A reconfigurable bionic robot

Abstract

The present invention discloses a reconfigurable bionic robot, which includes a fuselage, deformable and reconfigurable wheels, and a transmission system; a number of deformable and reconfigurable wheels are arranged on both sides of the fuselage, a number of transmission systems are arranged inside the fuselage, the transmission systems are axially connected to the deformable and reconfigurable wheels, and the transmission systems can control the rotation and deformation of the deformable and reconfigurable wheels; the bionic robot designed by the present invention has a compact structure and a small volume, has two motion modes of wheel type and three-arc leg type, can adapt to various terrain environments, and can switch different motion modes according to the characteristics of the terrain to improve the operation efficiency. Other load spaces are reserved in the abdomen of the robot, and various modules can be installed, and the functions of the robot can be flexibly replaced or added according to the task requirements, making the robot more widely applicable.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and particularly relates to a reconfigurable bionic robot. Background Art

[0002] With the rapid development of society, industry, artificial intelligence and even military intelligence, various robot products such as wheeled, tracked and legged robots have gradually emerged and are widely used in task scenarios such as post-disaster rescue, security, anti-terrorism and explosive disposal. Although the introduction of robots has greatly improved the operation efficiency, many deficiencies have also been exposed. Especially for scenarios such as complex unstructured terrain and narrow spaces, such robots cannot carry out in-depth operations, affecting the effectiveness of the robots.

[0003] Regarding the design of reconfigurable robots, universities and research institutions at home and abroad have carried out relatively in-depth research. Tianjin University and Chongqing University have developed prototypes of variable wheel-arc leg robots. Their mechanical mechanism principle is relatively complex and the stability during the shape-changing process is poor. They are still in the laboratory stage and have not entered the actual application stage. Therefore, designing a high-reliability wheel-arc leg transformation mechanism and clutch device (control transformation) has become the main breakthrough point at present, which has a significant promoting effect on the engineering application of robots. Summary of the Invention

[0004] The present invention provides a reconfigurable bionic robot, which includes: a fuselage, deformable and reconfigurable wheels and a transmission system;

[0005] A number of deformable and reconfigurable wheels are arranged on both sides of the fuselage, and a number of transmission systems are arranged inside the fuselage. The transmission systems are connected to the deformable and reconfigurable wheels through shafts, and the transmission systems can control the rotation and deformation of the deformable and reconfigurable wheels;

[0006] The transmission system includes a servo motor, a gearbox end cover, a speed reducer device, a support base, a first keyway, a rotating body, a first friction plate, a two-way clutch device, a fourth friction plate, a first bearing, a connection plate, a turntable, a transmission shaft, a sealing ring, a second bearing, an outer end cover, a load-bearing skeleton, a shaft sleeve, a second keyway and a fixing plate;

[0007] The speed reducer device includes a pinion and a large gear;

[0008] The two-way clutch device includes a second friction plate, a bearing support frame, a thrust ball bearing, a retaining ring, a movable baffle and a third friction plate;

[0009] The gearbox end cover is installed inside the fuselage and is arranged on one side of the output shaft of the servo motor. The speed reducer device is arranged inside the gearbox end cover;

[0010] The servo motor is used to convert electrical energy into mechanical energy;

[0011] The output shaft of the servo motor is fitted with the pinion through a spline. Both ends of the pinion are supported by the first bearings. The pinion meshes with the large gear, and the large gear is fixedly connected to the first end of the transmission shaft. The large gear can drive the transmission shaft to rotate;

[0012] The load-bearing frame is arranged on the side of the fuselage. The fixing plate is fixedly connected to the load-bearing frame, and the support base is fixedly connected to the fixing plate;

[0013] The fixing plate is sleeved on the transmission shaft. The fixing plate is close to the first end of the transmission shaft, and the transmission shaft cannot drive the fixing plate to rotate;

[0014] The rotating body is sleeved on the transmission shaft. The rotating body is close to the second end of the fixing plate. The transmission shaft is provided with the first keyway, which is close to the first end of the transmission shaft. The transmission shaft is key-connected to the rotating body through the first keyway. The transmission shaft can drive the rotating body to rotate. A groove is provided at the second end of the rotating body, and a first friction plate is installed in the groove;

[0015] The two-way clutch device is sleeved on the transmission shaft. The two-way clutch device is close to the second end of the rotating body, and the two-way clutch device can move linearly along the axis;

[0016] The bearing support frame is close to the second end of the rotating body. A groove is provided at the first end of the bearing support frame, and a second friction plate is installed in the groove. The first friction plate and the second friction plate are relatively matched;

[0017] A groove is provided at the second end of the bearing support frame, and the thrust ball bearing is installed in the groove;

[0018] The retaining ring is connected to the linear motion motor, and the linear motion motor can drive the retaining ring to move linearly along the axis;

[0019] The inner side of the second end of the bearing support frame is fixedly connected to the inner side of the first end of the movable baffle;

[0020] The retaining ring is arranged in cooperation between the thrust ball bearing and the movable baffle;

[0021] The shaft sleeve is sleeved on the transmission shaft. The shaft sleeve is close to the second end of the transmission shaft;

[0022] The second end of the movable baffle is sleeved on the shaft sleeve. The movable baffle is close to the first end of the shaft sleeve;

[0023] A second keyway is provided at the first end of the shaft sleeve, and the shaft sleeve and the movable baffle are key-connected through the second keyway;

[0024] A groove is further provided at the second end of the movable baffle, and a third friction plate is installed in the groove;

[0025] A fourth friction plate is installed on one side of the load-bearing framework close to the movable baffle, and the third friction plate and the fourth friction plate are relatively matched;

[0026] The connecting disk and the turntable are arranged on the side of the deformable and reconfigurable wheel, and the connecting disk and the turntable can rotate;

[0027] The connecting disk is sleeved on the transmission shaft, and the connecting disk is close to the second end of the transmission shaft; the second end of the shaft sleeve is fixedly connected to the connecting disk, and the second end of the transmission shaft is fixedly connected to the center of the turntable; the shaft sleeve can drive the connecting disk to rotate, and the transmission shaft can drive the turntable to rotate.

[0028] Further, by the relative movement / synchronous movement of the connecting disk and the turntable, the rotation and deformation of the deformable and reconfigurable wheel can be controlled.

[0029] Further, the transmission shaft and the turntable are fixedly connected by bolts, and the contact surface between the transmission shaft and the turntable is a non-round surface.

[0030] Further, the second end of the load-bearing framework is fixedly connected to the first end of the outer end cover;

[0031] A second bearing is provided inside the first end of the outer end cover, and the outer side of the second bearing is fixedly connected to the inside of the first end of the outer end cover;

[0032] A first bearing is provided in the middle of the load-bearing framework, and the outer side of the first bearing is fixedly connected to the middle of the load-bearing framework.

[0033] Further, the first bearing and the second bearing are provided at both ends of the shaft sleeve, and the first bearing and the second bearing are used to support the shaft sleeve.

[0034] Further, a sealing ring is further provided inside the first end of the outer end cover, the sealing ring is sleeved on the shaft sleeve, and the sealing ring is used to prevent the intrusion of external splashing water or dust.

[0035] Further, several of the transmission systems in the fuselage adopt an up-and-down staggered layout;

[0036] The front and rear deformable and reconfigurable wheels adopt a staggered layout.

[0037] Further, the bionic robot further includes a battery module for power supply.

[0038] A reconfigurable bionic robot designed by the present invention has a compact structure and a small volume. It has two motion modes, namely, a wheeled mode and a three-arc leg mode, which can adapt to various terrain environments. It can switch different motion modes according to the characteristics of the terrain to improve the operation efficiency. There is a reserved space for other loads in the abdomen of the robot, where various modules can be installed, and the functions of the robot can be flexibly replaced or added according to the task requirements, making the robot more widely applicable. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 FIG. shows a schematic structural diagram of a reconfigurable bionic robot according to an embodiment of the present invention;

[0040] Figure 2 FIG. shows a schematic structural diagram of an internal transmission system of a reconfigurable bionic robot according to an embodiment of the present invention;

[0041] Figure 3 FIG. shows a top view of an internal transmission system of a reconfigurable bionic robot according to an embodiment of the present invention;

[0042] Figure 4 FIG. shows a partial structural diagram of an internal transmission system of a reconfigurable bionic robot according to an embodiment of the present invention;

[0043] Figure 5 FIG. shows a sectional view of a quarter transmission system of a reconfigurable bionic robot according to an embodiment of the present invention;

[0044] Figure 6 FIG. shows a schematic structural diagram of a deformable and reconfigurable wheel of a reconfigurable bionic robot according to an embodiment of the present invention.

[0045] In the figure: 1. Servo motor; 2. Gearbox end cover; 3. Pinion; 4. Support base; 5. Connecting key; 6. Rotating body; 7. First friction plate; 8. Second friction plate; 9. Bearing support frame; 10. Thrust ball bearing; 11. Retaining ring; 12. Movable baffle; 13. Third friction plate; 14. Fourth friction plate; 15. First bearing; 16. Connecting plate; 17. Turntable; 18. Transmission shaft; 19. Sealing ring; 20. Second bearing; 21. Outer end cover; 22. Load-bearing skeleton; 23. Shaft sleeve; 24. Keyway; 25. Fixed plate; 26. Large gear. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0047] The present invention provides a reconfigurable bionic robot, comprising: a fuselage, deformable and reconfigurable wheels, and a transmission system; a plurality of deformable and reconfigurable wheels are arranged on both sides of the fuselage, a plurality of transmission systems are arranged inside the fuselage, the transmission systems are axially connected to the deformable and reconfigurable wheels, and the transmission systems can control the rotation and deformation of the deformable and reconfigurable wheels.

[0048] Exemplarily, as shown in the figure, Figure 1 The figure shows an overall effect diagram of the reconfigurable bionic robot. Figure 2 The figure shows an effect diagram after removing the upper plate and the front plate of the fuselage, and the deformable and reconfigurable wheels have been deformed. Figure 3 The figure shows a top view after removing the upper plate of the fuselage. Figure 4 The figure is an effect diagram after removing the upper plate, the front plate, the side plates and some of the deformable and reconfigurable wheels of the fuselage. The reconfigurable bionic robot designed by the present invention has two motion modes: a wheeled mode and a three-arc leg mode. In a structured terrain, the robot can switch to the wheeled motion mode for fast movement. In an unstructured terrain, the robot can switch to the three-arc leg motion mode to pass through complex terrains. The robot can quickly and maneuverably reach the target point for operation by switching between the wheel-three-arc leg motion modes. The reconfigurable bionic robot comprises a fuselage, deformable and reconfigurable wheels, and a transmission system; a plurality of deformable and reconfigurable wheels are arranged on both sides of the fuselage, a plurality of transmission systems are arranged inside the fuselage, the transmission systems are axially connected to the deformable and reconfigurable wheels, and the transmission systems can control the rotation and deformation of the deformable and reconfigurable wheels.

[0049] Specifically, the transmission system includes a servo motor 1, a gearbox end cover 2, a speed reducer device, a support base 4, a first keyway 5, a rotating body 6, a first friction plate 7, a two-way clutch device, a fourth friction plate 14, a first bearing 15, a connecting plate 16, a turntable 17, a transmission shaft 18, a sealing ring 19, a second bearing 20, an outer end cover 21, a load-bearing skeleton 22, a shaft sleeve 23, a second keyway 24, and a fixing plate 25; the speed reducer device includes a pinion gear 3 and a large gear 26; the two-way clutch device includes a second friction plate 8, a bearing support frame 9, a thrust ball bearing 10, a retaining ring 11, a movable baffle 12, and a third friction plate 13. The gearbox end cover 2 is installed inside the fuselage. The gearbox end cover 2 is disposed on one side of the output shaft of the servo motor 1, and the speed reducer device is arranged inside the gearbox end cover 2; the servo motor 1 is used to convert electrical energy into mechanical energy; the output shaft of the servo motor 1 is engaged with the pinion gear 3 through a spline. The two ends of the pinion gear 3 are supported by the first bearing 15. The pinion gear 3 meshes with the large gear 26, and the large gear 26 is fixedly connected to the first end of the transmission shaft 18. The large gear 26 can drive the transmission shaft 18 to rotate.

[0050] Exemplarily, as Figure 5 shown, the transmission system includes a servo motor 1, a gearbox end cover 2, a speed reducer device, a support base 4, a first keyway 5, a rotating body 6, a first friction plate 7, a two-way clutch device, a fourth friction plate 14, a first bearing 15, a connecting plate 16, a turntable 17, a transmission shaft 18, a sealing ring 19, a second bearing 20, an outer end cover 21, a load-bearing skeleton 22, a shaft sleeve 23, a second keyway 24, and a fixing plate 25; the speed reducer device includes a pinion gear 3 and a large gear 26; the two-way clutch device includes a second friction plate 8, a bearing support frame 9, a thrust ball bearing 10, a retaining ring 11, a movable baffle 12, and a third friction plate 13. The servo motor 1 converts electrical energy into mechanical energy (rotary motion). The output shaft of the servo motor 1 is engaged with the pinion gear 3 through a spline. The two ends of the pinion gear 3 are supported by the first bearing 15. The pinion gear 3 meshes with the large gear 26, which can reduce speed and increase torque while transmitting power. Preferably, the two ends of the large gear 26 are also supported by bearings, so that both the pinion gear 3 and the large gear 26 can be supported and rotate better. The large gear 26 is fixedly connected to the first end of the transmission shaft 18. The large gear 26 can drive the transmission shaft 18 to rotate. In this article, taking Figure 5 as an example, the side close to the servo motor 1 is the first end, and the side close to the turntable 17 is the second end.

[0051] Specifically, the load-bearing frame 22 is disposed on the side of the fuselage. The fixed plate 25 is fixedly connected to the load-bearing frame 22, and the support base 4 is fixedly connected to the fixed plate 25. The fixed plate 25 is sleeved on the transmission shaft 18. The fixed plate 25 is close to the first end of the transmission shaft 18, and the transmission shaft 18 cannot drive the fixed plate 25 to rotate.

[0052] Exemplarily, the load-bearing frame 22 is disposed on the side of the fuselage. The load-bearing frame 22 can be a part of the side of the fuselage or a component of the side of the fuselage, and is used to bear the deformable and reconfigurable wheels and the transmission system. The fixed plate 25 is fixedly connected to the load-bearing frame 22. The fixed plate 25 plays a role in supporting and fixing other transmission components in the transmission system. The fixed plate 25 can be fixedly connected to the load-bearing frame 22 in a variety of ways. As Figure 4 shown, the fixed plate 25 includes a connecting rod. The fixed plate 25 is fixedly connected to the load-bearing frame 22 by using bolts through the connecting rod. The advantage of this connection method is easy maintenance. It is also possible to integrally design the fixed plate 25 and the load-bearing frame 22 using technologies such as 3D printing. The support base 4 is fixedly connected to the fixed plate 25. Preferably, the support base 4 is connected to the fixed plate 25 by bolts. The fixed plate 25 is sleeved on the transmission shaft 18. The fixed plate 25 is close to the first end of the transmission shaft 18, and the transmission shaft 18 cannot drive the fixed plate 25 to rotate.

[0053] Specifically, the rotating body 6 is sleeved on the transmission shaft 18. The rotating body 6 is close to the second end of the fixed plate 25. The transmission shaft 18 is provided with the first keyway 5. The first keyway 5 is close to the first end of the transmission shaft 18. The transmission shaft 18 is key-connected to the rotating body 6 through the first keyway 5. The transmission shaft 18 can drive the rotating body 6 to rotate. A groove is provided at the second end of the rotating body 6, and a first friction plate 7 is installed in the groove.

[0054] Exemplarily, the rotating body 6 is sleeved on the transmission shaft 18. The rotating body 6 is close to the second end of the fixed plate 25. The transmission shaft 18 is provided with the first keyway 5. The first keyway 5 is close to the first end of the transmission shaft 18. The transmission shaft 18 is key-connected to the rotating body 6 through the first keyway 5. The transmission shaft 18 can drive the rotating body 6 to rotate. This enables the rotating body 6 to maintain a relative rotational movement with respect to the fixed plate 25, and the rotating body 6 and the transmission shaft 18 to maintain synchronous movement. A groove is provided at the second end of the rotating body 6, and a first friction plate 7 is installed in the groove. Preferably, the first friction plate 7 is fixed in the groove using bolts.

[0055] Specifically, the bidirectional clutch device is sleeved on the transmission shaft 18. The bidirectional clutch device is close to the second end of the rotating body 6 and can move linearly along the axial direction. The bearing support frame 9 is close to the second end of the rotating body 6. A groove is provided at the first end of the bearing support frame 9, and a second friction plate 8 is installed in the groove. The first friction plate 7 is in relative cooperation with the second friction plate 8.

[0056] Exemplarily, the present invention realizes the deformation of the deformable reconfigurable wheel through the bidirectional clutch device. The bidirectional clutch device is sleeved on the transmission shaft 18, and the bidirectional clutch device is close to the second end of the rotating body 6. The bidirectional clutch device can move linearly along the axial direction. The bidirectional clutch device includes a second friction plate 8, a bearing support frame 9, a thrust ball bearing 10, a retaining ring 11, a movable baffle 12, and a third friction plate 13. The bearing support frame 9 is close to the second end of the rotating body 6. A groove is provided at the first end of the bearing support frame 9, and a second friction plate 8 is installed in the groove. The first friction plate 7 is in relative cooperation with the second friction plate 8. Preferably, the second friction plate 8 is fixed in the groove by bolts. After the bidirectional clutch device moves axially towards the rotating body 6, the first friction plate 7 abuts against the second friction plate 8, generating frictional force.

[0057] Specifically, a groove is provided at the second end of the bearing support frame 9, and the thrust ball bearing 10 is installed in the groove. The retaining ring 11 is connected to the linear motion motor, and the linear motion motor can drive the retaining ring 11 to move linearly along the axial direction. The inner side of the second end of the bearing support frame 9 is fixedly connected to the inner side of the first end of the movable baffle 12. The retaining ring 11 is arranged in cooperation between the thrust ball bearing 10 and the movable baffle 12.

[0058] Exemplarily, the bearing support frame 9 functions to support the thrust ball bearing 10. A groove is provided at the second end of the bearing support frame 9, and the thrust ball bearing 10 is installed in the groove. The end of the retaining ring 11 is connected to the linear motion motor. As Figure 4 shown, the linear motion motor can drive the retaining ring 11 to move linearly along the axial direction. The inner side of the second end of the bearing support frame 9 is fixedly connected to the inner side of the first end of the movable baffle 12. Preferably, they are fixedly connected by bolts. The retaining ring 11 is arranged in the gap between the thrust ball bearing 10 and the movable baffle 12. The thrust ball bearing 10 can ensure the stable rotation of the bearing support frame 9 while transmitting force or motion, reducing friction. When the linear motion motor is started to drive the retaining ring 11 to move, the linear motion of the bidirectional clutch device can be finally realized.

[0059] Specifically, the shaft sleeve 23 is sleeved on the transmission shaft 18, and the shaft sleeve 23 is close to the second end of the transmission shaft 18; the second end of the movable baffle 12 is sleeved on the shaft sleeve 23, and the movable baffle 12 is close to the first end of the shaft sleeve 23; the first end of the shaft sleeve 23 is provided with the second keyway 24, and the shaft sleeve 23 and the movable baffle 12 are key-connected through the second keyway 24; a groove is further provided at the second end of the movable baffle 12, and a third friction plate 13 is installed in the groove; a fourth friction plate 14 is installed on one side of the load-bearing frame 22 close to the movable baffle 12, and the third friction plate 13 and the fourth friction plate 14 are relatively matched.

[0060] Exemplarily, the shaft sleeve 23 is sleeved on the transmission shaft 18, and the shaft sleeve 23 is close to the second end of the transmission shaft 18; the second end of the movable baffle 12 is sleeved on the shaft sleeve 23, and the movable baffle 12 is close to the first end of the shaft sleeve 23; the first end of the shaft sleeve 23 is provided with the second keyway 24, and the shaft sleeve 23 and the movable baffle 12 are key-connected through the second keyway 24. The key connection plays a role in guiding and connecting, and the shaft sleeve 23 and the movable baffle 12 can move synchronously. A groove is further provided at the second end of the movable baffle 12, and a third friction plate 13 is installed in the groove; a fourth friction plate 14 is installed on one side of the load-bearing frame 22 close to the movable baffle 12, and the third friction plate 13 and the fourth friction plate 14 are relatively matched. After the bi-directional clutch device moves axially towards the load-bearing frame 22, the third friction plate 13 and the fourth friction plate 14 are in close contact to generate frictional force.

[0061] Specifically, the connection disk 16 and the turntable 17 are arranged on the side of the deformable and reconfigurable wheel, and the connection disk 16 and the turntable 17 can rotate; the connection disk 16 is sleeved on the transmission shaft 18, and the connection disk 16 is close to the second end of the transmission shaft 18; the second end of the shaft sleeve 23 is fixedly connected to the connection disk 16, and the second end of the transmission shaft 18 is fixedly connected to the center of the turntable 17; the shaft sleeve 23 can drive the connection disk 16 to rotate, and the transmission shaft 18 can drive the turntable 17 to rotate. By the relative movement / synchronous movement of the connection disk 16 and the turntable 17, the rotation and deformation of the deformable and reconfigurable wheel can be controlled.

[0062] Exemplarily, the connecting disk 16 and the turntable 17 are part of the deformable and reconfigurable wheel and are arranged on the side of the deformable and reconfigurable wheel. The connecting disk 16 is sleeved on the transmission shaft 18, and the connecting disk 16 is close to the second end of the transmission shaft 18; the second end of the shaft sleeve 23 is fixedly connected to the connecting disk 16, and the second end of the transmission shaft 18 is fixedly connected to the center of the turntable 17; the shaft sleeve 23 can drive the connecting disk 16 to rotate, and the transmission shaft 18 can drive the turntable 17 to rotate. Preferably, the shaft sleeve 23 and the connecting disk 16 are connected by bolts. By the relative movement / synchronous movement of the connecting disk 16 and the turntable 17, the rotation and deformation of the deformable and reconfigurable wheel can be controlled. The deformable and reconfigurable wheel used in the present invention can use an existing wheel with a deformation function, such as Figure 6 shown, or a wheel with a similar function can be designed separately. As long as the wheel has a deformation function and the wheel includes two components, the two components can be respectively connected to the transmission shaft 18 and the shaft sleeve 23, and through the relative movement / synchronous movement of the two components, its rotation and deformation can be realized. Figure 6 is the effect diagram of the deformation of the existing wheel, Figure 1 in which is the undeformed wheel. A utility model for an expandable and reconfigurable wheel has been applied for on the same day.

[0063] Specifically, the transmission shaft 18 and the turntable 17 are fixedly connected by bolts, and the contact surface between the transmission shaft 18 and the turntable 17 is a non-round surface.

[0064] Exemplarily, the transmission shaft 18 and the turntable 17 are fixedly connected by bolts, which plays a role in fixing and preventing axial movement. The contact surface between the transmission shaft 18 and the turntable 17 is a non-round surface, ensuring reliable transmission of torque.

[0065] Specifically, the second end of the load-bearing skeleton 22 is fixedly connected to the first end of the outer end cover 21; a second bearing 20 is arranged on the inner side of the first end of the outer end cover 21, and the outer side of the second bearing 20 is fixedly connected to the inner side of the first end of the outer end cover 21; a first bearing 15 is arranged in the middle of the load-bearing skeleton 22, and the outer side of the first bearing 15 is fixedly connected to the middle of the load-bearing skeleton 22. The first bearing 15 and the second bearing 20 are arranged at both ends of the shaft sleeve 23, and the first bearing 15 and the second bearing 20 are used to support the shaft sleeve 23. A sealing ring 19 is also arranged on the inner side of the first end of the outer end cover 21, and the sealing ring 19 is sleeved on the shaft sleeve 23, and the sealing ring 19 is used to prevent the intrusion of external splashing water or dust.

[0066] Exemplarily, the second end of the load-bearing skeleton 22 is fixedly connected to the first end of the outer end cap 21. Preferably, the outer end cap 21 is mounted on the load-bearing skeleton 22 by bolts. A sealing ring 19 is further provided on the inner side of the first end of the outer end cap 21. The sealing ring 19 is sleeved on the shaft cylinder sleeve 23. The sealing ring 19 has a sealing effect and is used to prevent the intrusion of external splashing water or dust. The outer end cap 21 has the function of restricting the axial movement of the bearing and the sealing washer 20. A second bearing 20 is provided on the inner side of the first end of the outer end cap 21. The outer side of the second bearing 20 is fixedly connected to the inner side of the first end of the outer end cap 21; a first bearing 15 is provided in the middle of the load-bearing skeleton 22. The outer side of the first bearing 15 is fixedly connected to the middle of the load-bearing skeleton 22. Such a design makes the outer rings of the first bearing 15 and the second bearing 20 fixed and the inner rings rotate. The first bearing 15 and the second bearing 20 are provided at both ends of the shaft cylinder sleeve 23. The first bearing 15 and the second bearing 20 are used to support the shaft cylinder sleeve 23.

[0067] The deformable and reconfigurable wheel of the present invention is deformed in the following manner.

[0068] The servo motor 1 is positively enabled, and the output shaft rotates, driving the pinion 3 to rotate. The pinion 3 meshes with the large gear 26 and transmits the motion, causing the transmission shaft 18 to rotate. Since the rotating body 6 is key-connected to the transmission shaft 18, the rotating body 6 is driven to rotate synchronously. Move the bi-directional clutch device towards the reconfigurable wheel side. The third friction plate 13 and the fourth friction plate 14 come into contact and generate frictional force. Since the fourth friction plate 14 is fixedly connected to the load-bearing skeleton 22 and the shaft sleeve 23 is key-connected to the movable baffle 12 in the bi-directional clutch device, the shaft sleeve 23 is fixed to the connection disk 16 at this time. The connection disk 16 and the turntable 17 move relative to each other, and the reconfigurable wheel changes from a wheel type to a three-arc leg type state, that is, deformation. When the reconfigurable wheel becomes a three-arc leg state, the bi-directional clutch device quickly moves towards the servo motor 1 direction. The first friction plate 7 and the second friction plate 8 come into contact and generate friction, so that the bi-directional clutch device and the transmission shaft 18 rotate together. Since the shaft sleeve 23 is still connected to the movable baffle 12 in the bi-directional clutch device by a key at this time, finally, the transmission shaft 18, the shaft sleeve 23, the connection disk 16, and the turntable 17 move synchronously, realizing the three-arc leg type motion mode of the robot, that is, motion. Similarly, when the servo motor 1 is negatively enabled, the three-arc leg mode can be changed to the wheel mode. By switching between the wheel type and the arc leg mode of the robot, the robot can adapt to various terrains.

[0069] Specifically, several of the transmission systems in the fuselage adopt an up-and-down staggered layout; the deformable and reconfigurable wheels at the front and rear adopt a staggered layout.

[0070] Exemplarily, several of the drive systems within the fuselage adopt an up-and-down staggered layout; the deformable and reconfigurable wheels at the front and rear adopt a staggered layout. This layout can ensure that the structure of the robot is more compact and effectively reduces the external dimensions of the robot. As Figure 1 shown, Figure 1 Figure Figure 1 shows the layout of the robot's drive system and the deformable and reconfigurable wheels. The drive system adopts an up-and-down staggered layout, and the front and rear reconfigurable wheels also adopt a staggered layout. Figure 2 Figure Figure 2 shows the layout of the deformable and reconfigurable wheels. After the deformable and reconfigurable wheels are deformed, the wheel body expands outward. The design of the staggered layout enables the expansion of the wheel body without being affected. The size of the bionic robot body of the present invention can be ≤500*280*178mm, and it can enter narrow spaces to perform tasks.

[0071] Specifically, the bionic robot further includes a millimeter-wave radar, a binocular vision camera, and a solid-state lidar. The millimeter-wave radar, the binocular vision camera, and the solid-state lidar are arranged on the front panel of the fuselage; the millimeter-wave radar is used to measure the distance between the robot and surrounding obstacles to obtain distance information, the binocular vision camera is used to collect visual information of the environment in front of the robot, and the solid-state lidar is used to collect radar point cloud information of the environment in front of the robot; the binocular vision camera and the solid-state lidar can fuse the visual information and the radar point cloud information to establish a three-dimensional map.

[0072] Exemplarily, the bionic robot designed by the present invention further includes a millimeter-wave radar, a binocular vision camera, and a solid-state lidar. The millimeter-wave radar, the binocular vision camera, and the solid-state lidar are arranged on the front panel of the fuselage; the millimeter-wave radar is used to measure the distance between the robot and surrounding obstacles to obtain distance information, providing guidance for obstacle avoidance; the binocular vision camera is used to collect visual information of the environment in front of the robot, and the solid-state lidar is used to collect radar point cloud information of the environment in front of the robot; the binocular vision camera and the solid-state lidar can fuse the visual information and the radar point cloud information through corresponding fusion algorithms to establish a three-dimensional map.

[0073] Specifically, the bionic robot further includes a power control system. The power control system can control the drive system to realize the rotation and deformation of the deformable and reconfigurable wheels. The power control system can also receive distance information, visual information, radar information, and the three-dimensional map, and control the drive system to realize the rotation and deformation of the deformable and reconfigurable wheels according to the received distance information, visual information, radar point cloud information, and the three-dimensional map.

[0074] Exemplarily, the bionic robot further includes a power control system, which can control the transmission system to realize the rotation and deformation of the deformable and reconfigurable wheels. The power control system can also receive distance information, visual information, radar information, and a three-dimensional map, and control the transmission system to realize the rotation and deformation of the deformable and reconfigurable wheels according to the received distance information, visual information, radar point cloud information, and three-dimensional map. For example, if the map shows that there are steps ahead, the control transmission system can control the transmission system to deform the deformable and reconfigurable wheels into the arc leg mode; if the map shows that the terrain ahead is relatively flat, the deformable and reconfigurable wheels will be deformed into the wheel mode, etc. The control transmission system can also deform each deformable and reconfigurable wheel into the arc leg mode or the wheel mode according to the actual terrain, which is more suitable for complex terrains.

[0075] In the bionic robot designed by the present invention, other load spaces are reserved in the abdomen, and various functional modules can be added. For example, LED lights, infrared sensors, and voice interaction modules can also be installed on the front panel. The main function of the LED lights is to provide lighting at night or in dark environments. The main function of the infrared sensors is to sense the temperature changes of surrounding objects and measure the human body temperature. The main function of the voice interaction module is to realize the voice communication between the front end and the back end, and at the same time, an intelligent voice recognition algorithm is embedded to improve the voice interaction performance. A motor driver is also installed on the side panel, and the motor driver is used to drive and control the servo motor. A figure data transmission antenna, a monocular camera, a 5G antenna, a reset button, and a switch are installed on the rear panel. The main function of the monocular camera is to observe the real-time situation behind the robot, and the main function of the 5G antenna is to transmit information such as images, robot postures, and control signals. An IMU module, a reducer, a power unit, a battery rack, a battery management system board, a lithium-ion battery, a TX2 processing board, and a bus board are installed inside the robot. The main function of the IMU module is to measure the posture information of the robot during the movement process. The lithium-ion battery mainly provides energy for each electronic component of the robot. The battery management system board mainly distributes various voltages to each electronic component of the robot, manages the battery heat dissipation and temperature changes. The TX2 processing board is the core processing module of the robot, which can embed and process algorithms, and fuse the motion control instructions with the load modules (such as binocular vision cameras, solid-state lidar, etc.), making the robot platform more intelligent.

[0076] Specifically, the bionic robot further includes a battery module, and the battery module is used for power supply.

[0077] Exemplarily, the bionic robot is powered by a battery module. The battery module is arranged inside the robot. The battery module can use ordinary lithium batteries and corresponding charge and discharge devices and circuits, etc. In this application, the battery module is a prior art and is widely used in fields such as electric toy cars, electric vehicles, and small robots.

[0078] The bionic robot designed by the present invention is structurally compact and small in size, and has two motion modes: wheeled and three-arc leg type. It can adapt to various terrain environments and switch different motion modes according to the characteristics of the terrain, so as to improve the operation efficiency. Other load spaces are reserved in the abdomen of the robot, and various modules can be installed, and the functions of the robot can be flexibly replaced or added according to the task requirements, making the application of the robot more extensive.

[0079] The above are only the embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A reconfigurable bionic robot, characterized in that, The bionic robot includes a fuselage, deformable and reconfigurable wheels, and a transmission system; A number of deformable and reconfigurable wheels are arranged on both sides of the fuselage, and a number of transmission systems are arranged inside the fuselage. The transmission system is axially connected to the deformable and reconfigurable wheels, and the transmission system can control the rotation and deformation of the deformable and reconfigurable wheels; The transmission system includes a servo motor (1), a gearbox end cover (2), a speed reducer device, a support base (4), a first keyway (5), a rotating body (6), a first friction plate (7), a two-way clutch device, a fourth friction plate (14), a first bearing (15), a connecting disk (16), a turntable (17), a transmission shaft (18), a sealing ring (19), a second bearing (20), an outer end cover (21), a load-bearing skeleton (22), a shaft sleeve (23), a second keyway (24), and a fixing plate (25); The speed reducer device includes a pinion gear (3) and a large gear (26); The two-way clutch device includes a second friction plate (8), a bearing support frame (9), a thrust ball bearing (10), a retaining ring (11), a movable baffle (12), and a third friction plate (13); The gearbox end cover (2) is installed inside the fuselage. The gearbox end cover (2) is arranged on one side of the output shaft of the servo motor (1), and the speed reducer device is arranged inside the gearbox end cover (2); The servo motor (1) is used to convert electrical energy into mechanical energy; The output shaft of the servo motor (1) is matched with the pinion gear (3) through a spline. The two ends of the pinion gear (3) are supported by the first bearing (15). The pinion gear (3) meshes with the large gear (26). The large gear (26) is fixedly connected to the first end of the transmission shaft (18), and the large gear (26) can drive the transmission shaft (18) to rotate; The load-bearing skeleton (22) is arranged on the side of the fuselage. The fixing plate (25) is fixedly connected to the load-bearing skeleton (22), and the support base (4) is fixedly connected to the fixing plate (25); The fixing plate (25) is sleeved on the transmission shaft (18). The fixing plate (25) is close to the first end of the transmission shaft (18), and the transmission shaft (18) cannot drive the fixing plate (25) to rotate; The rotating body (6) is sleeved on the transmission shaft (18). The rotating body (6) is close to the second end of the fixing plate (25). The transmission shaft (18) is provided with the first keyway (5). The first keyway (5) is close to the first end of the transmission shaft (18). The transmission shaft (18) is key-connected to the rotating body (6) through the first keyway (5). The transmission shaft (18) can drive the rotating body (6) to rotate. A groove is arranged at the second end of the rotating body (6), and the first friction plate (7) is installed in the groove; The two-way clutch device is sleeved on the transmission shaft (18). The two-way clutch device is close to the second end of the rotating body (6), and the two-way clutch device can move linearly along the axial direction; The bearing support frame (9) is close to the second end of the rotating body (6). A groove is provided at the first end of the bearing support frame (9), and a second friction plate (8) is installed in the groove. The first friction plate (7) is in relative cooperation with the second friction plate (8); A groove is provided at the second end of the bearing support frame (9), and the thrust ball bearing (10) is installed in the groove; The retaining ring (11) is connected to the linear motion motor, and the linear motion motor can drive the retaining ring (11) to move linearly along the axis; The inner side of the second end of the bearing support frame (9) is fixedly connected to the inner side of the first end of the movable baffle (12); The retaining ring (11) is arranged in cooperation between the thrust ball bearing (10) and the movable baffle (12); The shaft sleeve (23) is sleeved on the transmission shaft (18), and the shaft sleeve (23) is close to the second end of the transmission shaft (18); The second end of the movable baffle (12) is sleeved on the shaft sleeve (23), and the movable baffle (12) is close to the first end of the shaft sleeve (23); The first end of the shaft sleeve (23) is provided with the second keyway (24), and the shaft sleeve (23) is key-connected to the movable baffle (12) through the second keyway (24); A groove is further provided at the second end of the movable baffle (12), and a third friction plate (13) is installed in the groove; A fourth friction plate (14) is installed on one side of the load-bearing skeleton (22) close to the movable baffle (12), and the third friction plate (13) is in relative cooperation with the fourth friction plate (14); The connecting disk (16) and the turntable (17) are arranged on the side of the deformable and reconfigurable wheel, and the connecting disk (16) and the turntable (17) can rotate; The connecting disk (16) is sleeved on the transmission shaft (18), and the connecting disk (16) is close to the second end of the transmission shaft (18); the second end of the shaft sleeve (23) is fixedly connected to the connecting disk (16), and the second end of the transmission shaft (18) is fixedly connected to the center of the turntable (17); the shaft sleeve (23) can drive the connecting disk (16) to rotate, and the transmission shaft (18) can drive the turntable (17) to rotate; By the relative movement or synchronous movement of the connecting disk (16) and the turntable (17), the rotation and deformation of the deformable and reconfigurable wheel can be controlled; The transmission shaft (18) is fixedly connected to the turntable (17) by bolts, and the contact surface between the transmission shaft (18) and the turntable (17) is a non-round surface.

2. The bionic robot according to claim 1, wherein The second end of the load-bearing skeleton (22) is fixedly connected to the first end of the outer end cover (21); A second bearing (20) is provided on the inner side of the first end of the outer end cover (21), and the outer side of the second bearing (20) is fixedly connected to the inner side of the first end of the outer end cover (21); A first bearing (15) is provided in the middle of the load-bearing skeleton (22), and the outer side of the first bearing (15) is fixedly connected to the middle of the load-bearing skeleton (22).

3. The bionic robot according to claim 2, wherein the first bearing (15) and the second bearing (20) are arranged at both ends of the shaft sleeve (23), and the first bearing (15) and the second bearing (20) are used to support the shaft sleeve (23).

4. The bionic robot according to claim 3, wherein a sealing ring (19) is further arranged on the inner side of the first end of the outer end cover (21), the sealing ring (19) is sleeved on the shaft sleeve (23), and the sealing ring (19) is used to prevent the intrusion of external splashing water or dust.

5. The bionic robot according to claim 1, wherein several of the transmission systems in the fuselage adopt an up-and-down staggered layout; the deformable and reconfigurable wheels before and after adopt a staggered layout.

6. The bionic robot according to claim 1, wherein the bionic robot further includes a battery module, and the battery module is used for power supply.

Images