A Tri-functional Bionic Chameleon Robot

Abstract

The present invention relates to a three-in-one bionic chameleon robot, which includes a leg mechanical mechanism (1), a head tongue ejection and grasping device (2), a body color-changing device (3), a load-bearing device (4), a power source transmission mechanism, and a control system; the leg mechanical mechanism (1), the head tongue ejection and grasping device (2), and the body color-changing device (3) are arranged on the load-bearing device (4), the leg mechanical mechanism (1) and the head tongue ejection and grasping device (2) are connected to the power source transmission mechanism, and the control system controls the power source transmission mechanism and the body color-changing device (3). Compared with the prior art, the present invention realizes the functions of color change, walking, and grasping of the chameleon robot, and the overall mechanical structure and electronic control are simple.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic mechanical devices, and particularly relates to a triple-function bionic chameleon robot. Background Art

[0002] In order to escape from the infringement of natural enemies and approach its prey, and survive in a complex environment, when threatened, a chameleon can not only escape, but also intimidate natural enemies or disguise itself by changing the color of its skin. This kind of environment-adaptive behavior of organisms has inspired scientists to develop soft actuators and robots with adaptive functions.

[0003] However, currently, for the bionics of chameleons, it is generally to analyze the mechanism of chameleon skin color change and use thermochromic materials to achieve its color change function, which is used for stealth intelligent robots (reconnaissance robots) or stealth cloaks, camouflage military uniforms, etc., and has potential application value in the fields of military stealth, camouflage, and anti-counterfeiting. In addition to the research on the color change function of chameleons, the flexible tongue of chameleons is also a research direction. Chameleons have long, sensitive and highly sticky tongues, which can be shot out quickly when hunting to stick to prey. The grasping function of the tongue can be used to connect to the end of a robotic arm to achieve the grasping of various-shaped objects and replace traditional robotic hands. Summary of the Invention

[0004] The purpose of the present invention is to provide a triple-function bionic chameleon robot.

[0005] The purpose of the present invention can be achieved through the following technical solutions: A triple-function bionic chameleon robot includes a leg mechanical mechanism, a head tongue ejection and grasping device, a body color change device, a load-bearing device, a power source transmission mechanism, and a control system;

[0006] The leg mechanical mechanism, the head tongue ejection and grasping device, and the body color change device are arranged on the load-bearing device. The leg mechanical mechanism and the head tongue ejection and grasping device are connected to the power source transmission mechanism, and the control system controls the power source transmission mechanism and the body color change device.

[0007] Preferably, the leg mechanical mechanism includes a driving link, a first leg joint, an upper parallel link, a lower L-shaped link, a second leg joint, a third leg joint, and a claw;

[0008] The power source transmission mechanism drives the driving link to move left and right. The driving link is connected to the first leg joint and drives the first leg joint to move back and forth. The first leg joint drives the upper parallel link, the lower L-shaped link, the second leg joint, the third leg joint, and the claw to move back and forth.

[0009] Further preferably, the leg mechanical mechanism further includes a slider, a central connecting plate, a tension spring, a ball head link, and a limit plate;

[0010] The active link connects the tension spring and the slider. The tension spring and the slider are connected to the central connecting plate. The central connecting plate is connected to the ball head link. The ball head link is connected to the lower L-shaped link. The active link is limited by the limit plate, and the limit plate and the first leg joint are connected to the load-bearing device;

[0011] The active link drives the tension spring, the slider and the central connecting plate to move left and right. The central connecting plate drives the ball head link to move up and down. The ball head link drives the lower L-shaped link to move up and down. The lower L-shaped link drives the second leg joint, the third leg joint and the claws to move up and down.

[0012] More preferably, each of the leg mechanical mechanisms includes an active link, two first leg joints, four upper parallel links, four lower L-shaped links, a limit plate, a slider, two ball head links, two tension springs, two second leg joints, two third leg joints, ten claws, and a central connecting plate; the active link connects the two first leg joints; the two first leg joints connect the four upper parallel links and the four lower L-shaped links; the four upper parallel links and the four lower L-shaped links connect the two second leg joints; the two second leg joints connect the two third leg joints; the two third leg joints connect the ten claws; the active link connects the two tension springs and a slider; the two tension springs and a slider are connected to the central connecting plate; the central connecting plate is connected to the four lower L-shaped links.

[0013] Preferably, the head tongue ejection and grasping device includes a friction wheel, a side plate, an ejection tube and a barrel;

[0014] The friction wheel is connected to the side plate. The ejection tube is connected to the friction wheel. The barrel is arranged outside the ejection tube. The side plate and the barrel are connected to the load-bearing device;

[0015] The rotation of the friction wheel ejects the ejection tube, and the reverse rotation pulls the ejection tube back into the barrel.

[0016] Further preferably, the tongue ejection and grasping device further includes a storage wheel, and the storage wheel is arranged on the load-bearing device.

[0017] Preferably, each of the head tongue ejection and grasping devices includes a storage wheel, two friction wheels, two side plates, a barrel, and an ejection tube. The side plate is connected to the front connecting plate; the two friction wheels are connected to the side plate; the one barrel is connected to the front connecting plate; the one ejection tube is connected to the one barrel; the one storage wheel is connected to the front connecting plate. A suction cup is arranged at the front end of the ejection tube.

[0018] Preferably, the body color-changing device includes a spine, ribs, a tail and color-changing light strips;

[0019] The ribs are connected to the spine, the color-changing light strip is connected to the ribs, the tail is connected to the end of the ribs, and the spine is connected to the load-bearing device.

[0020] Further preferably, the body color-changing device includes a spine, nine ribs, nine sections of tails, and an RGB color-changing light strip;

[0021] The ribs at the head and tail positions are respectively connected to the front and rear positions of the load-bearing device, and the tail at the head position is connected to the rear position of the load-bearing device.

[0022] Even more preferably, each of the body color-changing devices includes a head and a skeleton; the skeleton includes nine ribs, a spine, and nine sections of tails; the nine ribs include three long ribs and six short ribs; the nine ribs are connected to a spine; the nine sections of tails are connected to a rear connecting plate; the RGB color-changing light strip is connected to the nine ribs.

[0023] Preferably, the load-bearing device includes long fiberglass connecting rods, short fiberglass connecting rods, aluminum square tubes, a front connecting plate, a rear connecting plate, and copper columns;

[0024] The long fiberglass connecting rods connect the front connecting plate and the rear connecting plate, the short fiberglass connecting rods are connected to the leg mechanical mechanism, and the copper columns are arranged on the aluminum square tubes to support the body color-changing device.

[0025] Further preferably, a battery is placed in the middle of the aluminum square tube, and a servo motor is placed on the front connecting plate and / or the rear connecting plate.

[0026] Even more preferably, each of the load-bearing devices includes six fiberglass connecting rods, two aluminum square tubes, a front connecting plate, a rear connecting plate, and a copper column. The six fiberglass connecting rods include four long fiberglass connecting rods and two short fiberglass connecting rods; the front connecting plate is connected to two long fiberglass connecting rods; the two long fiberglass connecting rods are connected to the rear connecting plate; the two short fiberglass connecting rods are connected to the two long fiberglass connecting rods; the two aluminum square tubes are connected to the four long fiberglass connecting rods; the one copper column is connected to one aluminum square tube.

[0027] Preferably, the force source transmission mechanism includes two servo motors, a motor, and a reduction motor. The two servo motors respectively drive the leg mechanical mechanisms on the front and rear sides of the load-bearing device, the motor drives the tongue ejection and grasping device, and the reduction motor drives the body color-changing device; the control system includes a development board and a visual recognition module.

[0028] The control system controls the robot's leg walking, tongue ejection and grasping, and body color change.

[0029] Further preferably, the control system includes a development board controlled by Arduino; the servo is an sg90 series servo; the motor is a Snail 2305 motor; the reduction motor is a 5v reduction motor; the vision recognition module is an Open MV vision recognition module; the development board is fixed to two aluminum square tubes; the two servos are respectively connected to the front connecting plate and the rear connecting plate; the one motor is fixed to the front connecting plate; the one reduction motor is connected to the nine-section tail; the vision module is fixed to the front connecting plate.

[0030] Even further preferably, the control system is driven by connecting to an HC05 Bluetooth module.

[0031] Preferably, the active link, the upper parallel link, the lower L-shaped link, the limit plate, the third leg joint, the claw, the side plate, the fiberglass link, the front connecting plate and the rear connecting plate are made of fiberglass material; the first leg joint, the second leg joint, the central connecting plate, the skeleton, the barrel, and the ejection tube are made of 3D printing material; the slider, the ball head link, and the tension spring are made of metal material; the aluminum square tube is made of aluminum material; the copper column is made of copper material.

[0032] Based on the bionics principle, the present invention designs a multifunctional bionic chameleon robot with the characteristics of chameleon gait, tongue grasping, and body color change combined. This bionic chameleon robot has a compact structure, walks flexibly and stably, has a certain grasping function, and can adaptively adjust its body color according to the environment, and can achieve tasks such as concealed detection, dynamic camouflage, and grasping objects in dangerous environments under certain conditions. It can be applied in daily life, taking advantage of its compact structure and small size and the function of stretching the tongue to grasp, entering narrow places, and achieving the effect of cleaning and tidying by grasping garbage or items with the tongue. It can also be used as an educational and entertaining toy and an intelligent teaching aid for science education for primary and middle school students, combining education with entertainment, enhancing intuitive understanding and hands-on creation ability, and developing brain thinking.

[0033] Compared with the prior art, the present invention has the following advantages:

[0034] 1. Through the coordinated setting of the leg mechanical mechanism, the head tongue ejection and grasping device, the body color change device, the load-bearing device, the force source transmission mechanism, and the control system, the present invention obtains a multifunctional bionic chameleon robot with the characteristics of chameleon gait, tongue grasping, and body color change combined;

[0035] 2. The present invention is cleverly designed. The leg mechanical mechanism controls the diagonal leg movement through a single steering gear to achieve multi-degree-of-freedom movement. When walking, the steering gear arm swings left and right to control the active connecting rod to achieve left and right movement, thereby driving the first joint of the leg to achieve forward and backward movement, and the first joint of the leg drives the remaining connecting rod mechanisms to move forward and backward; the active connecting rod drives the tension spring, the slider, and the center connecting plate to achieve left and right movement, the center connecting plate drives the ball head connecting rod to move up and down, and the ball head connecting rod drives the remaining connecting rod mechanisms to move up and down. Through the left and right rotation of the steering gear and the mutual cooperation between the connecting rods, one steering gear can simultaneously control the regular up and down forward and backward movement of two legs;

[0036] 3. The tongue ejection and grasping device of the present invention realizes the tongue ejection and grasping function through the friction wheel, and can realize the function of remote grasping and retracting;

[0037] 4. The body color changing device of the present invention is designed to imitate the body skeleton of a chameleon. The tail adopts a segmented structure, and the tail is made to swing up and down by pulling a line. The head, ribs and tail are covered with RGB color changing light strips. After being equipped with Open MV visual recognition, the bionic chameleon robot can realize the color changing function, match the background color in real time, and realize "active" camouflage;

[0038] 5. Each servo of the present invention adjusts the duty cycle through pwm output to rotate at a corresponding angle: the tongue ejection and grabbing device of the first part is connected to the friction wheel through a motor, and cooperates with corresponding parts to perform the tongue extension and retraction operation; the front and rear of the second part of the leg are each connected to a servo, and cooperate with various parts to perform the walking operation of the leg; the color-changing structure of the third part is displayed by the RGB light strip;

[0039] 6. The frame of the present invention is made of glass fiber material, which is light in weight, and its size has little effect on the operating mechanism. It can be flexibly changed to adapt to different occasions;

[0040] 7. The control system of the present invention is connected to the HC05 Bluetooth module driver, and can be connected to the mobile phone app through the Bluetooth module to realize the control and information transmission of the bionic chameleon;

[0041] 8. The present invention can be applied to covert detection, dynamic camouflage and grabbing objects in dangerous environments under certain conditions. It can also be used in daily life, taking advantage of its compact structure and small size and the ability to grab objects by extending the tongue. It can enter narrow places and grab garbage or objects with the tongue to achieve the effect of cleaning and sorting. It can also be applied to leisure, entertainment and popularization of science and education, as an educational and entertainment toy and an intelligent teaching aid for science and technology innovation and popularization for primary and secondary school students. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic structural diagram of a three-in-one bionic chameleon robot according to an embodiment of the present invention;

[0043] Figure 2 Schematic structural diagram of the leg mechanical mechanism according to an embodiment of the present invention;

[0044] Figure 3 Schematic structural diagram of the head tongue ejection and grasping device according to an embodiment of the present invention;

[0045] Figure 4 Schematic structural diagram of the body color-changing device according to an embodiment of the present invention;

[0046] Figure 5 Schematic structural diagram of the load-bearing device according to an embodiment of the present invention;

[0047] In the figure: 1 - leg mechanical mechanism, 11 - active connecting rod, 12 - first leg joint, 13 - upper parallel connecting rod, 14 - lower L-shaped connecting rod, 15 - second leg joint, 16 - third leg joint, 17 - claw, 18 - slider, 19 - central connecting plate, 110 - tension spring, 111 - ball head connecting rod, 112 - limiting plate, 2 - head tongue ejection and grasping device, 21 - friction wheel, 22 - side plate, 23 - ejection tube, 24 - barrel, 3 - body color-changing device, 31 - spine, 32 - rib, 33 - tail, 4 - load-bearing device, 41 - long glass fiber connecting rod, 42 - short glass fiber connecting rod, 43 - aluminum square tube, 44 - front connecting plate, 45 - rear connecting plate, 46 - copper column. Detailed implementation manners

[0048] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The following embodiments are implemented on the premise of the technical solution of the present invention, and detailed implementation manners and specific operation processes are given, but the protection scope of the present invention is not limited to the following embodiments.

[0049] Embodiment 1

[0050] A three-in-one bionic chameleon robot includes a leg mechanical mechanism 1 for walking, a head tongue ejection and grasping device 2 for realizing the grasping function, and a body color-changing device 3 for color-changing. The above three parts are arranged on a load-bearing device 4. A power source transmission mechanism is used to drive the leg mechanical mechanism 1 and the head tongue ejection and grasping device 2, and a control system controls the power source transmission mechanism and the body color-changing device 3 to realize the control of the leg mechanical mechanism 1, the head tongue ejection and grasping device 2, and the body color-changing device 3.

[0051] Embodiment 2

[0052] As Figures 1 to 5As shown in the figure, a three-in-one bionic chameleon robot in this embodiment includes: a power source transmission mechanism, a control system, a leg mechanical mechanism 1, a head tongue ejection and grasping device 2, a body color-changing device 3, and a load-bearing device 4. The control system is linked to the power source transmission mechanism; the power source transmission mechanism includes a servo motor, a servo arm, and a friction wheel; the power source transmission mechanism is installed in both the leg mechanical mechanism 1 and the head tongue ejection and grasping device 2. The leg mechanical mechanism 1 is connected to the body color-changing device 3 through a copper column 46; the head tongue ejection and grasping device 2 is connected to the body color-changing device 3 through a front connecting plate 44; the leg mechanical mechanism 1 includes a driving link 11, two leg first joints 12, four upper parallel links 13, four lower L-shaped links 14, two leg second joints 15, two leg third joints 16, ten claws 17, a slider 18, a central connecting plate 19, two tension springs 110, two ball head links 111, and a limiting plate 112; the body color-changing device 3 includes a head, a skeleton, a tail, and RGB color-changing light strips, supporting the entire body of the chameleon; the head tongue ejection and grasping device 2 includes two friction wheels 21, two side plates 22, an ejection tube 23, a barrel 24, and a storage wheel (not marked in the figure); the load-bearing device 4 includes four long fiberglass links 41, two short fiberglass links 42, two aluminum square tubes 43, a front connecting plate 44, a rear connecting plate 45, and a copper column 46. The load-bearing device 4 is connected to the leg mechanical mechanism 1 and the body color-changing device 3 to carry the body of the chameleon.

[0053] As Figure 2 , Figure 5 , each driving link 11 is connected to two leg first joints 12; the two leg first joints 12 are connected to four upper parallel links 13 and four lower L-shaped links 14; the four upper parallel links 13 and the four lower L-shaped links 14 are connected to two leg second joints 15; the two leg second joints 15 are connected to two leg third joints 16; the two leg third joints 16 are connected to ten claws 17; the driving link 11 is connected to two tension springs 110 and a slider 18; the two tension springs 110 and a slider 18 are connected to the central connecting plate 19; the central connecting plate 19 is connected to the ball head link 111; the ball head link 111 is connected to four lower L-shaped links 14; a limiting plate 112 is connected to four long fiberglass links 41; the two leg first joints 12 are connected to two short fiberglass links 42 and the front connecting plate 44 or the rear connecting plate 45.

[0054] When driving, the servo arm controls the active link 11 to move left and right; the active link 11 is connected to two first leg joints 12 to make the first leg joints 12 move forward and backward. At the same time, the first leg joints 12 drive four upper parallel links 13, four lower L-shaped links 14, two second leg joints 15, two third leg joints 16, and ten claws 17 to move forward and backward. The active link 11 drives two tension springs 110, a slider 18, and the central connection plate 19 to move left and right; a limit plate 112 plays a limiting role when the central connection plate 19 moves; the central connection plate 19 drives the ball head link 111 to move up and down; the ball head link 111 drives four lower L-shaped links 14 to move up and down; the four lower L-shaped links 14 drive two second leg joints 15, two third leg joints 16, and ten claws 17 to move up and down.

[0055] Its advantages are that only two motors are needed to control the movement of four legs when driving. In terms of load-bearing, most parts are made of fiberglass materials, which ensure the hardness of the materials while achieving lightweight. In terms of shock absorption and obstacle crossing, shock-absorbing springs can be installed between two second leg joints 15 and two third leg joints 16 to improve the walking stability under different road conditions.

[0056] Such as Figure 4 and Figure 5 , every nine ribs 32 are connected to one spine 31; the RGB color-changing light strip is connected to nine ribs 31; nine sections of the tail 33 are connected to the ends of nine ribs 32; one spine 31 is connected to one copper column 46; nine ribs 31 are connected to the front connection plate 44 and the rear connection plate 45; nine sections of the tail 33 are connected to the rear connection plate 45.

[0057] For the load-bearing function, one copper column 46 mainly supports nine ribs 32 and one spine 31. Four long fiberglass connecting rods 41 mainly serve as connectors for the head and tail. Two aluminum square tubes 43 are connected to the Arduino development board, and a battery is placed between the two aluminum square tubes 43. The sg90 series servo is placed on the front connection plate 44 or the rear connection plate 45. While playing a decorative role and connecting the RGB light strip, nine ribs 32 also serve as a protective shell for internal parts. Nine sections of the tail 33 can swing left and right by wire pulling, and can play a balancing role during movement.

[0058] Please refer to Figure 3 、 Figure 5 , every two friction wheels 21 are connected to the side plate 22; the one gun barrel 24 is connected to the front connection plate 44; one ejection tube 23 is connected to one gun barrel 24; the side plate 22 is connected to the front connection plate 44; the one storage wheel is arranged at the middle position of the load-bearing device 4 (the abdomen of the chameleon robot), connected to the front connection plate 44, and is used to store the wire connected to the rear end of the ejection tube 23.

[0059] When driving, the motor rotates at high speed to drive the friction wheel 21; the friction wheel 21 rotates at high speed to eject an ejection tube 23; an object is sucked by the suction cup at the front end of the ejection tube 23; at this time, the motor rotates in reverse to drive the friction wheel 21; the friction wheel 21 rotates in reverse to pull the ejection tube 23 back to the barrel 24, and the wire connected to the rear end of the ejection tube 23 is stored in the storage wheel.

[0060] Functions of each part of the control system: The bionic chameleon robot realizes the walking function by controlling two sg90 servos through the Arduino development board, realizes the launching and retracting functions of the tongue by controlling the Snail 2305 brushless motor, and realizes the swinging of the tail by controlling the 5v reduction motor; at the same time, Open MV is used for visual recognition, and the color threshold within the field of view can be extracted, so as to control the color change of the RGB light strip, and then realize the color change function. The bionic chameleon can also be connected to the mobile phone app through the Bluetooth module to realize the control and information transmission of the bionic chameleon.

[0061] The present invention uses bionic technology to realize the functions of color change, walking, and grasping of the chameleon robot, and the overall mechanical structure and electronic control are simple. The bionic achievements are applied to concealed detection and camouflage, life, leisure and entertainment, and science education and popularization, and are used for concealed detection, dynamic camouflage, and grasping items in dangerous environments under certain conditions; they are used in places where it is inconvenient to clean up garbage, such as narrow areas, to improve people's lives, and can also be used as educational and entertaining toys and intelligent teaching aids for science and technology innovation popularization for primary and middle school students, combining education with entertainment.

[0062] The above description of the embodiments is to enable those of ordinary skill in the art to understand and use the invention. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative labor. Therefore, the present invention is not limited to the above embodiments, and the improvements and modifications made by those skilled in the art without departing from the scope of the present invention should be within the protection scope of the present invention.

Claims

1. A three-in-one bionic chameleon robot, characterized in that, It includes a leg mechanical mechanism (1), a head tongue ejection and grasping device (2), a body color-changing device (3), a load-bearing device (4), a power source transmission mechanism, and a control system; The leg mechanical mechanism (1), the head tongue ejection and grasping device (2), and the body color-changing device (3) are arranged on the load-bearing device (4). The leg mechanical mechanism (1) and the head tongue ejection and grasping device (2) are connected to the power source transmission mechanism, and the control system controls the power source transmission mechanism and the body color-changing device (3); The leg mechanical mechanism (1) includes a driving link (11), a first leg joint (12), an upper parallel link (13), a lower L-shaped link (14), a second leg joint (15), a third leg joint (16), and a claw (17); The power source transmission mechanism drives the driving link (11) to move left and right. The driving link (11) is connected to the first leg joint (12) to drive the first leg joint (12) to move back and forth. The first leg joint (12) drives the upper parallel link (13), the lower L-shaped link (14), the second leg joint (15), the third leg joint (16), and the claw (17) to move back and forth; The leg mechanical mechanism (1) further includes a slider (18), a central connecting plate (19), a tension spring (110), a ball head link (111), and a limit plate (112); The driving link (11) is connected to the tension spring (110) and the slider (18). The tension spring (110) and the slider (18) are connected to the central connecting plate (19). The central connecting plate (19) is connected to the ball head link (111). The ball head link (111) is connected to the lower L-shaped link (14). The driving link (11) is limited by the limit plate (112), and the limit plate (112) and the first leg joint (12) are connected to the load-bearing device (4); The driving link (11) drives the tension spring (110), the slider (18), and the central connecting plate (19) to achieve left and right movement. The central connecting plate (19) drives the ball head link (111) to move up and down. The ball head link (111) drives the lower L-shaped link (14) to move up and down. The lower L-shaped link (14) drives the second leg joint (15), the third leg joint (16), and the claw (17) to move up and down; Each active link (11) is connected to two first leg joints (12); the two first leg joints (12) are connected to four upper parallel links (13) and four lower L-shaped links (14); the four upper parallel links (13) and the four lower L-shaped links (14) are connected to two second leg joints (15); the two second leg joints (15) are connected to two third leg joints (16); the two third leg joints (16) are connected to ten claws (17); the active link (11) is connected to two tension springs (110) and a slider (18); the two tension springs (110) and the slider (18) are connected to a central connecting plate (19); the central connecting plate (19) is connected to a ball head link (111); the ball head link (111) is connected to four lower L-shaped links (14); a limit plate (112) is connected to four long glass fiber links (41); the two first leg joints (12) are connected to two short glass fiber links (42) and a front connecting plate (44) or a rear connecting plate (45); The force source transmission mechanism includes two servos, an electric motor and a reduction motor. The two servos respectively drive the leg mechanical mechanisms (1) on the front and rear sides of the load-bearing device (4), the electric motor drives the tongue ejection and grasping device (2), and the reduction motor drives the body color-changing device (3); the control system includes a development board and a visual recognition module; During driving, the servo arm controls the active link (11) to achieve left and right movement; the active link (11) is connected to two first leg joints (12) to make the first leg joints (12) achieve front and rear movement. At the same time, the first leg joints (12) drive the four upper parallel links (13), the four lower L-shaped links (14), the two second leg joints (15), the two third leg joints (16), and the ten claws (17) to perform front and rear movement; the active link (11) drives the two tension springs (110), a slider (18), and a central connecting plate (19) to achieve left and right movement; a limit plate (112) plays a limiting role when the central connecting plate (19) moves; the central connecting plate (19) drives the ball head link (111) to move up and down; the ball head link (111) drives the four lower L-shaped links (14) to move up and down; the four lower L-shaped links (14) drive the two second leg joints (15), the two third leg joints (16), and the ten claws (17) to move up and down.

2. The three-in-one bionic chameleon robot according to claim 1, wherein The head tongue ejection and grasping device (2) includes a friction wheel (21), a side plate (22), an ejection tube (23) and a barrel (24); The friction wheel (21) is connected to the side plate (22), the ejection tube (23) is connected to the friction wheel (21), the barrel (24) is arranged outside the ejection tube (23), and the side plate (22) and the barrel (24) are connected to the load-bearing device (4); The rotation of the friction wheel (21) ejects the ejection tube (23), and the reverse rotation pulls the ejection tube (23) back into the barrel (24).

3. The three-in-one bionic chameleon robot according to claim 2, wherein The tongue ejection and grasping device (2) further includes a storage wheel, and the storage wheel is arranged on the load-bearing device (4).

4. The three-in-one bionic chameleon robot according to claim 1, characterized in that, The described body color-changing device (3) includes a spine (31), ribs (32), a tail (33), and color-changing light strips; The ribs (32) are connected to the spine (31), the color-changing light strips are connected to the ribs (32), the tail (33) is connected to the end of the ribs (32), and the spine (31) is connected to the load-bearing device (4).

5. The three-in-one bionic chameleon robot according to claim 4, characterized in that, The described body color-changing device (3) includes one spine (31), nine ribs (32), nine sections of tail (33), and RGB color-changing light strips; The ribs (32) at the head and tail positions are respectively connected to the front and rear positions of the load-bearing device (4), and the tail (33) at the head position is connected to the rear position of the load-bearing device (4).

6. The three-in-one bionic chameleon robot according to claim 1, characterized in that, The described load-bearing device (4) includes long fiberglass connecting rods (41), short fiberglass connecting rods (42), aluminum square tubes (43), front connecting plates (44), rear connecting plates (45), and copper columns (46); The long fiberglass connecting rods (41) connect the front connecting plate (44) and the rear connecting plate (45), the short fiberglass connecting rods (42) connect the leg mechanical mechanism (1), and the copper columns (46) are arranged on the aluminum square tubes (43) to support the body color-changing device (3).

7. The three-in-one bionic chameleon robot according to claim 6, characterized in that, A battery is placed in the middle of the aluminum square tube (43), and a servo motor is placed on the front connecting plate (44) and / or the rear connecting plate (45).

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