74results about How to "Flexible movement" patented technology

The invention discloses a variable-diameter pipeline inspection robot capable of avoiding obstacles and a control method of the variable-diameter pipeline inspection robot, and belongs to the field of pipeline inspection robots. The device specifically comprises a machine body, a reducing unit, a driving unit and an inspection unit. The machine body comprises a front machine body, a rear machine body and a middle machine body. The reducing unit comprises two groups of independent reducing modules with the same structure; the driving unit comprises four groups of independent driving mechanisms with the same structure; the inspection unit comprises an infrared camera, a pressure sensor, a data processor and the like. In order to solve the problems that an existing pipeline robot is small in pipe diameter adaptation range, complex in obstacle avoidance mechanism, insufficient in flexibility and the like, the pipeline robot is large in diameter changing stroke ratio, large in pipe diameter adaptation range and high in flexibility, obstacle avoidance can be achieved through a diameter changing mechanism, and the pipeline robot further has the active differential steering capacity and can adapt to circular and rectangular pipelines at the same time; the robot is simple and compact in overall structure.

The invention provides a dual-rotor water-air amphibious unmanned aerial vehicle with a plume-like electric eel structure, which comprises a main body assembly, and the main body assembly comprises a triangular bracket, a fuselage main body, an electric eel driving mechanism, a rotary connecting piece, a U-shaped clamping groove, the plume-like electric eel structure and a load platform. According to the unmanned aerial vehicle, the line-like electric eel structures are arranged on the two sides of the fuselage main body, so that the unmanned aerial vehicle can enter and exit water without an underwater propeller or mode switching, and the structures are low in movement energy consumption, so that the unmanned aerial vehicle has the capability of working for a long time and can be flexibly switched between an air mode and a water mode; meanwhile, the system has excellent performances such as ultra-silence, high endurance and high efficiency; according to the invention, the attitude control is realized through a double-rotor structure consisting of the waterproof brushless motor, the output shaft and the folding propeller assembly and through the tilting mechanisms which are mounted front and back, the tilting mechanisms enable the rotors to deflect, different attitudes and motions can be realized through different tilting directions and tilting speeds, and the attitude stability and the motion control are enhanced.

The invention relates to the technical field of breeding monitoring, and provides a multi-water-area integrated unmanned breeding monitoring platform and a control method thereof. The platform takes a primary-secondary machine as a basic platform, and comprises a primary machine basic frame, a feeding bin device, a main body cabin, a secondary machine recycling lifting device, an underwater balance base device, a water area parameter monitoring secondary machine device, an underwater garbage recycling secondary machine device and a water surface floating object cleaning secondary machine device, according to the multi-water-area integrated unmanned breeding monitoring platform and the control method thereof, the functions of underwater environment monitoring and maintenance, feed feeding, oxygenation, multi-water-area self-adaption and the like are integrated, and intelligent and integrated breeding is achieved by integrating various modules needed by breeding.

The utility model discloses a rope driving type goods storing and taking system which comprises a goods shelf, and the goods shelf is provided with multiple layers of storage positions. The driving system can drive the taking and placing mechanism to reach each storage position; the taking and placing mechanism can take out the goods from the storage positions and can store the goods into the storage positions; the driving system comprises at least three groups of rope pulling devices, each rope pulling device is provided with a rope directly or indirectly acting on the taking and placing mechanism, and the force application directions of the ropes are different; and the maintaining device is used for maintaining the posture of the taking and placing mechanism. According to the utility model, the plurality of groups of pull rope devices drive the pick-and-place mechanism to move transversely and longitudinally through the ropes, the pull rope devices are convenient to install, and the pull rope devices act on the pick-and-place mechanism through the soft ropes, so that the installation position of the pull rope devices is less limited, and the overall expansibility of the goods access system is strong; and only the pull rope device needs to be reinstalled, so that the expansibility of the system is greatly improved.

The invention discloses a full-automatic assembly line type cooking robot, and relates to the technical field of cooking robots, the full-automatic assembly line type cooking robot comprises a mechanical arm structure, the mechanical arm structure comprises a supporting base, a first component movably connected to one end of the supporting base, and a second component movably connected to the end, away from the supporting base, of the first component; the power structure comprises a servo motor detachably arranged in the second component, a first fluted disc fixedly connected to one end of the servo motor, a first bevel gear connected to the end, away from the servo motor, of the first fluted disc in a meshed mode, and a connecting rod fixedly connected to the first bevel gear. The transmission assembly is fixedly connected to the end, away from the first bevel gear, of the connecting rod. According to the stir-frying machine, the stir-frying effect is improved, the spiral structure of the stirring part is beneficial to forming natural flowing and circulation of food materials in the stir-frying process, and food material damage and nutrition loss caused by excessive stir-frying are avoided.

The invention provides a light energy and wave energy combined power generation device for an offshore area and a use method, the light energy and wave energy combined power generation device is characterized by comprising a plurality of groups of power generation assemblies, and a limiting part is connected between every two adjacent groups of power generation assemblies; the power generation assembly comprises installation assemblies placed on the sea surface, the adjacent installation assemblies are connected through limiting parts, photovoltaic panels are installed at the top positions of the installation assemblies, the installation assemblies are connected with connecting arms, and the connecting arms are provided with arch-shaped elastic structures. One end of the arch-shaped elastic structure is fixedly connected to the position, close to the mounting assembly, of the connecting arm, the arch-shaped elastic structure is movably connected to the connecting arm, the end, connected with the connecting arm, of the arch-shaped elastic structure is connected with a wave energy power generation assembly, and the adjacent wave energy power generation assemblies are also connected through a limiting part; a fixing part is connected to the position, close to the connecting arm, of the bottom of the mounting assembly and fixed to the seabed. The device combines light energy and wave energy for power generation, and improves the efficiency of energy collection in offshore areas.

The invention discloses a door lock which comprises a lock body, a main spring bolt, a driving gear, a driving seat and a grip seat are arranged on the lock body, the main spring bolt is in transmission connection with the driving gear, the grip seat is sleeved with a transmission gear meshed with the driving gear, and the driving seat is in sliding fit with the lock body. A driving motor, a first driven gear, a lifting gear, a damper and a second driven gear are arranged on the driving seat, the second driven gear is meshed with the driving gear, the first driven gear is meshed with the driving motor, a lifting groove is formed in the first driven gear, and a lifting boss inserted into the lifting groove is arranged on the lifting gear; matching teeth and a reset spring are arranged between the first driven gear and the second driven gear, and the damper is meshed with the lifting gear. A pressure spring is arranged between the lock body and the driving seat; an abutting flange is arranged on the peripheral wall of the grip base. The clutch device is simple in structure, rapid in clutch operation response, reliable in transmission structure use and good in use effect.

The utility model discloses screening equipment for tea leaf processing, which belongs to the technical field of tea leaf processing and comprises a rack, a linkage component is arranged on one side of the rack, a feeding component is arranged at the top of the rack, a vibration component is arranged below the feeding component, and the vibration component is arranged below the linkage component. The driving motor unilaterally outputs power to drive the rotating shaft and the vibrating shaft to move in a linkage manner, so that the movement is more flexible, other unnecessary parts are reduced, the structure is simpler and more convenient, tea leaves are preliminarily stirred through the stirring roller to accelerate the entering of the tea leaves, and the tea leaves are more uniform along with the continuous shaking of the vibrating shaft. According to the tea leaf screening device, the filter screen can be driven to shake continuously, tea leaves falling onto the filter screen are shaken and screened, meanwhile, the tea leaves entering the processing bin are classified and collected through the processing bin, storage is convenient, an auxiliary shaft and an auxiliary spring at the bottom can provide a certain supporting effect for the upper portion, and a vibration spring can provide a certain buffering effect for vibration.

A forearm wrist structure based on tendon-driven chords includes a forearm skeleton shell and a cross-shaped wrist joint component. The forearm skeleton shell includes a small-end shell, a large-end shell, an upper connecting plate, and a lower connecting plate. The small-end shell and the large-end shell are respectively located at the two ends of the upper and lower connecting plate. A left limiting and dividing bridge is provided on one side of the upper and lower connecting plate, and a right limiting and dividing bridge is provided on the other side. A clamping plate pivot lug assembly is provided in the small-end shell, and the cross-shaped wrist joint component is rotatably mounted on this clamping plate pivot lug assembly. The cross-shaped wrist joint component is used to rotatably mount a robot hand. A robot connector is provided in the large-end shell for connecting the robot body. This invention provides a highly flexible wrist joint without increasing the external contour of the forearm component, and the multiple drive motors are highly integrated, which is conducive to modular or component-based design and assembly.

The invention discloses an upper limb movement rehabilitation robot which comprises a base supporting mechanism, and a lifting mechanism, a shoulder horizontal training mechanism, a big arm movement training mechanism, an elbow training mechanism, a forearm bending and stretching mechanism and a wrist movement training mechanism are arranged on the base supporting mechanism. The shoulder horizontal training mechanism comprises two groups of shoulder horizontal training assemblies, and each group of shoulder horizontal training assembly comprises a first shoulder connecting rod and a second shoulder connecting rod which are rotationally connected; the big arm activity training mechanism comprises two variable-rigidity big arms, the upper end of each variable-rigidity big arm is rotationally installed at the tail end of a second shoulder connecting rod of the shoulder horizontal training assembly on the corresponding side, and each variable-rigidity big arm comprises two variable-rigidity elastic arms which are oppositely arranged up and down; each variable-rigidity elastic arm can achieve different deformation and rigidity adjustment through pneumatic control. Compared with the prior art, the upper limb rehabilitation exercise device has the advantages that various flexible exercises are achieved, and various rehabilitation exercise requirements of the upper limbs of different patients are met.

This utility model belongs to the field of laboratory animal technology and discloses a highly flexible self-propelled electric lifting vehicle suitable for SPF barrier environments. It includes a frame with a sealed cavity inside, a modular integrated electrical box within the cavity, a quick-release structure at the opening of the cavity, a lifting assembly on the frame, a liftable worktable on the lifting assembly, a waterproof structure on the worktable, and a walking drive assembly at the bottom of the frame. The quick-release structure includes a quick-release movable plate and multiple sets of bolts. The walking drive assembly includes a first drive wheel, a second drive wheel, and two sets of driven omnidirectional wheels. This utility model has a compact and reasonable structural design, enabling lifting and driving functions. It is suitable for assisting in the rearing of laboratory animals in high-rise buildings. It is small in size, highly mobile, and easy to move between rearing cages. The main circuit components are integrated, making it less susceptible to contamination. It has good waterproof and dustproof performance, is easy to maintain, and convenient to use.

The utility model provides a kind of automation equipment for automobile chassis vision detection, including trolley device and vision device;Trolley device includes main support, motion module and tracking module, motion module and tracking module are respectively arranged on main support, tracking module and motion module are electrically connected, motion module is guided by tracking module and drives main support movement;Vision device includes image transmission module and camera module, image transmission module and camera module are respectively arranged on main support, camera module includes image sensor, the shooting direction of image sensor is towards upper, image sensor is electrically connected with image transmission module, image transmission module is used to send image data acquired by image sensor outside.The trolley device in the automation equipment can move by tracking mode and combine vision device to shoot the picture and image related to automobile chassis, improve the convenience of automobile chassis vision detection.

The utility model discloses a base, the base is applied to a lens driving mechanism, the lens driving mechanism comprises a movable part, the movable part is provided with a magnet, the movable part is used for installing a lens, the base comprises a bottom plate, a plurality of side plates and a coil, the bottom plate is in a plate shape and is located on the bottom surface of the movable part, and the coil is located on the bottom surface of the movable part. The bottom plate is provided with a central hole, and the central hole is aligned with the lens. The multiple side plates are arranged around the movable part, and the bottom ends of the side plates are connected to the top face of the bottom plate. And the coil is connected to the side plate and is matched with the magnet to drive the movable part to move.

The utility model discloses a left and right horizontal horizontal type hinged folding device, the left side support's front and back wall respectively correspond the left end of left front horizontal hinged piece, left rear horizontal hinged piece of hinged connection, and left front horizontal hinged piece, left rear horizontal hinged piece can only be relative to left side support front and back horizontal swing hinged, the right side support's front and back wall respectively hinged connection has the right end of right front horizontal hinged piece, right rear horizontal hinged piece, and right front horizontal hinged piece, right rear horizontal hinged piece can only be relative to right side support front and back horizontal swing hinged, the right end of left front horizontal hinged piece, left rear horizontal hinged piece is swing hinged with the left front end, left rear end of corresponding intermediate X shape horizontal hinged frame, and the left end of right front horizontal hinged piece, right rear horizontal hinged piece is swing hinged with the right front end, right rear end of corresponding intermediate X shape horizontal hinged frame, this product can left and right horizontal stretch and horizontal contract folding, and the good bearing capacity is stable in structure, and the structure is solid, and convenient operation.

The application provides a first-aid hemostasis robot and a control method thereof. The first-aid hemostasis robot comprises a robot main body capable of walking on the ground, a mechanical arm with multiple degrees of freedom arranged on the robot main body, a pressing head and a blocking piece arranged on the mechanical arm, the pressing head is used for pressing and hemostasis of a blood vessel of a bleeding port, the blocking piece is carried by a flexible continuum robot, a front end of the continuum robot is provided with a camera used for collecting information of a bleeding site, the blocking piece can be inserted into the inside of the bleeding port through the continuum robot and expanded after blocking the bleeding port to seal a large blood vessel of the bleeding port. The mechanical arm carries the pressing head and the blocking piece to perform hemostasis on different conditions of large bleeding respectively, if the bleeding is of a split type, the pressing head is used for pressing and hemostasis at a proximal end of an artery bleeding or a distal end of a vein bleeding, if the bleeding is of a broken type, the blocking piece is inserted into a wound through the continuum robot to seal a large blood vessel of the bleeding.

The utility model provides a disengagement device of an unmanned lotus root digging machine, which relates to the technical field of mechanical auxiliary disengagement devices, and comprises a rack, a foot type anchor rod and a connecting device, the number of the foot type anchor rods is four, and the four foot type anchor rods are fixed to the four corners of the machine frame through the connecting devices. The foot type anchor rod comprises a shell, a telescopic rod and an anchor tip. Wherein the anchor tip is mounted at the top end of the telescopic rod, and the telescopic rod is fixed in the shell; the connecting device comprises a motor, a coupling and a gasket; the motor is fixed to the rack, the coupler clamps a rotating shaft of the motor and is connected to the shell through the gasket, and therefore the motor drives the shell and the anchor rod to move. According to the utility model, the foot type anchor rod and the motor are matched with each other to move, so that the robot can flexibly move to deal with different obstacles. And an effective scheme is provided for autonomous escape of the unmanned lotus root digging machine. And a foundation is laid for complete unmanned operation of the lotus root digging machine.

A kinematics solving method of a cantilever type crushing device, comprising: establishing a link coordinate system of a three-link robot and a homogeneous transformation matrix of an end effector according to obtained DH parameters, and obtaining robot conversion equation sets according to link lengths of a boom, a stick and the end effector and motion pairs of each part; reading current driving space coordinates from displacement sensors of hydraulic cylinders; calculating current pose space coordinates by using the robot conversion equation sets, the link constraint equation sets and the current driving space coordinates; obtaining target pose space coordinates generated after the crushing device is moved to a target working position on the basis of the current pose space coordinates; and solving target driving space coordinates by using the robot conversion equation sets, the link constraint equation sets, the current and target pose space coordinates. The scheme can improve the control precision and motion rate of the cantilever type crushing device, and make the cantilever type crushing device motion more flexible.

The present invention discloses a four-degree-of-freedom parallel robot mechanism capable of realizing SCARA-like motion, comprising a fixed platform, a moving platform, and four branches evenly distributed around the moving platform; the branches comprise an active arm, an auxiliary active arm, a triangular joint, a U-shaped bracket, an upper connecting shaft, a telescopic parallel rod, and a lower connecting shaft. The auxiliary active arm is parallel to the active arm, one end of which is respectively rotatably connected to two places of the fixed platform, and the other end is respectively rotatably connected to the upper and lower parts of the triangular joint; the upper end of the U-shaped bracket is rotatably connected to the lower wall of the triangular joint, and the lower ends of the left and right side wing plates are rotatably connected to the upper connecting shaft; the upper end of the telescopic parallel rod is rotatably connected to the two ends of the upper connecting shaft, and the lower end is hinged to the two ends of the lower connecting shaft through a ball joint, and the lower connecting shaft is fixed on the moving platform. The branches of the present invention all contain two parallelogram structures, have greater rigidity and stability, and the ends can realize three translations and one rotation, and the movement is more flexible.

The utility model belongs to the technical field of air supply devices, and particularly relates to a nozzle air supply device capable of adjusting air supply area, which comprises a nozzle, and an air supply outlet of the nozzle is provided with an air outlet area adjusting mechanism. The air outlet area adjusting mechanism comprises a base plate, a support, a fan blade combination located between the base plate and the support and a transmission structure used for driving the fan blade combination to be relatively closed or opened, the fan blade combination comprises a plurality of fan blades distributed in an annular array with the center of the support as the circle center, and the fan blades are of a polygonal blade structure. And when the fan blade combination is in a completely closed state, all the fan blades are spliced into a 360-degree whole to seal the air supply outlet. The transmission structure is additionally arranged to control the fan blades to be matched, the fan blades are driven to be closed or opened through rotation of the support, adjustment of the air supply area is achieved, and therefore even if the operation frequency of the air conditioner is reduced, the air supply speed of the nozzle is basically not changed due to the fact that the air supply area becomes small, and the air supply efficiency is improved. The air supply coverage range can be guaranteed, and energy saving can be achieved.

This invention relates to a virtual reality-based haptic enhancement training system, comprising a virtual reality unit, a haptic feedback unit, and a processing unit. The virtual reality unit interacts with the virtual reality environment; the haptic feedback unit is worn on the hand and applies traction force to the fingers, providing feedback on the force corresponding to a grasping object in the virtual reality environment. The processing unit determines the contact points of the grasping object in the virtual reality environment, analyzes the force applied by the haptic feedback unit to the fingers based on these contact points, and sends force-related information to the haptic feedback unit. The force is correlated with the physical characteristics of each contact point of the grasping object. This invention achieves a more realistic force feedback effect by applying traction force to the fingers when the user interacts with virtual objects, allowing the user to experience realistic physical feedback during interaction and enhancing the user's immersion in the interaction.

This invention discloses a multifunctional biomimetic robot for field exploration, comprising a body structure, a variable-radius slewing wheel-leg mechanism, a variable-stiffness connection mechanism, a flexible tail mechanism, and a front-end actuator. The body structure includes multiple base plates; the variable-stiffness connection mechanism includes multiple variable-stiffness connection components, with adjacent base plates connected by these components; the variable-radius slewing wheel-leg mechanism includes multiple variable-radius slewing wheel-leg components, each capable of both wheel-based and leg-based movement; the flexible tail mechanism possesses degrees of freedom for circumferential rotation and vertical bending; and the front-end actuator has obstacle removal and / or data acquisition functions. This design achieves high movement speed on flat terrain while simultaneously meeting the requirement for high obstacle-crossing capability on complex terrain. Furthermore, the body stiffness can be automatically adjusted, and the tail structure exhibits high controllability and flexibility.

The utility model discloses a novel feed hopper sealing structure for household garbage power generation, relates to the technical field of household garbage power generation, aims to solve the problems that an existing sealing structure is prone to being blocked and abraded and inconvenient to maintain, and comprises a feed hopper, an upper sealing plate and a lower sealing plate. The inclination degrees of the front plate and the rear plate are different. The two groups of upper sealing plates are symmetrical to a top opening of the feeding hopper, are matched with upper reset grooves through traction columns and guide columns, and are reset by upper reset springs to realize top sealing; according to the feeding hopper sealing structure, through double sealing and cooperation of all parts, the problems that an existing feeding hopper sealing structure is poor in sealing performance, unsmooth in feeding and the like are solved, and the feeding hopper sealing structure has the advantages of being excellent in sealing performance, smooth in feeding, stable, reliable, convenient to maintain and the like; odor dust can be effectively prevented, the equipment environment is maintained, and the power generation efficiency is improved.

The utility model belongs to fitness equipment technical field, especially relates to a fat -burning machine, including the base and support plate of rotation connection, be provided with the drive device of drive support plate swing on the base, drive device includes the drive motor and drive part that set up on the base, drive motor and drive part between be provided with transmission assembly, drive motor can drive drive part reciprocating motion horizontally on the base through transmission assembly, drive part upper and lower two sides respectively be provided with the drive surface and support surface of inclination, be provided with the abutting portion for abutting the drive surface on the support plate, be provided with the support portion for supporting the support surface on the base, drive motor control drive part reciprocating motion process, drive part slide on the support portion, drive surface can slide with abutting portion opposite, and make support plate and base swing opposite, the utility model discloses the purpose lies in providing a kind of long service life's fat -burning machine.

The invention discloses an integrated sealed contact group for railway, comprising a bottom shell, an upper shell, a central swing body, a static point unit, a moving contact, a drive block, an insulating protective cover and a terminal. The integrated sealed contact group for railway is a sealed and insulated integrated contact unit, the original installation and external dimensions are almost unchanged, and it can be completely interchangeable with existing contacts, the function is greatly upgraded, and no adjustment is required during installation and use, which is simple and fast; electrical contact redundancy technology, reciprocating linear motion technology, concave-convex nested physical isolation technology, integrated sealing technology and interchangeability technology are adopted; optical axis, bearing and rolling technology are adopted in many places, so that the contact group has low wear during use, flexible movement and rotation, no card group, reliable electrical action, long life, no trouble, and maintenance-free, and has met the highest requirements of the railway company for the contact group after various tests, and the electrical performance is reliable, stable and safe.

The invention discloses a label recommendation and exercise prescription generation system based on an exercise action library, which comprises an exercise action library, an exercise prescription summarization system, a patient health monitoring system and an exercise ability evaluation system, and is characterized in that the exercise prescription summarization system is connected with the patient health monitoring system and the exercise ability evaluation system; a big data module, an experience collection module and an artificial intelligence module are connected between the exercise prescription summarization system and the exercise action library, and the exercise action library is connected with a suitable crowd labeling module and an exercise intensity labeling module. According to the label recommendation and exercise prescription generation system based on the exercise action library, the requirements of patients are accurately matched, and scientificity, reliability, effectiveness and pertinence of exercise prescriptions are comprehensively ensured in multiple aspects; rich action libraries and exercise prescription libraries are provided, so that the exercise prescription making cost of doctors is reduced, and the working efficiency is improved; various motion scenes and flexible motion modes are provided for the patient.

The utility model relates to a wheel set structure for a luggage. The wheel set structure comprises at least one universal wheel assembly used for supporting a luggage body to move. Each universal wheel assembly comprises a rolling wheel and a universal joint with one end connected with the rolling wheel. An integrally formed bearing part is arranged at the other end of the universal joint, and the bearing part is connected with the box body; the bearing piece comprises an edge covering structure connected with the corner edges of the bottom of the box body and a step type installation piece used for being fixedly connected with the box body. By arranging the step type mounting piece, connection between the box body and the rolling wheels can be increased, connection between the box body and the rolling wheels is more stable and firmer, movement of the box body is reduced, meanwhile, the high edge design is arranged, the contact area between the box body and the high edge design can be increased, swinging of the box body is reduced, damage to the box body is reduced, and therefore deformation of the box body can be prevented; and through the design of the raised edges, the support of the bottom of the box body can be increased, so that the bearing effect of the box body can be improved.

The utility model discloses a passive compliant polishing head with three degrees of freedom, which comprises a fixed platform, the lower surface of the fixed platform is rotatably connected with a compliant mechanical arm, the compliant mechanical arm comprises a large arm and a small arm, the compliant mechanical arm is rotatably connected with the upper surface of a movable platform, and the corresponding ends of the large arm and the small arm are mutually hinged. The other end of the large arm is rotationally connected with the fixed platform, the lower end of the small arm is rotationally connected with the movable platform, a rotating shaft penetrates through the movable platform and is rotationally connected with the movable platform through a second bearing, an end cover is arranged at the position of the second bearing, and the end cover is fixedly connected to the lower side of the movable platform and used for bearing the borne axial force. The pneumatic rotating shaft comprises an air storage bin and a rotating shaft, and fan blades are evenly distributed on the circumference of the rotating shaft. The utility model relates to the technical field of polishing, in particular to a passive flexible polishing head with three degrees of freedom to meet the requirement of curved surface machining, compensate positioning errors and achieve passive flexible polishing.

The application discloses a kind of complex terrain-oriented adaptive passive wearable hemodialysis machine load devices, including the load platform of wearing in the waist of user, hemodialysis machine is carried in the inside of load platform, outside is equipped with wearing fixed structure, two ends are respectively equipped with leg structure;The leg structure includes the spring recovery device A of being adapted to swing inside and outside of thigh inside measurement, femoral skeleton and calf skeleton;The rear end of the femoral skeleton is equipped with load-bearing connecting rod device, and the rear end of calf skeleton is equipped with power-assisted connecting rod device;The spring energy storage device B is equipped in the hip joint of the femoral skeleton and load platform connection, and the spring energy storage device C is equipped in the knee joint of the femoral skeleton and calf skeleton connection;Femoral skeleton and calf skeleton inside are equipped with the structure of adjustable leg binding height of different body type wearers;The lower end of the leg structure is equipped with foot structure;Spring recovery device D that can be adapted to swing inside and outside of ankle is equipped in the ankle joint of foot structure.

The present invention is a spherical metamorphic robot and an environmental information monitoring system based on the robot. The robot includes a control unit, a spherical shell and a plurality of telescopic feet evenly distributed on the spherical shell. The axes of all the telescopic feet intersect at the center of the spherical shell. The telescopic feet can be extended and retracted along the radial direction of the spherical shell. All the telescopic feet can be completely wrapped in the spherical shell or extend out of the spherical shell. The system includes a self-organizing network communication module, an environmental information collection component, a host computer, a positioning module and a plurality of metamorphic robots; the plurality of metamorphic robots are arranged at various positions in the area to be detected, and each metamorphic robot is equipped with a self-organizing network communication module, a positioning module and an environmental information collection component; the self-organizing network communication module communicates with the host computer, and the self-organizing network communication module on each robot can communicate bidirectionally with the self-organizing network communication modules on the other robots. The environmental information monitoring system has three modes to realize all-weather, all-round and fully autonomous intelligent dynamic monitoring.