Transformation robot

Abstract

The invention relates to the technical field of robots, and provides a transformation robot which comprises a first body and a second body. The first body is movably connected with the second body; a poke rod is arranged in the first body, and the poke rod is connected with a clamping and locking piece arranged in the second body through a connecting piece; when the poke rod is poked in the first direction, the clamping and locking piece can be driven to be inserted into the first body in a clamped and locked mode, and the first body and the second body are fixedly locked. When the poke rod is poked in the second direction, the clamping and locking piece can be driven to be unlocked to leave the first body, and the first body and the second body are movably unlocked. The first direction is the direction from the vertical direction to the direction where the poke rod is attached to the first body, and the second direction is opposite to the first direction. The deformation robot can realize self-locking and fixing among the components through the physical inserting and locking effect of the clamping and locking piece, and has the advantages that energy is not consumed in the self-locking state, and reliable self-locking can be kept for a long time.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more particularly to a transforming robot. Background Technology

[0002] In related technologies, transforming robots generally achieve the switching of machine forms by rotating machine joints. For example, the limb joints of a robot dog can be folded or extended to meet the different usage needs of the robot dog's limbs.

[0003] In related technologies, the joints of deformable robots are usually locked by the motor to achieve the self-locking force before and after joint deformation. Although this method can flexibly switch the self-locking and rotation functions of the robot joints, the power consumption and heat generation during motor lock-up are serious, which affects the robot's battery life. Moreover, it is not conducive to maintaining self-locking for a long time, and the reliability is relatively poor. Summary of the Invention

[0004] This disclosure provides a deformable robot to address the problems in related technologies where deformable robots rely on motor stall to achieve joint self-locking, resulting in high energy consumption, difficulty in maintaining the joint for extended periods, and relatively poor self-locking reliability.

[0005] The deformable robot provided in this embodiment includes a first body and a second body; The first body and the second body can be movably connected; The first body is provided with a toggle lever, and the toggle lever is connected to a locking member provided in the second body via a connector; When the lever is moved along the first direction, it can drive the locking member to lock into the first body and fix the first body and the second body in a fixed lock. When the lever is moved in the second direction, it can cause the locking member to unlock away from the first body, and make the first body and the second body unlocked. The first direction is the direction from the vertical direction of the lever to the direction of contact with the first body, and the second direction is opposite to the first direction.

[0006] In one possible embodiment, a first rotating joint is provided at one end of the first body, and the first rotating joint is rotatably connected to the second body; When the locking component is inserted into the first body, the locking component can correspondingly lock the first rotating joint so that it no longer rotates; When the locking component is pulled out of the first body, the locking component can correspondingly unlock the first rotating joint to rotate normally.

[0007] In one embodiment, the locking element includes a sliding plate and an insertion head that are interconnected; One end of the connector is hinged to the sliding plate, and the other end is hinged to the actuating rod. The second body has a through hole for the insertion head to extend or retract; The first body is provided with a receiving sleeve for inserting the insertion head; The sliding plate can drive the insertion head to slide back and forth along the extension direction of the through hole, so that the insertion head can extend and lock into the receiving sleeve, or retract and unlock from the receiving sleeve.

[0008] In one possible implementation, the deformable robot further includes a third body; The third body is movably connected to the second body and / or the first body via a second rotary joint; The second body is capable of reciprocating about the axis of the first rotating joint; The third body is capable of reciprocating about the axis of the second rotating joint; The axis lines of the first rotary joint and the second rotary joint extend in two different directions.

[0009] In one possible embodiment, the second body is further provided with a second locking member and a second connecting member, and the second locking member is connected to the locking member through the second connecting member; When the locking component reciprocates, the second connecting component can simultaneously drive the second locking component to extend and lock onto the third body, or retract into the second body to unlock the third body.

[0010] In one possible embodiment, the second locking member includes a connecting post and an insert post that are connected to each other; One end of the connecting post is connected to the second connecting member; The insert post is movably disposed in the second body through a limiting slide groove, and can slide back and forth along the limiting slide groove under the drive of the second connector to extend or retract into the second body.

[0011] In one possible embodiment, the second body is further provided with a card slot; The third body has a locking head, and the end of the locking head has a locking slot; When the third body rotates relative to the second body, the card head can be inserted into the card slot accordingly; Furthermore, the insert post can slide out of the second body and be correspondingly inserted and locked into the slot at the end of the slot.

[0012] In one possible implementation, multiple third bodies are provided, and the multiple third bodies are respectively movably connected to the second body and / or the first body; The plurality of the third bodies are each capable of independently reciprocating about the axis of their respective second rotating joints.

[0013] In one possible embodiment, the lever is further provided with a control button in the lever end; The control button is connected to the end of the first rotating joint via a control cable and is hinged to the toggle lever. It is used to control and adjust the locking or unlocking state of the toggle lever and the first rotating joint.

[0014] In one possible implementation, the deformable robot further includes an angle sensor; The angle sensor is installed in the first rotating joint and is capable of detecting the joint angle of the first rotating joint.

[0015] The technical solution provided in this disclosure has the following advantages compared with related technologies: The transforming robot provided in this embodiment achieves its self-locking and unlocking functions for the first and second bodies by using a lever to drive the reciprocating motion of the connecting parts and locking parts. It changes the connection position of the locking parts entirely through mechanical movement, thereby switching the self-locking or unlocking of the first and second bodies. This ensures that the transforming robot does not generate additional energy consumption when performing the self-locking function and can maintain reliable self-locking for a long time. It effectively solves the problems of high energy consumption, difficulty in maintaining self-locking for a long time, and relatively poor self-locking reliability of robots that rely on motor stalling to achieve self-locking in related technologies.

[0016] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0017] The above and other objects, features, and advantages of this disclosure will become readily apparent from the following detailed description of exemplary embodiments, taken in conjunction with the accompanying drawings. Several embodiments of this disclosure are illustrated in the drawings by way of example and not limitation, in which: In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

[0018] Figure 1 A partial structural diagram of the deformable robot provided in an embodiment of this disclosure is shown; Figure 2 A first state diagram of the deformable robot provided in an embodiment of this disclosure is shown; Figure 3 A second state diagram of the deformable robot provided in an embodiment of this disclosure is shown; Figure 4 A structural diagram of the deformable robot provided in an embodiment of this disclosure is shown from another perspective; Figure 5 A structural diagram from another perspective of the deformable robot provided in an embodiment of this disclosure is shown; Figure 6 A structural diagram of the deformable robot provided in an embodiment of this disclosure is shown; Figure 7 A schematic diagram of the switching of the deformable robot provided in an embodiment of this disclosure is shown.

[0019] Explanation of the labels in the diagram: 1. First body; 2. Second body; 21. First rotating joint; 22. Through hole; 23. Slot; 3. Actuating lever; 4. Locking mechanism; 41. Sliding plate; 42. Insertion head; 5. Connecting component; 6. Third body; 61. Second rotating joint; 62. Clamping head; 7. Second locking component; 71. Connecting post; 72. Inserting post; 8. Second connecting component. Detailed Implementation

[0020] To make the objectives, features, and advantages of this disclosure more apparent and understandable, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0021] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0022] Combination Figure 1 , Figure 2 and Figure 3As shown, this embodiment of the present disclosure provides a transforming robot, which includes a first body 1 and a second body 2; the first body 1 and the second body 2 are movably connected; a lever 3 is provided in the first body 1, and the lever 3 is connected to a locking member 4 provided in the second body 2 through a connector 5; wherein, when the lever 3 is moved along the first direction X1, it can drive the locking member 4 to lock into the first body 1, and fix the first body 1 and the second body 2 in a fixed lock; when the lever 3 is moved along the second direction X2, it can drive the locking member 4 to unlock away from the first body 1, and move the first body 1 and the second body 2 in a movable unlock; the first direction X1 is the direction from the vertical direction of the lever 3 to the direction of contact with the first body 1, and the second direction X2 is opposite to the first direction X2.

[0023] The transforming robot provided in this embodiment can be used as various types of robots, such as a robot that can switch between mechanical dog and mechanical car modes. This transforming robot can achieve relative self-locking and fixation of several parts by physically locking the locking parts 4 through the lever 3. Specifically, the mechanical joints in the mechanical dog-mechanical car are used as an example to illustrate the usage process.

[0024] In specific use, the deformable robot provided in this embodiment can have a first body 1 as the body of a mechanical dog and a second body 2 as the head of the mechanical dog. The second body 2 can be movably connected to the first body 1 via a first rotating joint 21. In this way, the first rotating joint 21 can realize the function of the head of the mechanical dog swinging left and right or up and down relative to the body by reciprocating around its own axis.

[0025] Combination Figure 6 and Figure 7 To further explain, when it is necessary to self-lock the first body 1 and the second body 2, simply trigger the lever 3 along the first direction X1 and rotate the lever 3 from the vertical direction toward the first body 1. In this way, the lever 3 can drive the connecting piece 5 and the locking piece 4 to perform a locking insertion movement simultaneously, and the locking piece 4 extends from the second body 2 and locks onto the first body 1. This restricts the relative movement between the second body 2 and the first body 1, thus achieving the function of fixing and locking the second body 2 and the first body 1. When it is necessary to unlock and release the first body 1 and the second body 2, simply trigger the lever 3 along the first direction X2 and rotate the lever 3 from the direction where the first body 1 is attached toward the vertical direction. In this way, the lever 3 can drive the connecting piece 5 and the locking piece 4 to perform an unlocking and pulling movement simultaneously, and the locking piece 4 is pulled out from the first body 1 and retracted into the second body 2. This allows the second body 2 and the first body 1 to move relative to each other, thus achieving the function of movably unlocking the second body 2 and the first body 1.

[0026] In summary, the transforming robot provided in this embodiment achieves its self-locking and unlocking functions among several body components by driving the connecting piece 5 and the locking piece 4 to reciprocate through the toggle lever 3. It changes the connection position of the locking piece 4 through mechanical movement to switch the self-locking or unlocking of several body components. This ensures that the transforming robot does not generate additional energy consumption when performing the self-locking function and can maintain reliable self-locking for a long time. It effectively solves the problems of high energy consumption, difficulty in maintaining self-locking for a long time, and relatively poor self-locking reliability of robot joints that rely on motor stalling to achieve self-locking in related technologies.

[0027] In addition, it is worth noting that the specific way to rotate the aforementioned lever 3 can be by manually pushing and pulling the lever end back and forth, or by directly driving the lever 3 with a motor to achieve the rotation of the lever 3 at the hinge end with the first rotating joint 21, or by a combination of both methods: manual operation and motor drive.

[0028] In one embodiment, a first rotating joint 21 is provided at one end of the first body 1, and is rotatably connected to the second body 2 through the first rotating joint 21; when the locking member 4 is inserted into the first body 11, the locking member 4 can correspondingly lock the first rotating joint 21 and stop rotating; when the locking member 4 is pulled out of the first body 1, the locking member 4 can correspondingly unlock the first rotating joint 21 and rotate normally.

[0029] Specifically, in combination Figure 1 and Figure 6 To explain in more detail, a first rotating joint 21 is provided at one end of the first body 1, and the first rotating joint 21 is rotatably connected to the second body 2. In this way, when the first rotating joint 21 is in the unlocked state, the second body 2 can reciprocate around the rotation axis of the first rotating joint 21.

[0030] Furthermore, when the locking component 4 is inserted into the first body 1, the locking component 4 can correspondingly restrict the relative rotation between the second body 2 and the first body 1, thereby indirectly "locking" the first rotating joint 21 through the physical insertion and locking of the locking component 4, so that the first rotating joint 21 enters a self-locking state where it no longer rotates; when the locking component 4 is pulled out of the first body 1, the locking component 4 no longer restricts the relative rotation between the second body 2 and the first body 1, at which point the locking component 4 no longer performs physical insertion and locking, thereby indirectly "unlocking" the first rotating joint 21, so that the first rotating joint 21 enters an unlocked state where it can rotate normally.

[0031] In one embodiment, the locking member 4 includes a sliding plate 41 and an insertion head 42 connected to each other; one end of the connecting member 5 is hinged to the sliding plate 41, and the other end is drivenly hinged to the actuating rod 3; the second body 2 has a through hole 22 for the insertion head 42 to extend or retract; the first body 1 is correspondingly provided with a receiving sleeve 11 for the insertion head 42 to be inserted; wherein, the sliding plate 41 can drive the insertion head 42 to slide back and forth along the extension direction of the through hole, so that the insertion head 42 extends and locks into the receiving sleeve 11, or retracts from the receiving sleeve 11 to unlock.

[0032] Specifically, in combination Figure 1 and Figure 2 In further detail, the locking component 4 is specifically configured to include a sliding plate 41 and an insertion head 42 that are connected to each other. The insertion head 42 can be vertically connected to one side of the sliding plate 41. One end of the connecting component 5 can be specifically hinged to the top side of the sliding plate 41, and the other end can be specifically hinged to the end of the actuating rod 3 near the first rotating joint 21. In this way, when the actuating rod 3 is turned, the connecting component 5 can correspondingly pull or push the sliding plate 41 to reciprocate along a straight line.

[0033] Furthermore, since the second body 2 has a through hole 22 for the insertion head 42 to extend or retract, and the first body 1 is correspondingly provided with a receiving sleeve 11 for the insertion head 42 to be inserted, when the sliding plate 41 slides back and forth, it can correspondingly drive the insertion head 42 to extend through the through hole 22 and lock into the receiving sleeve 11, or retract from the receiving sleeve 11 through the through hole 22 into the second body 2, thereby unlocking the second body 2 from the first body 1.

[0034] The specific configuration of the aforementioned locking component 4 has the advantages of simple structure and stable and rapid locking or unlocking of the second body 2 and the first body 1.

[0035] In one embodiment, the transforming robot further includes a third body 6; the third body 6 is movably connected to the second body 2 and / or the first body 1 via a second rotating joint 61; wherein the second body 2 is capable of reciprocating rotation about the axis of the first rotating joint 21; the third body 6 is capable of reciprocating rotation about the axis of the second rotating joint 61; the axes of the first rotating joint 21 and the second rotating joint 61 are arranged to extend in two different directions.

[0036] Specifically, in combination Figure 2 , Figure 3 and Figure 4 In further detail, the third body 6 in the transforming robot can be, but is not limited to, a leg component in the mechanical dog, and the third body 6 can be movably connected to the head component and / or body component in the mechanical dog via the second rotary joint 61.

[0037] Furthermore, the axis of the first rotating joint 21 can be specifically set to extend in the vertical direction, and the axis of the second rotating joint 61 can be specifically set to extend in the horizontal direction. In this way, the second body 2 can swing left and right relative to the first body 1 in a reciprocating rotation manner in the vertical direction, and the third body 6 can swing up and down relative to the second body 1 and / or relative to the first body 1 in a reciprocating rotation manner in the horizontal direction.

[0038] In one embodiment, the second body 2 is further provided with a second locking member 7 and a second connecting member 8, and the second locking member 7 is connected to the locking member 4 through the second connecting member 8; when the locking member 4 reciprocates, the second connecting member 8 can synchronously drive the second locking member 7 to extend and lock onto the third body 6, or retract into the second body 2 to unlock the third body 6.

[0039] Specifically, in combination Figure 4 and Figure 5 In further detail, the second body 2 is also provided with a second locking element 7 and a second connecting element 8. The second locking element 7 is connected to the locking element 4 via the second connecting element 8. When the locking element 4 reciprocates, it can simultaneously drive the second locking element 7 to extend out of the second body 2 and lock onto the third body 6 via the second connecting element 8, or simultaneously drive the second locking element 7 to retract into the second body 2 to unlock the third body 6. Thus, when the lever 3 is turned, it can simultaneously adjust the locking or unlocking state of the locking element 4 and the second locking element 7, thereby synchronously performing the locking or unlocking function of the first rotating joint 21 and the second rotating joint 61.

[0040] Furthermore, when both the first rotating joint 21 and the second rotating joint 61 are unlocked, the head and leg components of the mechanical dog can reciprocate relative to the body, and the mechanical dog can normally perform head turning and leg walking functions. When both the first rotating joint 21 and the second rotating joint 61 are locked, the head and body of the mechanical dog are locked and fixed relative to each other, and the leg components are locked and fixed relative to each other. At this time, the mechanical dog cannot perform head turning and leg walking functions, but the mechanical dog as a whole can be used as a "scooter" type machine. At this time, the mechanical dog can move by rotating the wheels of the leg components.

[0041] In one embodiment, the second locking member 7 includes a connecting post 71 and an insert post 72 connected to each other; one end of the connecting post 71 is connected to the second connecting member 8; the insert post 72 is movably disposed in the second body 2 through a limiting groove, and can slide back and forth along the limiting groove under the drive of the second connecting member 8 to extend or retract in the second body 2.

[0042] Specifically, in combination Figure 3 , Figure 4 and Figure 5In further detail, the second locking component 7 is specifically configured to include a connecting post 71 and a insert post 72 that are connected to each other, and the connecting post 71 and the insert post 72 can be connected perpendicularly to each other. One end of the connecting post 71 is connected to the second connecting member 8, and the insert post 72 is movably set in the second body 2 through a limiting slide groove. Thus, when the locking component 4 reciprocates, the second connecting member 8 can pull or push the insert post 72 to slide along the limiting slide groove to extend out of the second body 2 and the third body 6 to lock, or slide and retract to unlock the second body 2 and the third body 6.

[0043] The specific configuration of the second locking component 7 described above has the advantages of simple structure and stable and rapid locking or unlocking of the third body 6 and the second body 2.

[0044] In one embodiment, the second body 2 is further provided with a slot 23; the third body 6 has a head 62, and the end of the head 62 is provided with a slot; when the third body 6 rotates relative to the second body 2, the head 62 can be inserted into the slot 23; and the insertion post 72 can slide out of the second body 2 and be inserted into the slot at the end of the slot 23.

[0045] Specifically, in combination Figure 2 and Figure 3 In further detail, a slot 23 is provided in the outer shell wall of the second body 2, and a corresponding locking head 62 is provided in the outer shell wall of the third body 6. The outward protruding end of the locking head 62 can be provided with a corresponding slot. When the third body 6 rotates relative to the second body 2 to a mutually locking angle position, the locking head 62 can be inserted into the slot 23. The insertion post 72 in the second locking member 7 can slide out of the second body 2 and be inserted into the slot at the end of the slot 23, thereby locking and fixing the locking head 62 to the slot 23, fixing the third body 6 relative to the second body 2, and making the second rotating joint 61 "self-locking".

[0046] The specific arrangement of the aforementioned slot 23 and slot head 62 has the advantages of simple structure and stable and rapid self-locking or unlocking of the second rotating joint 61.

[0047] In one embodiment, multiple third bodies 6 are provided, and the multiple third bodies 6 are movably connected to the second body 2 and / or the first body 1 respectively; the multiple third bodies 6 can independently reciprocate about the axis of their respective second rotation joints 61.

[0048] Specifically, in combination Figure 2 and Figure 6In further detail, four third bodies 6 can be specifically set up, with two of them symmetrically and movably connected to the left and right sides of the second body 2, and the other two symmetrically and movably connected to the left and right sides of the tail end of the first body 1. In this way, the four third bodies 6 can serve as the four leg components of the mechanical dog, and the multiple third bodies 6 can independently reciprocate around the axis of their respective second rotating joints 61, so that the four leg components of the mechanical dog do not interfere with each other and can independently perform different walking and bending movements.

[0049] In one embodiment, the lever 3 is further provided with a control button at the lever end; the control button is connected to the end of the lever 3 hinged to the first rotating joint 21 via a control cable, and is used to control and adjust the locking or unlocking state of the lever 3 and the first rotating joint 21.

[0050] Specifically, in combination Figure 2 and Figure 6 In further detail, the actuating end of the lever 3 can be configured as a gripping handle perpendicular to the lever 3, and the control button can be correspondingly located in the gripping handle and connected to the end of the lever 3 hinged to the first rotating joint 21 via a control cable. In this way, the user can control and adjust the locking or unlocking state of the lever 3 and the first rotating joint 21 in a manner similar to the handbrake of a bicycle, so that the first rotating joint 21 or the second rotating joint 61 in the mechanical dog can only be actuated under specific working conditions that require locking or unlocking.

[0051] In addition, this disclosure also provides a robot, which includes a machine body and the above-mentioned deformable robot, wherein the first body 1 and the second body 2 are respectively disposed on two different parts of the machine body.

[0052] Specifically, in combination Figure 6 To elaborate further, the robot is specifically a quadrupedal dog in shape, but it could also be a bipedal human, a six-legged spider, or something similar. The first body 1 could be the body part of the robot body, and the second body 2 could be the head or leg part of the robot body.

[0053] The machine includes the aforementioned transforming robot and is capable of achieving all the beneficial effects of the aforementioned transforming robot, which will not be elaborated further here.

[0054] In one embodiment, the machine body further includes an angle sensor; the angle sensor is disposed in the first rotating joint 21 and is capable of detecting the joint angle of the first rotating joint 21.

[0055] Specifically, the machine body is also equipped with an angle sensor for detecting the joint angle of the first rotating joint 21, and the angle sensor can be electrically connected to the control center in the machine body. This allows the control center to monitor and control the rotation angle of the first rotating joint 21 in real time, ensuring that the first rotating joint 21 will not be blocked by power supply when it is locked and fixed by the locking member 4.

[0056] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly specified.

[0057] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A metamorphic robot, characterized by, The first body (1) and the second body (2) are movably connected; The first body (1) is provided with a toggle lever (3), and the toggle lever (3) is connected with a locking piece (4) arranged in the second body (2) through a connecting piece (5); When the toggle lever (3) is toggled in a first direction, the locking piece (4) can be inserted into the first body (1) to lock the first body (1) and the second body (2) together; When the toggle lever (3) is toggled in a second direction, the locking piece (4) can be pulled out of the first body (1) to unlock the first body (1) and the second body (2); The first direction is from a vertical direction to a direction in which the toggle lever (3) is in close contact with the first body (1), and the second direction is opposite to the first direction. One end of the first body (1) is provided with a first rotary joint (21), and the first body (1) is rotatably connected with the second body (2) through the first rotary joint (21); 2. The metamorphic robot of claim 1, wherein, When the locking piece (4) is inserted into the first body (1), the locking piece (4) can correspondingly lock the first rotary joint (21) from rotating; When the locking piece (4) is pulled out of the first body (1), the locking piece (4) can correspondingly unlock the first rotary joint (21) to rotate normally. The locking piece (4) comprises a sliding plate (41) and an insertion head (42) connected with each other; 3. The metamorphic robot of claim 2, wherein, One end of the connecting piece (5) is hingedly connected with the sliding plate (41), and the other end is transmissionally hingedly connected with the toggle lever (3); The second body (2) is provided with a through hole (22) for the insertion head (42) to extend or retract; The first body (1) is correspondingly provided with a receiving sleeve (11) for the insertion head (42) to be inserted; The sliding plate (41) can drive the insertion head (42) to reciprocally slide along the extension direction of the through hole, so that the insertion head (42) extends out of and is locked in the receiving sleeve (11), or retracts out of the receiving sleeve (11) to be unlocked. The transformation robot further comprises a third body (6); 4. The metamorphic robot of claim 2, wherein, The third body (6) is movably connected with the second body (2) and / or the first body (1) through a second rotary joint (61); The second body (2) can reciprocally rotate around the axis of the first rotary joint (21); The third body (6) can reciprocally rotate around the axis of the second rotary joint (61); The axes of the first rotary joint (21) and the second rotary joint (61) extend in two different directions. The second body (2) is further provided with a second locking piece (7) and a second connecting piece (8), and the second locking piece (7) is transmissionally connected with the locking piece (4) through the second connecting piece (8); 5. The metamorphic robot of claim 4, wherein, ​ When the latching piece (4) reciprocates horizontally, the second connecting piece (8) can drive the second latching piece (7) to extend and be latched to the third body (6) or to be retracted in the second body (2) to unlock the third body (6).

6. The metamorphic robot of claim 5, wherein, The second latching piece (7) comprises a connecting column (71) and an insertion column (72) connected with each other; One end of the connecting column (71) is connected with the second connecting piece (8); The insertion column (72) is movably arranged in the second body (2) through a limiting sliding groove and can reciprocate along the limiting sliding groove under the driving of the second connecting piece (8) to extend or retract in the second body (2).

7. The metamorphic robot of claim 6, wherein, The second body (2) is further provided with a clamping groove (23); The third body (6) has a clamping head (62), and the end of the clamping head (62) is provided with a clamping opening; When the third body (6) rotates relative to the second body (2), the clamping head (62) can be correspondingly inserted into the clamping groove (23); And the insertion column (72) can slide out of the second body (2) and be correspondingly inserted and latched into the clamping opening at the end of the clamping groove (23).

8. The metamorphic robot of claim 5, wherein, A plurality of third bodies (6) are arranged, and the plurality of third bodies (6) are movably connected with the second body (2) and / or the first body (1) respectively; The plurality of third bodies (6) can independently reciprocate around the axis of the second rotary joint (61) respectively.

9. The metamorphic robot of any one of claims 2-8, wherein, One end of the second body (2) is a pushing end, and a control button is arranged in the pushing end of the pushing rod (3); The control button is connected with the end of the pushing rod (3) hinged to the first rotary joint (21) through control lines, and is used for controlling and adjusting the latching or unlocking state of the pushing rod (3) and the first rotary joint (21).

10. The metamorphic robot of claim 2, wherein, The transformation robot comprises an angle sensor; The angle sensor is arranged in the first rotary joint (21) and can detect the joint rotation angle of the first rotary joint (21).

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