A flexible variable structure component, a robot and a method for manufacturing the flexible variable structure component

Abstract

The present invention provides a flexible transformable component, a robot, and a method for manufacturing the flexible transformable component. The flexible transformable component includes a first flexible surface layer, a second flexible surface layer, a flexible metal frame, and a heating wire. The flexible metal frame and the heating wire are bonded between the first and second flexible surface layers by an adhesive. The heating wire is connected to the flexible metal frame. The melting points of the first and second flexible surface layers are both greater than or equal to the melting point of the heating wire, and the melting point of the heating wire is greater than the melting point of the flexible metal frame. The advantages of the present invention are that the robot can be transformed into an unmanned vehicle configuration by bending, thereby facilitating the robot's operation on the ground; the robot can also be transformed into an unmanned machine configuration by heating, thereby facilitating the robot's operation in the air. The invention can well meet the needs of amphibious use on land and in the air.

Description

Technical field

[0001] The present invention relates to the technical field of robots, and in particular to a flexible variable structure component, a robot, and a method for manufacturing the flexible variable structure component. [Background Technology]

[0002] Small autonomous robots can be divided into two categories: flying robots and ground-based robots. Flying robots are typically characterized by high speed and maneuverability. Ground-based robots are more efficient than flying robots because flying consumes a significant amount of energy.

[0003] In the existing technology, robots of the same type can generally only complete a certain type of work. For example, ground mobile robots cannot operate in the air, and flying robots cannot operate on the ground, which greatly reduces their functionality and cannot meet the requirements of use in multiple scenarios. Even if some robots have two interfaces reserved for ground drive mechanisms or air drive mechanisms, and can temporarily install corresponding drive mechanisms according to scene requirements, this will cause the robot structure and control system to be complicated, inconvenient to use, and the subsequent repair and maintenance costs are very high.

[0004] Of course, there are also amphibious robots in the prior art. For example, the Chinese utility model patent with an application date of 2020.11.15 and application number 202022631692.3 discloses a foldable amphibious robot, including a shell mechanism, a control system, two front leg mechanisms and two hind leg mechanisms. The shell mechanism includes a robot shell, a control system and a battery, and the control system and battery are fixed inside the robot shell; the two front leg mechanisms are symmetrically arranged at the front ends on both sides of the robot shell, and the two rear leg mechanisms are symmetrically arranged at the two ends of the rear side of the robot shell; stepped front leg storage rails and hind leg storage rails are provided on both sides of the robot shell, and the bottom surface height of the front leg storage rails is higher than the bottom surface height of the hind leg storage rails; the amphibious robot can crawl on all fours, which solves the problem of difficulty in moving in complex terrain such as mountains and forests, and has flying and high-speed gliding modes, which can flexibly adapt to various environments; it can not only be used for collecting forest information, but also for civilian shooting.

[0005] However, the robot shells of existing amphibious robots are all made of hard materials and are not flexible, which results in the entire amphibious robot being relatively large in size and heavy in weight, making it very inconvenient to carry.

[0006] In view of the above-mentioned problems, the inventor of this case conducted in-depth research on the issue, which led to the creation of this case. [Summary of the invention]

[0007] The technical problem to be solved by the present invention is to provide a flexible variable structure component, a robot and a method for manufacturing the flexible variable structure component, so as to solve the problems of existing land and air amphibious robots being large in size, heavy in weight and inconvenient to carry.

[0008] The present invention is achieved in that:

[0009] In a first aspect, a flexible modifiable component includes a first flexible surface layer, a second flexible surface layer, a flexible metal frame, and a heating wire;

[0010] The flexible metal frame and the heating wire are bonded between the first flexible surface layer and the second flexible surface layer by an adhesive; the heating wire is connected to the flexible metal frame; the melting points of the first flexible surface layer and the second flexible surface layer are both greater than or equal to the melting point of the heating wire, and the melting point of the heating wire is greater than the melting point of the flexible metal frame.

[0011] Furthermore, the flexible metal frame includes a plurality of first metal wires arranged vertically;

[0012] Among each of the first metal wires, except for the first first metal wire and the last first metal wire, the first metal wires located between the first and the last are grouped in pairs, and the two ends and the middle of the two first metal wires in the same group are connected together by the second metal wire; the last first metal wire of the previous group is connected to the upper middle part and the lower middle part of the previous first metal wire of the next group by the third metal wire; the first first metal wire is connected to the upper middle part and the lower middle part of the previous first metal wire of the first group by the third metal wire, and the last first metal wire is connected to the upper middle part and the lower middle part of the last first metal wire of the last group by the third metal wire.

[0013] Furthermore, the first metal wire, the second metal wire and the third metal wire are all made of low melting point alloy wire.

[0014] Furthermore, the lengths of the first metal wires are equal, and the distances between two adjacent first metal wires are equal; and the outer diameters of the first metal wire, the second metal wire, and the third metal wire are all 3 mm.

[0015] Furthermore, the first flexible surface layer and the second flexible surface layer are provided with a plurality of rows of long strip openings along the vertical direction; each of the first metal wires is located between two adjacent rows of the long strip openings;

[0016] In any two adjacent rows of the elongated openings, one row of the elongated openings includes two or more first openings, and the other row of the elongated openings includes alternately arranged first openings and second openings.

[0017] Furthermore, the thickness of the first flexible surface layer and the second flexible surface layer are both 1 mm; the spacing between two adjacent rows of the long strip openings is equal; the width of the first opening is 2 mm, and the length of the first opening is 116 mm; the width of the second opening is 2 mm, and the length of the second opening is 70 mm.

[0018] Furthermore, the first flexible surface layer and the second flexible surface layer are both made of transparent rubber.

[0019] Furthermore, the lengths of the first flexible surface layer and the second flexible surface layer are both greater than the length of the flexible metal frame, and the widths of the first flexible surface layer and the second flexible surface layer are both greater than the width of the flexible metal frame.

[0020] In the second aspect, a robot includes the above-mentioned flexible transformable component, a support plate, a rotor assembly and a walking component; both ends of the flexible transformable component are fixedly connected to the support plate; both ends of each support plate are fixedly provided with the rotor assembly and the walking component; the flexible transformable component is transformed into an unmanned vehicle configuration by bending, and the flexible transformable component is transformed into an unmanned machine configuration by heating.

[0021] In a third aspect, a method for manufacturing a flexible modifiable component is provided, the method comprising the following steps:

[0022] Step S1: using low melting point alloy wire to make a flexible metal frame;

[0023] Step S2: cutting the transparent rubber skin according to size requirements to obtain a first flexible surface layer and a second flexible surface layer, and forming long strip openings on the first flexible surface layer and the second flexible surface layer;

[0024] Step S3, making a heating wire;

[0025] Step S4: Lay the first flexible surface layer flat and coat the upper surface of the first flexible surface layer with adhesive; place the prepared flexible metal frame and heating wire on the first flexible surface layer coated with adhesive, and connect the heating wire to the flexible metal frame;

[0026] Step S5: Laying the second flexible surface layer on the flexible metal frame and the heating wire, and evenly pressing the second flexible surface layer so that the adhesive fills the gap between the first flexible surface layer and the second flexible surface layer;

[0027] Step S6: After the adhesive is allowed to solidify, a blade is used to scrape off the adhesive on the long strip openings of the first flexible surface layer and the second flexible surface layer, thereby obtaining a flexible modifiable component.

[0028] The present invention designs a flexible structure-changing component including a first flexible surface layer, a second flexible surface layer, a flexible metal frame, and a heating wire; the flexible metal frame and the heating wire are bonded between the first flexible surface layer and the second flexible surface layer, the melting points of the first flexible surface layer and the second flexible surface layer are both greater than or equal to the melting point of the heating wire, and the melting point of the heating wire is greater than the melting point of the flexible metal frame; by adopting the above technical solution of the present invention, at least the following beneficial effects are achieved:

[0029] 1. The entire flexible transformable component has excellent flexibility and can be bent and deformed according to the needs of use; and the flexible metal frame has a low melting point. After melting into a liquid state, it can quickly solidify and transform the bent flexible transformable component into a flat flexible transformable component; therefore, by using the flexible transformable component as the outer shell of the robot, the robot can be transformed into an unmanned vehicle configuration by bending during specific use, thereby facilitating the robot to work on the ground; and the robot can be transformed into an unmanned machine configuration by heating, thereby facilitating the robot to work in the air; it can well meet the needs of amphibious use on land and air.

[0030] 2. Since the entire flexible transformable component has good flexibility, the flexible transformable component can be bent and deformed during use to reduce the volume, so it is very convenient to carry.

[0031] 3. The entire flexible transformable component is light in weight. By using the flexible transformable component as the outer shell of the robot, the overall weight of the robot can be effectively reduced.

[0032] 4. The entire flexible variable-configuration component has a simple structure, is easy to manufacture, has low cost, is very convenient to use and carry, and can well meet the combat needs of multiple scenarios and is suitable for popularization and use.

[0033] 5. Strip openings are provided on the first flexible surface layer and the second flexible surface layer. On the one hand, when making the flexible variable structure component, bubbles between the first flexible surface layer and the second flexible surface layer can be better eliminated, so that the adhesive can fill the gap between the first flexible surface layer and the second flexible surface layer, thereby ensuring the quality of the flexible variable structure component; on the other hand, it can ensure that the flexible variable structure component can be better deformed when bent and heated.

Brief Description of the Drawings

[0034] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0035] Figure 1 is a top view of the flexible modifiable component of the present invention;

[0036] Figure 2 Schematic diagram of the layer structure of the flexible modifiable component of the present invention;

[0037] Figure 3 is a structural diagram of the flexible metal frame of the present invention;

[0038] Figure 4 This is a structural diagram of the first flexible surface layer in the present invention;

[0039] Figure 5 It is a structural diagram of the second flexible surface layer in the present invention;

[0040] Figure 6 It is a structural diagram of the heating wire in the present invention;

[0041] Figure 7 This is a structural diagram of the robot of the present invention when it is in a ground working state;

[0042] Figure 8 It is a structural diagram of the robot of the present invention when it is in an aerial working state.

[0043] Description of reference numerals:

[0044] 100-flexible conformational change component, 101-first arc-shaped recess, 200-robot, 1-first flexible surface layer, 2-second flexible surface layer, 3-flexible metal frame, 31-first metal wire, 32-second metal wire, 33-third metal wire, 4-heating wire, 41-power connector, 5-long strip opening, 51-first opening, 52-second opening, 6-support plate, 61-second arc-shaped recess, 7-rotor assembly, 71-first drive motor, 72-rotor, 8-travel assembly, 81-second drive motor, 82-wheel. [Specific implementation method]

[0045] The embodiments of the present invention solve the technical problems of existing amphibious robots, such as large size, heavy weight, and inconvenient carrying, by providing a flexible transformable component, a robot, and a method for manufacturing the flexible transformable component. It achieves the technical effect of being able to bend and deform to reduce the size, reduce the weight of the entire machine, and be easy to carry.

[0046] The technical solution in the embodiments of the present invention is to solve the above problems, and the overall idea is as follows: a flexible variable structure component is used as the outer shell of the robot, and the flexible variable structure component includes a first flexible surface layer, a second flexible surface layer, a flexible metal frame and a heating wire; the flexible metal frame and the heating wire are bonded between the first flexible surface layer and the second flexible surface layer, and the melting points of the first flexible surface layer and the second flexible surface layer are both greater than or equal to the melting point of the heating wire, and the melting point of the heating wire is greater than the melting point of the flexible metal frame; so that in specific use, the flexible variable structure component can be deformed by bending or heating to meet different usage requirements.

[0047] In order to better understand the technical solution of the present invention, the technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0048] It should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of these embodiments and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. In addition, the terms "first," "second," and the like are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Therefore, features defined as "first," "second," and the like may explicitly or implicitly include one or more of such features.

[0049] Example 1

[0050] See also Figures 1 to 8 As shown, the present invention provides a flexible structure-changing component 100, which includes a first flexible surface layer 1, a second flexible surface layer 2, a flexible metal frame 3 and a heating wire 4;

[0051] The flexible metal frame 3 and the heating wire 4 are bonded between the first flexible surface layer 1 and the second flexible surface layer 2 by an adhesive. On the one hand, it can protect the flexible metal frame 3 and the heating wire 4, and on the other hand, the liquid metal of the flexible metal frame 3 can be filled between the first flexible surface layer 1 and the second flexible surface layer 2 after melting; the heating wire 4 is connected to the flexible metal frame 3, so that after the heating wire 4 is energized, the heating wire 4 can heat the flexible metal frame 3 and melt the flexible metal frame 3 into a liquid state; the melting points of the first flexible surface layer 1 and the second flexible surface layer 2 are both greater than or equal to the melting point of the heating wire 4, ensuring that the first flexible surface layer 1 and the second flexible surface layer 2 will not be melted during the heating process of the heating wire 4; the melting point of the heating wire 4 is greater than the melting point of the flexible metal frame 3, ensuring that the flexible metal frame 3 can be melted into a liquid state by using the heating wire 4.

[0052] The flexible modifiable component 100 designed in the present invention includes a first flexible surface layer 1, a second flexible surface layer 2, a flexible metal frame 3 and a heating wire 4; the flexible metal frame 3 and the heating wire 4 are bonded between the first flexible surface layer 1 and the second flexible surface layer 2, the melting points of the first flexible surface layer 1 and the second flexible surface layer 2 are both greater than or equal to the melting point of the heating wire 4, and the melting point of the heating wire 4 is greater than the melting point of the flexible metal frame 3; by adopting the above technical solution of the present invention, at least the following beneficial effects are achieved:

[0053] 1. The entire flexible transformable component 100 has excellent flexibility and can be bent and deformed according to the needs of use; and the flexible metal frame 3 has a low melting point. After melting into a liquid state, it can quickly solidify and transform the bent flexible transformable component 100 into a flat flexible transformable component 100; therefore, by using the flexible transformable component 100 as the outer shell of the robot, the robot can be transformed into an unmanned vehicle configuration by bending during specific use, thereby facilitating the robot to work on the ground; and the robot can be transformed into an unmanned machine configuration by heating, thereby facilitating the robot to work in the air; it can well meet the needs of amphibious use on land and air.

[0054] 2. Since the entire flexible structure-changing component 100 has good flexibility, the flexible structure-changing component 100 can be bent and deformed during use, thereby reducing the volume, and is therefore very convenient to carry.

[0055] 3. The entire flexible structure-changing component 100 is light in weight. By using the flexible structure-changing component 100 as the outer shell of the robot, the overall weight of the robot can be effectively reduced.

[0056] 4. The entire flexible variable configuration component 100 has a simple structure, is easy to manufacture, has low cost, is very convenient to use and carry, can well meet the combat needs of multiple scenarios, and is suitable for popularization and use.

[0057] In embodiment 1 of the present invention, the flexible metal frame 3 includes a plurality of first metal wires 31 arranged vertically;

[0058] Among the first metal wires 31, except for the first and last first metal wires 31, the first metal wires 31 between the first and last are grouped in pairs, and the two first metal wires 31 in the same group are connected at both ends and in the middle by a second metal wire 32, so that the two first metal wires 31 in the same group can be firmly combined together; the last first metal wire 31 of the previous group is connected to the upper and lower middle parts of the previous first metal wire 31 of the next group by a third metal wire 33, so that the two groups of first metal wires 31 can be better combined together; the first first metal wire 31 is connected to the upper and lower middle parts of the previous first metal wire 31 of the first group by the third metal wire 33, so that the first first metal wire 31 can be better combined with the first metal wire 31 of the first group; the last first metal wire 31 is connected to the upper and lower middle parts of the last first metal wire 31 of the last group by the third metal wire 33, so that the last first metal wire 31 can be better combined with the first metal wire 31 of the last group.

[0059] By adopting the structural design of the flexible metal frame 3 of the present invention, it is not only possible to facilitate the bending and deformation operation of the flexible deformable component 100 during specific use, and ensure that the flexible metal frame 3 will not be damaged during the bending and deformation process; but also the flexible metal frame 3 can be made to evenly fill the liquid metal between the first flexible surface layer 1 and the second flexible surface layer 2 after melting.

[0060] In Example 1 of the present invention, the first metal wire 31, the second metal wire 32, and the third metal wire 33 are all low-melting-point alloy wires. Since low-melting-point alloy wires are easily elongated, retain their shape after elongation, and have a low melting point, using low-melting-point alloy wires to form the flexible metal frame 3 ensures that the resulting flexible deformable component 100 is both easily bent and deformed, retains its shape after bending and deformation, and easily melts the flexible metal frame 3 into a liquid state. In specific implementations, the low-melting-point alloy wires can be aluminum-magnesium alloy wires, tin-bismuth alloy wires, and the like.

[0061] In Example 1 of the present invention, in order to allow the molten metal of the flexible metal frame 3 to more evenly fill the space between the first flexible surface layer 1 and the second flexible surface layer 2, the lengths of the first metal wires 31 are equal, and the spacing between two adjacent first metal wires 31 is equal. As a preferred embodiment of the present invention, the length of the first metal wire 31 is 242 mm, the spacing between two adjacent first metal wires 31 is 50 mm, the length of the entire flexible metal frame 3 is 450 mm, and the spacing between the third metal wire 33 in the upper middle portion and the third metal wire 33 in the lower middle portion is 120 mm.

[0062] The outer diameters of the first metal wire, the second metal wire and the third metal wire are all 3 mm, which can not only ensure that the flexible metal frame 3 is not easily damaged during bending and deformation, but also enable the flexible metal frame 3 to better fill the gap between the first flexible surface layer 1 and the second flexible surface layer 2 after melting.

[0063] In embodiment 1 of the present invention, several rows of long strip openings 5 ​​are provided on the first flexible surface layer 1 and the second flexible surface layer 2 along the vertical direction; each of the first metal wires 31 is located between two adjacent rows of the long strip openings 5; by providing the strip openings 5 ​​on the first flexible surface layer 1 and the second flexible surface layer 2, on the one hand, when manufacturing the flexible deformable component 100, the bubbles between the first flexible surface layer 1 and the second flexible surface layer 2 can be better eliminated, so that the adhesive can fill the gap between the first flexible surface layer 1 and the second flexible surface layer 2, thereby ensuring the quality of the manufactured flexible deformable component 100; on the other hand, it can ensure that the flexible deformable component 100 can be better deformed when bent and heated.

[0064] In order to better eliminate bubbles and better perform deformation, in any two adjacent rows of the elongated openings 5, one row of the elongated openings 5 ​​includes two or more first openings 51, and the other row of the elongated openings 5 ​​includes alternating first openings 51 and second openings 52. As a preferred embodiment of the present invention, in any two adjacent rows of the elongated openings 5, one row of the elongated openings 5 ​​includes two first openings 51; the other row of the elongated openings 5 ​​includes two second openings 52 and one first opening 51, the first opening 51 is located between the two second openings 52, and the second openings 52 extend to the ends of the first flexible surface layer 1 and the second flexible surface layer 2.

[0065] In Example 1 of the present invention, a strong adhesive is used to ensure that the first flexible surface layer 1, the second flexible surface layer 2, the flexible metal frame 3, and the heating wire 4 are firmly bonded together. Furthermore, to prevent the flexible metal frame 3 from easily flowing out of the elongated opening 5 and edges of the first and second flexible surface layers 1 and 2 after melting, the adhesive used in the present invention has a melting point higher than that of the flexible metal frame 3.

[0066] In Example 1 of the present invention, the thickness of the first flexible surface layer 1 and the second flexible surface layer 2 are both 1 mm; the spacing between two adjacent rows of the elongated openings 5 ​​is equal, and since the spacing between two adjacent first metal wires 31 is also equal, it is convenient to arrange each first metal wire 31 so that it is located in the middle position between the two rows of the elongated openings 5;

[0067] If the width of the first opening 51 and the second opening 52 is too large, liquid metal may escape from the first opening 51 and the second opening 52 after the flexible metal frame 3 is melted. If the length of the first opening 51 and the second opening 52 is too long, the first flexible surface layer 1 and the second flexible surface layer 2 may be easily damaged during bending and deformation. Therefore, after a large number of actual production and use, the present invention sets the width of the first opening 51 to 2mm and the length of the first opening 51 to 116mm; the width of the second opening 52 to 2mm and the length of the second opening 52 to 70mm. This ensures that liquid metal is not easily escaped and that the first flexible surface layer 1 and the second flexible surface layer 2 are not easily damaged during bending and deformation.

[0068] In Example 1 of the present invention, both the first flexible surface layer 1 and the second flexible surface layer 2 are made of transparent rubber. By using transparent rubber, when manufacturing the flexible modifiable component 100, the internal flexible metal frame 3 and the heating wire 4 can be clearly seen through the first flexible surface layer 1 or the second flexible surface layer 2, thereby better adjusting the position of the second flexible surface layer 2 so that the first metal wire 31 is located in the middle position between two adjacent rows of the elongated openings 5.

[0069] In Example 1 of the present invention, the lengths of the first flexible surface layer 1 and the second flexible surface layer 2 are both greater than the length of the flexible metal frame 3, and the widths of the first flexible surface layer 1 and the second flexible surface layer 2 are both greater than the width of the flexible metal frame 3. Thus, the first flexible surface layer 1 and the second flexible surface layer 2 cooperate to well enclose the flexible metal frame 3 and the heating wire 4. As a preferred embodiment of the present invention, the lengths of the first flexible surface layer 1 and the second flexible surface layer 2 are both 483 mm, and the widths of the first flexible surface layer 1 and the second flexible surface layer 2 are both 272 mm.

[0070] In Example 1 of the present invention, the flexible metal frame 3 is symmetrically provided with four heating wires 4 on both sides in the middle to better heat the flexible metal frame 3. The outer end of each heating wire 4 extends beyond the first flexible surface layer 1 and the second flexible surface layer 2, and an electrical connector 41 is fixed on the outer end of the heating wire 4 to facilitate the power supply to the heating wire 4. As a preferred embodiment of the present invention, the total length of the heating wire 4 (including the electrical connector 41) is 90 mm, the outer diameter of the heating wire 4 excluding the electrical connector 41 is 5 mm, the length of the electrical connector 41 is 10 mm, and the outer diameter of the electrical connector 41 is 8 mm.

[0071] Example 2

[0072] See also Figures 1 to 8 As shown, the present invention provides a robot 200, which includes a flexible variable structure component 100, a support plate 6, a rotor component 7 and a walking component 8; wherein, the specific structure of the flexible variable structure component 100 is described in detail in Example 1, which will not be repeated here.

[0073] Both ends of the flexible transformable component 100 are fixedly connected to the support plate 6; both ends of each support plate 6 are fixedly provided with the rotor assembly 7 and the walking assembly 8, wherein the rotor assembly 7 is used to drive the entire robot 200 to fly in the air, and the walking assembly 8 is used to drive the robot 200 to walk on the ground; the flexible transformable component 100 is transformed into an unmanned vehicle configuration by bending, and the flexible transformable component 100 is transformed into an unmanned machine configuration by heating.

[0074] When the robot 200 of the present invention is used, under normal circumstances, the robot 200 works on the ground, and the flat-shaped flexible structure-changing component 100 is manually bent along the middle into an arch bridge shape. Because the flexible metal frame 3 in the flexible structure-changing component 100 is made of low-melting-point alloy wire, and the low-melting-point alloy wire has the characteristics of being easily stretched and easy to maintain the shape after stretching, the flexible structure-changing component 100 can maintain the arch bridge shape after being bent, and the four walking components 8 of the robot 200 are all in contact with the ground. At this time, the robot 200 is equivalent to an unmanned vehicle, such as Figure 7 As shown, the robot 200 can walk smoothly on the ground and perform ground tasks under the action of the four walking components 8. At the same time, when the robot 200 is carried, the flexible structure-changing component 100 can also be bent to make the structure of the entire robot 200 more compact and smaller, making it more convenient to carry.

[0075] When it is necessary to perform an aerial mission, the heating wire 4 in the flexible transformable component 100 can be controlled to heat the flexible metal frame 3. The flexible metal frame 3 quickly melts into liquid metal under the action of the heating wire 4. At this time, the entire flexible metal frame 3 loses its bending stress, and the first flexible surface layer 1 and the second flexible surface layer 2 are transformed from passive bending to a horizontal state; when the heating wire 4 is powered off and stops heating, the liquid metal between the first flexible surface layer 1 and the second flexible surface layer 2 quickly solidifies into a flat metal frame, which is easy to maintain a solid state. At this time, the robot 200 is equivalent to a drone, such as Figure 8 As shown, the robot 200 can be driven to fly in the air under the action of the rotor assembly 7.

[0076] Of course, it should be noted that once the robot 200 in the present invention is transformed from the unmanned vehicle configuration to the unmanned machine configuration, it cannot be transformed back from the unmanned machine configuration to the unmanned vehicle configuration.

[0077] In embodiment 2 of the present invention, the rotor assembly 7 includes a first drive motor 71 fixed on the support plate 6 and a rotor 72 provided above the support plate 6. The first drive motor 71 is connected to the rotor 72. When flying in the air, the rotor 72 is driven to rotate by the first drive motor 71 to generate lift.

[0078] In embodiment 2 of the present invention, the walking component 8 includes a second drive motor 81 fixed on the support plate 6 and a wheel 82 provided above the support plate 6. The second drive motor 81 is connected to the wheel 82. When walking on the ground, the wheel 82 is driven to rotate by the second drive motor 81.

[0079] In embodiment 2 of the present invention, first arc-shaped recesses 101 are formed inwardly at both ends of the flexible deformable component 100, and the edges of the first arc-shaped recesses 101 are fixedly connected to the support plate 6; a second arc-shaped recess 61 is formed on the side of the support plate 6 facing away from the first arc-shaped recess 101, so that the second arc-shaped recess 61 can play a good obstacle avoidance effect when the robot 200 walks on the ground; at the same time, the setting of the first arc-shaped recess 101 makes the support plate 6 have a certain width, thereby ensuring that the support plate 6 has sufficient supporting strength.

[0080] Example 3

[0081] See also Figures 1 to 8 As shown, the present invention provides a method for manufacturing a flexible structure-changing component 100. The specific structure of the flexible structure-changing component 100 is described in detail in Example 1 and will not be described in detail here. The manufacturing method includes the following steps:

[0082] Step S1, using low-melting-point alloy wire to make the flexible metal frame 3, specifically comprising: cutting the first metal wire 31, the second metal wire 32 and the third metal wire 33 required for making the flexible metal frame 3, the number of the first metal wire 31, the second metal wire 32 and the third metal wire 33 being determined according to actual use needs; arranging the first metal wires 31 at equal intervals and in a neat manner, using the third metal wire 33 to connect and fix the first first metal wire 31 with the middle upper part and the middle lower part of the second first metal wire 31, and at the same time, starting from the second first metal wire 31, forming two groups of two, and using the second metal wire 32 to connect and fix the two ends and the middle of the two first metal wires 31 in the same group; using the third metal wire 33 to connect and fix the last first metal wire 31 of the previous group with the middle upper part and the middle lower part of the previous first metal wire 31 of the next group, and using the third metal wire 33 to connect and fix the last first metal wire 31 with the middle upper part and the middle lower part of the last first metal wire 31 of the last group;

[0083] Step S2: Cutting the transparent rubber skin according to size requirements to obtain a first flexible surface layer 1 and a second flexible surface layer 2; and providing long strip openings 5 ​​on the first flexible surface layer 1 and the second flexible surface layer 2, specifically comprising: providing a plurality of rows of long strip openings 5 ​​along a vertical direction on the first flexible surface layer 1 and the second flexible surface layer 2, and for any two adjacent rows of long strip openings 5, one row of long strip openings 5 ​​includes two or more first openings 51, and the other row of long strip openings 5 ​​includes alternating first openings 51 and second openings 52;

[0084] Step S3: making heating wires 4, the number of heating wires 4 being 4;

[0085] Step S4: Lay the first flexible surface layer 1 flat and apply adhesive to the upper surface of the first flexible surface layer 1; place the prepared flexible metal frame 3 and heating wire 4 on the first flexible surface layer 1 coated with adhesive, and connect the heating wire 4 to the flexible metal frame 3 to ensure that the heating wire 4 can heat the flexible metal frame 3 when powered on, wherein the four heating wires 4 are symmetrically arranged in pairs on both sides of the middle of the flexible metal frame 3; in this step S4, in order to prevent excessive adhesive from flowing out of the long strip opening 5, when applying the adhesive, the position of the long strip opening 5 is not applied;

[0086] Step S5: Laying the second flexible surface layer 2 on the flexible metal frame 3 and the heating wire 4, and evenly pressing the second flexible surface layer 2 so that the adhesive fills the gap between the first flexible surface layer 1 and the second flexible surface layer 2. During the even pressing process, the air inside will be expelled, thereby effectively eliminating bubbles and ensuring the quality of the flexible modifiable component 100.

[0087] Step S6: After standing still until the adhesive solidifies, use a blade to scrape off the adhesive on the long strip openings 5 ​​of the first flexible surface layer 1 and the second flexible surface layer 2 so that the long strip openings 5 ​​are not blocked by the adhesive, thereby obtaining the flexible structure-changing component 100.

[0088] Although the specific embodiments of the present invention are described above, those skilled in the art should understand that the specific embodiments described are merely illustrative and are not intended to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A robot, characterized in that: The vehicle comprises a flexible transformable component, a support plate, a rotor component, and a walking component; both ends of the flexible transformable component are fixedly connected to the support plate; both ends of each support plate are fixedly provided with the rotor component and the walking component; the flexible transformable component is transformed into an unmanned vehicle configuration by bending, and is transformed into an unmanned machine configuration by heating; The flexible variable structure component includes a first flexible surface layer, a second flexible surface layer, a flexible metal frame and a heating wire; the flexible metal frame and the heating wire are bonded between the first flexible surface layer and the second flexible surface layer by an adhesive; the heating wire is connected to the flexible metal frame; the melting points of the first flexible surface layer and the second flexible surface layer are both greater than or equal to the melting point of the heating wire, and the melting point of the heating wire is greater than the melting point of the flexible metal frame.

2. A robot according to claim 1, characterized in that: The flexible metal frame includes a plurality of first metal wires arranged vertically; Among each of the first metal wires, except for the first first metal wire and the last first metal wire, the first metal wires located between the first and the last are grouped in pairs, and the two ends and the middle of the two first metal wires in the same group are connected together by the second metal wire; the last first metal wire of the previous group is connected to the upper middle part and the lower middle part of the previous first metal wire of the next group by the third metal wire; the first first metal wire is connected to the upper middle part and the lower middle part of the previous first metal wire of the first group by the third metal wire, and the last first metal wire is connected to the upper middle part and the lower middle part of the last first metal wire of the last group by the third metal wire.

3. A robot according to claim 2, characterized in that: The first metal wire, the second metal wire and the third metal wire are all made of low melting point alloy wire.

4. A robot according to claim 2, characterized in that: The lengths of the first metal wires are equal, and the distances between two adjacent first metal wires are equal; the outer diameters of the first metal wire, the second metal wire, and the third metal wire are all 3 mm.

5. A robot according to claim 2, characterized in that: The first flexible surface layer and the second flexible surface layer are provided with a plurality of rows of long strip openings along the vertical direction; each of the first metal wires is located between two adjacent rows of the long strip openings; In any two adjacent rows of the elongated openings, one row of the elongated openings includes two or more first openings, and the other row of the elongated openings includes alternately arranged first openings and second openings.

6. A robot according to claim 5, characterized in that: The thickness of the first flexible surface layer and the second flexible surface layer is 1 mm; the spacing between two adjacent rows of long strip openings is equal; the width of the first opening is 2 mm, and the length of the first opening is 116 mm; the width of the second opening is 2 mm, and the length of the second opening is 70 mm.

7. A robot according to claim 1, characterized in that: The first flexible surface layer and the second flexible surface layer are both made of transparent rubber.

8. A robot according to claim 1, characterized in that: The lengths of the first flexible surface layer and the second flexible surface layer are both greater than the length of the flexible metal frame, and the widths of the first flexible surface layer and the second flexible surface layer are both greater than the width of the flexible metal frame.

9. A method for manufacturing a flexible modifiable component of a robot according to any one of claims 1 to 8, characterized in that: The production method comprises the following steps: Step S1: using low melting point alloy wire to make a flexible metal frame; Step S2: cutting the transparent rubber skin according to size requirements to obtain a first flexible surface layer and a second flexible surface layer, and forming long strip openings on the first flexible surface layer and the second flexible surface layer; Step S3, making a heating wire; Step S4: Lay the first flexible surface layer flat and coat the upper surface of the first flexible surface layer with adhesive; place the prepared flexible metal frame and heating wire on the first flexible surface layer coated with adhesive, and connect the heating wire to the flexible metal frame; Step S5: Laying the second flexible surface layer on the flexible metal frame and the heating wire, and evenly pressing the second flexible surface layer so that the adhesive fills the gap between the first flexible surface layer and the second flexible surface layer; Step S6: After the adhesive is allowed to solidify, a blade is used to scrape off the adhesive on the long strip openings of the first flexible surface layer and the second flexible surface layer, thereby obtaining a flexible conformal-modifying component.

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