and the walking foot units are used for executing walking action;
the two groups of the clamp units are symmetrically arranged on two sides of the bottom of the front end of the trunk, and the clamp units are used for executing grabbing actions;
the detection units are arranged on two sides of the top of the front end of the trunk and comprise infrared probes and sound wave receivers;
the control part is arranged on the top surface of the middle part of the trunk, the control part controls each unit to execute corresponding actions, and the control part is also provided with a sound wave generator.
2. The biomimetic scorpion robot according to claim 1, wherein the walking foot unit comprises:
the first steering engine is mounted at the bottom of the trunk;
one end of the first mounting seat is in transmission connection with a steering engine, and the first mounting seat horizontally rotates under the driving of the steering engine;
the second steering engine is arranged at the other end of the first mounting seat;
one end of the front foot is in transmission connection with the second steering engine, and the front foot is driven by the second steering engine to vertically rotate.
3. The biomimetic scorpion robot of claim 2, wherein the forefoot comprises:
one end of the connecting foot is in transmission connection with the second steering engine;
the steering engine III is arranged at the other end of the connecting foot;
and the toe is in transmission connection with the steering engine III, and the toe vertically rotates under the driving of the steering engine III.
4. The biomimetic scorpion robot according to claim 1, wherein the jaw unit comprises:
the steering engine IV is arranged at the bottom of the trunk;
one end of the mounting seat II is in transmission connection with the steering engine IV, and the mounting seat II horizontally rotates under the four-drive of the steering engine IV;
a fifth steering engine which is arranged at the other end of the second mounting seat;
and one end of the mechanical claw is in transmission connection with the five steering engines, the mechanical claw vertically moves under the drive of the five steering engines, and the other end of the mechanical claw executes grabbing actions.
5. The biomimetic scorpion robot according to claim 4, wherein the gripper comprises:
one end of the connecting arm is in transmission connection with the steering engine V;
a sixth steering engine which is arranged at the other end of the connecting arm;
and the three-jaw manipulator is in transmission connection with the six steering engines and rotates under the driving of the six steering engines.
6. The biomimetic scorpion robot of claim 6, wherein the three-jaw manipulator comprises:
the center of the end part of the three-jaw cylinder is in transmission connection with a six output shaft of the steering engine;
and three claw teeth are respectively in transmission connection with three output ends of the three-claw cylinder.
7. The bionic scorpion robot of claim 6, wherein: the root part of the inner side of the claw tooth is provided with a blade part.
8. The bionic scorpion robot of claim 1, wherein: the multifunctional nursing bed is characterized by further comprising a tail unit, wherein the tail unit is arranged at the top of the rear end of the trunk, and a camera is arranged on the tail unit.
9. The biomimetic scorpion robot of claim 8, wherein the tail unit further comprises:
one end of the fixed column is fixedly connected with the top surface of the tail part of the trunk;
a seventh steering engine which is arranged at the other end of the fixed column;
one end of the connecting column is in transmission connection with a seventh steering engine, and the connecting column is driven by the seventh steering engine to vertically rotate;
the eighth steering engine is arranged at the other end of the connecting column;
the camera is in transmission connection with the steering engine.
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| CN115535112A (en) * | 2022-11-09 | 2022-12-30 | 深圳技术大学 | Bionic robot |
| CN115339537B (en) * | 2022-08-18 | 2023-06-02 | 深圳技术大学 | Walking device and mechanical scorpion |
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