Triphibian metamorphic robot

Abstract

The triphibian metamorphic robot comprises a metamorphic mechanism, a configuration driving mechanism and paddle wheels, the metamorphic mechanism comprises a closed-loop structure formed by sequentially connecting eight connecting rods end to end, the configuration driving mechanism comprises four first driving elements, and two first driving elements are connected to first rotating shafts correspondingly; wherein the two first driving elements are connected to the second rotating shafts, each first rotating shaft is connected with one paddle wheel, the triphibian metamorphic robot has a first movement mode, a second movement mode and a third movement mode, and the configuration driving mechanism can drive the metamorphic mechanism to change the configuration so that the metamorphic mechanism can be switched into different postures. And the robot is switched under different motion modes, and the motion modes of the robot are switched by means of the deformation of the structure of the metamorphic mechanism so as to meet the motion requirements of water, land and air multi-habitat environments.

Description

Technical Field

[0001] The present invention relates to the technical field of metamorphic robots, and in particular to a three-dimensional metamorphic robot. Background Art

[0002] In the related technology, in order to improve the robot's adaptability in different terrains, the robot is set to have multiple walking postures, such as standing, kneeling, lying, etc., but the robot can only switch between wheels and legs or change its own form by changing the configuration, so that the robot can only move on land in different walking methods, which cannot meet the robot's multi-purpose movement needs in water, land and air. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a three-dimensional metamorphic robot, which has a motion mode that can adapt to water, land and air environments, and meets the robot's multi-functional motion requirements.

[0004] The terrestrial metamorphic robot according to an embodiment of the present invention comprises:

[0005] A metamorphosis mechanism, comprising eight connecting rods and eight rotating shafts, wherein the eight connecting rods are connected end to end in sequence to form a closed loop structure, and along the circumferential direction of the closed loop structure, adjacent connecting rods are rotationally connected via the rotating shafts, and the axes of adjacent rotating shafts are perpendicular to each other, wherein the rotating shaft whose axis is parallel to a first direction is a first rotating shaft, and the rotating shaft whose axis is parallel to a second direction is a second rotating shaft, and the first direction is perpendicular to the second direction;

[0006] A configuration drive mechanism comprises four first drive elements, wherein the first drive elements are used to drive the rotating shaft to rotate, wherein two of the first drive elements are respectively connected to two of the first rotating shafts, wherein two of the first drive elements are respectively connected to two of the second rotating shafts;

[0007] There are four paddle wheels, each of which is connected to one of the first rotating shafts, and the paddle wheels include a rotating wheel and a paddle blade arranged inside the rotating wheel;

[0008] Among them, the amphibious metamorphic robot has a first motion mode, a second motion mode and a third motion mode. The amphibious metamorphic robot is configured such that, when in the first motion mode, the axes of two of the first rotating shafts are collinear and lower than the other two first rotating shafts; when in the second motion mode, the lowest points of the circumferences of the four paddle wheels are coplanar; when in the third motion mode, the axes of the four first rotating shafts are parallel, and the second rotating shaft is located in the space enclosed by the four first rotating shafts.

[0009] The terrestrial metamorphic robot according to the embodiment of the present invention has at least the following beneficial effects:

[0010] The configuration driving mechanism in the present invention can drive the metamorphosis mechanism to change its configuration, switch the metamorphosis mechanism to different postures, and switch the robot between different motion modes. The robot relies on the deformation of the metamorphosis mechanism's own structure to switch motion modes to adapt to the motion requirements of water, land, and air habitat environments.

[0011] According to some embodiments of the present invention, the amphibious metamorphic robot also has an intermediate mode. The amphibious metamorphic robot is configured such that, when in the intermediate mode, the axes of the four first rotating shafts are parallel, and the adjacent connecting rods connected by rotation of the first rotating shafts are parallel, and the adjacent connecting rods connected by rotation of the second rotating shafts are vertical; the amphibious metamorphic robot can sequentially experience the intermediate mode, the first motion mode, the second motion mode and the third motion mode.

[0012] According to some embodiments of the present invention, the second motion mode includes a first motion form and a second motion form, and the amphibious metamorphic robot is configured such that, when in the first motion form, the axes of the four first rotating shafts are coplanar, adjacent connecting rods rotationally connected by the first rotating shafts are at a first angle to each other, and the first rotating shaft is lower than the second rotating shaft; when in the second motion form, the axes of the first rotating shafts intersect, adjacent connecting rods rotationally connected by the first rotating shaft are at a second angle to each other, and the second angle is greater than the first angle.

[0013] According to some embodiments of the present invention, the adjacent connecting rods rotatably connected by the first rotating shaft are distributed along the axis of the first rotating shaft, and when the amphibious metamorphic robot is in the third motion mode, at least parts of the adjacent connecting rods are stacked;

[0014] Alternatively, among the adjacent connecting rods rotatably connected via the first rotating shaft, one of the connecting rods is provided with a receiving groove, and when the amphibious metamorphic robot is in the third motion mode, at least a portion of the other connecting rod is received in the receiving groove.

[0015] According to some embodiments of the present invention, the connecting rod includes a first connecting portion and a second connecting portion, the first connecting portion and the second connecting portion are 45° apart from each other, the first connecting portions of adjacent connecting rods are rotationally connected via the first rotating shaft, and the second connecting portions of adjacent connecting rods are rotationally connected via the second rotating shaft.

[0016] According to some embodiments of the present invention, among adjacent second connecting parts that are rotatably connected via the second rotating shaft, one of the second connecting parts includes two oppositely arranged connecting plates, and the first driving element is accommodated inside the other second connecting part, and the first driving element is connected between the two connecting plates.

[0017] According to some embodiments of the present invention, the amphibious metamorphic robot also includes a paddle wheel drive mechanism, which includes a second drive element and a third drive element connected to the connecting rod, the second drive element is located inside the rotating wheel and connected to the paddle blade for driving the paddle blade to rotate, and the third drive element is connected to the rotating wheel and used to drive the rotating wheel to rotate.

[0018] According to some embodiments of the present invention, the axis of the runner is colinear with the axis of the blade, and there is a gap between the outer side of the blade and the inner side of the runner, which together define a duct.

[0019] According to some embodiments of the present invention, the rotating wheel includes a skeleton and a plurality of Mecanum wheels embedded in the skeleton, the rotation axis of the Mecanum wheels is inclined relative to the axis of the rotating wheel along the circumference of the skeleton, and the third driving element is connected to the skeleton.

[0020] According to some embodiments of the present invention, the Mecanum wheels are arranged in at least two layers along the axis of the rotating wheel, and the Mecanum wheels in each layer are arranged to form a rotating unit, and the maximum outer diameter of at least one of the rotating units is not greater than the minimum outer diameter of the adjacent rotating units.

[0021] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0023] Figure 1 is a schematic diagram of the amphibious metamorphic robot of the present invention in the first motion mode;

[0024] Figure 2 Schematic diagram of the amphibious metamorphic robot of the present invention in the second motion mode, and the robot is in the first motion form;

[0025] Figure 3 Schematic diagram of the amphibious metamorphic robot of the present invention in the second motion mode, and the robot is in the second motion form;

[0026] Figure 4 Schematic diagram of the amphibious metamorphic robot of the present invention in the third motion mode;

[0027] Figure 5 A schematic diagram of the metamorphosis mechanism in the intermediate mode of the amphibious metamorphosis robot;

[0028] Figure 6It is a schematic diagram of the metamorphosis mechanism in the first motion mode of the amphibious metamorphosis robot;

[0029] Figure 7 is a schematic diagram of the metamorphosis mechanism in the second motion mode of the amphibious metamorphosis robot, and the robot is in the first motion form;

[0030] Figure 8 is a schematic diagram of the metamorphosis mechanism in the second motion mode of the amphibious metamorphosis robot, and the robot is in the second motion form;

[0031] Fig. 9 It is a schematic diagram of the metamorphosis mechanism in the amphibious metamorphosis robot in the third motion mode;

[0032] Fig.10 It is a schematic diagram of the connection between the paddle wheel and the connecting rod in one embodiment;

[0033] Fig.11 It is a schematic diagram of the connection between the paddle wheel and the connecting rod in another embodiment.

[0034] Reference numerals:

[0035] Metamorphosis mechanism 100, connecting rod 110, accommodating groove 111, first connecting part 112, second connecting part 113, connecting plate 1131, rotating shaft 120, first rotating shaft 130, second rotating shaft 140; configuration drive mechanism 200, first driving element 210; paddle wheel 300, rotating wheel 310, skeleton 311, Mecanum wheel 312, rotating unit 313, paddle blade 320, duct 330, transmission frame 340; paddle wheel drive mechanism 400, second driving element 410, third driving element 420, gear 430. DETAILED DESCRIPTION

[0036] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0037] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0038] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0039] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0040] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0041] Reference Figures 1 to 4 In an embodiment of the present invention, an amphibious metamorphic robot (hereinafter referred to as the robot) is provided, which can utilize the structural changes of the robot itself to convert into different motion modes, and can be applied in amphibious environments of water, land and air, so as to enable the robot to fly in the air, move on the ground and travel in the water.

[0042] Reference Figures 4 to 8 (To clearly illustrate the coordination relationship between the components in the metamorphosis mechanism, Figure 4-8The metamorphosis mechanism is simplified), the robot includes a metamorphosis mechanism 100, which is the main structure of the robot changing its configuration, and the metamorphosis mechanism 100 includes eight connecting rods 110 and eight rotating shafts 120, the eight connecting rods 110 are sequentially connected end to end to form a closed-loop structure, that is, the head end and the tail end of each connecting rod 110 are respectively connected to the ends of the other two connecting rods 110, and in the circumferential direction of the closed-loop structure, adjacent connecting rods 110 are rotatably connected by the rotating shafts 120, so that adjacent connecting rods 110 can rotate relative to each other. In addition, the rotating shaft 120 whose axis is parallel to the first direction is defined as the first rotating shaft 130, and the rotating shaft 120 whose axis is parallel to the second direction is defined as the second rotating shaft 140. The first direction is perpendicular to the second direction, and the axes of the rotating shafts 120 adjacent to each other along the winding direction of the closed-loop structure are perpendicular to each other, that is, the first rotating shaft 130 and the second rotating shaft 140 are arranged adjacent to each other, and in the winding direction of the closed-loop structure, a second rotating shaft 140 is respectively arranged on both sides of each first rotating shaft 130, and similarly, a first rotating shaft 130 is respectively arranged on both sides of each second rotating shaft 140.

[0043] It can be understood that the two ends of each connecting rod 110 are respectively connected to the first rotating shaft 130 and the second rotating shaft 140. Therefore, one end of each connecting rod 110 can rotate relative to the adjacent connecting rod 110 around the first direction, and the other end can rotate relative to the adjacent connecting rod 110 around the second direction.

[0044] Reference Figures 1 to 4 The robot further includes a configuration drive mechanism 200, which is used to connect with the metamorphosis mechanism 100 and transform the configuration of the metamorphosis mechanism 100 by driving the connecting rod 110 in the metamorphosis mechanism 100 to rotate. The configuration drive mechanism 200 includes four first drive elements 210, which are used to drive the rotating shaft 120 to rotate. The first drive element 210 is not limited to being set as a motor, a steering gear, etc.; two of the four first drive elements 210 are respectively connected to the two first rotating shafts 130, and the other two are respectively connected to the two second rotating shafts 140, that is, two of the eight rotating shafts 120 and two of the second rotating shafts 140 are in an under-driven state, and the other two first rotating shafts 130 and the other two second rotating shafts 140 are each connected to a first drive element 210. When the first drive element 210 is working, it drives the adjacent connecting rods 110 to rotate around the first direction and / or the second direction.

[0045] The robot also includes a paddle wheel 300, and four paddle wheels 300 are provided. In the present invention, each of the first rotating shafts 130 is connected to a paddle wheel 300. The paddle wheel 300 includes a rotating wheel 310 and a paddle blade 320 arranged inside the rotating wheel 310. The paddle blade 320 is rotatable and used to disturb the airflow when the robot is flying to provide flight lift, and to move the water flow when the robot is in the water to provide propulsion. The rotating wheel 310 is rotatable and used to provide forward power when the robot is moving on the ground.

[0046] The robot of the present invention has a first motion mode, a second motion mode and a third motion mode. By driving the rotating shaft 120 by the configuration driving mechanism 200, the configuration of the metamorphosis mechanism 100 is changed, so that the robot switches between the first motion mode, the second motion mode and the third motion mode. Figure 1 and Figure 6 When the robot is in the first motion mode, the axes of two of the first rotating shafts 130 are colinear and lower than the other two first rotating shafts 130. In this configuration, the robot can be propelled in the water. The paddle wheels 300 connected to the two higher first rotating shafts 130 are located above the water surface, and the paddle wheels 300 connected to the two lower first rotating shafts 130 are respectively located on opposite sides of the robot with parallel axes. The outer peripheral surface of the wheel 310 in the two paddle wheels 300 is in contact with the water surface and can provide buoyancy for the robot as a whole. The rotation axis of the paddle blade 320 is parallel to the rotation axis of the first rotating shaft 130. When the paddle blade 320 rotates, it stirs the water flow to form a driving force for the robot as a whole to move.

[0047] In addition, the robot's travel direction can also be changed by adjusting the rotation state of the paddles 320 in the two lower paddle wheels 300. For example, the two paddle wheels 300 connected to the two higher rotating shafts 120 are defined as paddle wheels 300a and paddle wheels 300b, respectively. The paddles 320 in the paddle wheel 300a are set to rotate, and the paddles 320 in the paddle wheel 300b are set to be stationary. At this time, the robot as a whole travels in the forward direction; the paddles 320 in the paddle wheel 300a are set to be stationary, and the paddles 320 in the paddle wheel 300b are set to rotate. At this time, the robot as a whole travels in the reverse direction.

[0048] Reference Figure 2 , Figure 3 , Figure 7 and Figure 8 When the robot is in the second motion mode, the lowest points of the circumferences of the four paddle wheels 300 are coplanar. Similarly, the lowest points of the four first rotating shafts 130 are coplanar. The four paddle wheels 300 are respectively located on different sides of the robot. Under this configuration, the robot can move on the ground, and the circumferences of the rotating wheels 310 in the four paddle wheels 300 can all contact the ground. The rotating wheels 310 provide power for the movement of the robot when they rotate.

[0049] It is understandable that when the robot is in the second motion mode, two of the paddle wheels 300 are located on opposite sides of the robot, and the other two robots are located on the other opposite sides of the robot; the overall travel speed or travel direction of the robot can be changed by controlling the movement speed of the rotating wheels 310 in different paddle wheels 300. Exemplarily, the four paddle wheels 300 are defined as paddle wheel 300a, paddle wheel 300b, paddle wheel 300c, and paddle wheel 300d, paddle wheel 300a is arranged opposite to paddle wheel 300b, paddle wheel 300c is arranged opposite to paddle wheel 300d, paddle wheel 300a and paddle wheel 300b are set to rotate at the same speed and in the same direction, the robot moves in a straight line, and paddle wheel 300a and paddle wheel 300b are set to rotate at a differential speed, and the robot turns.

[0050] Reference Figure 4 and Fig. 9 When the robot is in the third motion mode, the axes of the four first rotating shafts 130 are parallel, and the second rotating shaft 140 is located in the space enclosed by the four first rotating shafts 130. Under this configuration, the robot can fly in the air, and the rotation axes of the blades 320 in the four paddle wheels 300 are parallel. The four second rotating shafts 140 are close to each other and concentrated at the center of the robot to reduce the flight resistance of the robot. The four paddle wheels 300 are all located on the outside of the robot to form a four-rotor robot. The airflow generated by the rotation of the blades 320 provides lift for the robot to fly.

[0051] The configuration driving mechanism 200 in the present invention can drive the metamorphosis mechanism 100 to change its configuration, switch the metamorphosis mechanism 100 to different postures, and switch the robot between different motion modes. The robot relies on the deformation of the metamorphosis mechanism 100's own structure to switch the motion mode to adapt to the motion requirements of water, land, and air habitat environments without the help of external structures.

[0052] Reference Figure 5 The robot also has an intermediate mode. When the robot is in the intermediate mode, the axes of the four first rotating shafts 130 are parallel, and the adjacent connecting rods 110 connected by the first rotating shafts 130 are parallel, and the adjacent connecting rods 110 connected by the second rotating shafts 140 are vertical. At this time, the closed-loop structure formed by the metamorphosis mechanism 100 is square, the second rotating shaft 140 is located at the diagonal position of the metamorphosis mechanism 100, and the first rotating shaft 130 is located at the center of each side of the metamorphosis mechanism 100. The robot can sequentially experience the intermediate mode, the first motion mode, the second motion mode and the third motion mode, so that the robot can quickly switch between various motion modes, and the robot has strong maneuverability; it can be understood that the robot can quickly switch between different motion modes, such as switching from the second motion mode to the first motion mode or the third motion mode, or switching from the first motion mode to the second motion mode or the intermediate mode, or switching from the third motion mode to the second motion mode.

[0053] Specifically, the two first rotating shafts 130 located at the lower position are defined as the first rotating shaft 130a and the first rotating shaft 130b, respectively. When the robot is in the first motion mode, the adjacent connecting rods 110 connected by the first rotating shaft 130a are parallel, and the adjacent connecting rods 110 connected by the first rotating shaft 130b are parallel. At this time, the connecting rods 110 connected by the first rotating shaft 130a and the first rotating shaft 130b are parallel to each other, the contact area between the robot and the water surface is larger, the robot moves more smoothly in the water, and the shaking of the robot during the movement is reduced. It is understandable that in other embodiments, the adjacent connecting rods 110 connected by the first rotating shaft 130a are set at a certain angle to each other, and the adjacent connecting rods 110 connected by the first rotating shaft 130b are set at a certain angle to each other.

[0054] Furthermore, when the robot is in the first motion mode, the two first rotating shafts 130 at the higher position and the adjacent connecting rods 110 rotatably connected by the first rotating shafts 130 at the higher position are both located between the two first rotating shafts 130 at the lower position. The structural connection of the robot in the first motion mode is more compact and the operation is smoother.

[0055] The second motion mode includes the first motion form and the second motion form. Figure 2 and Figure 7 When the robot is in the first motion form, the axes of the four first rotating shafts 130 are coplanar. At this time, two of the first rotating shafts 130 are respectively located on the opposite sides of the metamorphosis mechanism 100, and the axes of the two first rotating shafts 130 are parallel. The other two first rotating shafts 130 are respectively located on the other opposite sides of the metamorphosis mechanism 100, and the axes of the two first rotating shafts 130 are parallel. The axis direction of two of the first rotating shafts 130 with parallel axes is defined as X, and the axis direction of the other two first rotating shafts 130 with parallel axes is defined as Y. X is perpendicular to Y, and the axes of the four first rotating shafts 130 are all in the same plane.

[0056] Reference Figure 3 and Figure 8, when the robot is in the second motion form, the axes of the four first rotating shafts 130 intersect, that is, the axes of the four first rotating shafts 130 are not parallel. When the robot is in the first motion form, the adjacent connecting rods 110 connected by the first rotating shafts 130 form a first angle with each other, and when the robot is in the second motion form, the adjacent connecting rods 110 connected by the first rotating shafts 130 form a second angle with each other, and the second angle is greater than the first angle; thus, each connecting rod 110 in the first motion form is closer to the center of the robot than each connecting rod 110 in the second motion form, and the projection area of ​​the robot as a whole on the horizontal plane in the first motion form is smaller than the projection area on the horizontal plane in the second motion form. The robot can provide a larger installation area and space for other modules in the robot in the second motion form, and the structure of the robot in the first motion form is more compact, with higher movement flexibility and convenience.

[0057] In the present invention, the adjacent connecting rods 110 rotatably connected by the first rotating shaft 130 are distributed along the axis of the first rotating shaft 130. Exemplarily, the two connecting rods 110 are distributed along the axis of the first rotating shaft 130, and the ends of the two connecting rods 110 are rotatably connected by the first rotating shaft 130. When the robot is in the third motion mode, the two connecting rods 110 rotate relative to each other around the first direction, so that at least part of the adjacent connecting rods 110 are stacked with each other along the axis of the first rotating shaft 130. Due to the stacking of adjacent connecting rods 110, the two connecting rods 110 rotatably connected by the first rotating shaft 130 jointly form a cantilever connected to the paddle wheel 300. One end of the cantilever is connected to the paddle wheel 300, and the other end is connected to the second rotating shaft 140. The second rotating shaft 140 is located at the center of the robot to reduce the resistance of the robot during flight, and the robot has high flight efficiency.

[0058] In another embodiment, referring to Figure 5 and Fig. 9 Among the adjacent connecting rods 110 rotatably connected by the first rotating shaft 130, one of the connecting rods 110 is provided with a receiving groove 111. When the robot is in the third motion mode, at least a portion of the other connecting rod 110 is received in the receiving groove 111, so that the two connecting rods 110 are stacked in the axial direction of the first rotating shaft 130. In this way, the two connecting rods 110 rotatably connected by the first rotating shaft 130 jointly form a cantilever connected to the paddle wheel 300. One end of the cantilever is connected to the paddle wheel 300, and the other end is connected to the second rotating shaft 140. The second rotating shaft 140 is located at the center of the robot to reduce the resistance of the robot during flight.

[0059] It is understandable that among the adjacent connecting rods 110 that are rotationally connected through the first rotating shaft 130, one of the connecting rods 110 has a receiving groove 111. Similarly, among the adjacent connecting rods 110 that are rotationally connected through the second rotating shaft 140, one of the connecting rods 110 has a receiving groove 111. In order to maximize the stacking of the adjacent connecting rods 110, rotating parts are respectively provided at both ends of the connecting rods 110, and the rotating parts of the adjacent connecting rods 110 are rotationally connected through the first rotating shaft 130 or the second rotating shaft 140. Among the adjacent connecting rods 110 that are rotationally connected through the first rotating shaft 130, a receiving groove 111 is defined between the two rotating parts of one of the connecting rods 110, so that the part of the other connecting rod 110 except the rotating part can be accommodated in the receiving groove 111, and the stacking degree of the adjacent connecting rods 110 is relatively high.

[0060] In the present invention, the connecting rod 110 includes a first connecting portion 112 and a second connecting portion 113, the first connecting portion 112 and the second connecting portion 113 are 45 degrees to each other, the first connecting portions 112 of adjacent connecting rods 110 are rotationally connected through a first rotating shaft 130, and the second connecting portions 113 of adjacent connecting rods 110 are rotationally connected through a second rotating shaft 140, and the accommodating groove 111 is set in the first connecting portion 112. When the robot is in the third motion mode, among the adjacent links 110 rotationally connected by the first rotating shaft 130, the first connecting portion 112 of one of the links 110 is accommodated in the accommodating groove 111 of the other link 110, and the first connecting portions 112 of the two links 110 jointly form a cantilever, and the adjacent cantilevers are perpendicular to each other. The paddle wheel 300 is connected to one end of the cantilever, and the second connecting portion 113 is connected to the other end of the cantilever. The adjacent second connecting portions 113 rotationally connected by the second rotating shaft 140 are located between adjacent rotating arms, and the second connecting portions 113 of the adjacent links 110 rotationally connected by the second rotating shaft 140 are parallel to each other, and the second connecting portions 113 of the adjacent links 110 rotationally connected by the first rotating shaft 130 are perpendicular to each other and can abut against each other. The second connecting portions 113 can be as close to each other as possible and concentrated at the center of the robot.

[0061] In addition, refer to Fig.10 and Fig.11 Among the adjacent second connecting parts 113 that are rotatably connected by the second rotating shaft 140, one of the second connecting parts 113 includes two connecting plates 1131 that are oppositely arranged, and the first driving element 210 is accommodated inside the other second connecting part 113, and the first driving element 210 is connected between the two connecting plates 1131. In this way, the first driving element 210 can be built inside the connecting rod 110, and the first driving element 210 drives the two second connecting parts 113 to rotate around the second direction.

[0062] It should be noted that, in the present invention, the first driving element 210 is connected at any two first rotating shafts 130 and any two second rotating shafts 140, and the two first rotating shafts 130 connected with the first driving element 210 can be adjacent or spaced along the circumferential direction of the metamorphosis mechanism 100. Similarly, the two second rotating shafts 140 connected with the first driving element 210 can be adjacent or spaced along the circumferential direction of the metamorphosis mechanism 100. Therefore, there is a connecting rod 110 in which two first driving elements 210 are arranged, and the two first driving elements 210 are respectively connected to the two ends of the connecting rod 110, and are respectively used to drive the connecting rod 110 to rotate around the first direction and the second direction, and there is a connecting rod 110 in which a first driving element 210 is arranged, and the first driving element 210 is arranged at the end of the connecting rod 110, and is used to drive the connecting rod 110 to rotate around the first direction or the second direction.

[0063] Further, the present invention includes three types of connecting rods 110, wherein the first connecting portion 112 of one type of connecting rod 110 is provided with a receiving groove 111, and the second connecting portion 113 includes two spaced connecting plates 1131, wherein the first connecting portion 112 of one type of connecting rod 110 is not provided with a receiving groove 111, and the first driving element 210 can be accommodated inside, and the second connecting portion 113 includes two spaced connecting plates 1131, wherein the first connecting portion 112 of one type of connecting rod 110 is not provided with a receiving groove 111, and the second connecting portion 113 is not provided with a connecting plate 1131, and the first connecting portion 112 and the second connecting portion 113 can both accommodate the first driving element 210 inside. According to the position setting requirements of the first rotating shaft 130, the second rotating shaft 140 and the first driving element 210, the connecting rod 110 of a certain type is selected for connection.

[0064] Reference Figures 1 to 4 The robot further includes a paddle wheel driving mechanism 400, which includes a second driving element 410 and a third driving element 420 connected to the connecting rod 110. The second driving element 410 is located inside the rotating wheel 310 and connected to the paddle blade 320 to drive the paddle blade 320 to rotate. The third driving element 420 is connected to the rotating wheel 310 and is used to drive the rotating wheel 310 to rotate. Thus, when the robot is in the first motion mode and the third motion mode, the third driving element 420 does not work, and the second driving element 410 drives the paddle blade 320 to rotate. When the robot is in the second motion mode, the second driving element 410 does not work, and the third driving element 420 drives the rotating wheel 310 to rotate. The rotation of the paddle blade 320 and the rotation of the rotating wheel 310 are independent of each other, which can meet the motion requirements of the robot in different motion modes.

[0065] In the present invention, the axis of the wheel 310 is colinear with the axis of the blade 320, and there is a gap between the outer side of the blade 320 and the inner side of the wheel 310, and together define a duct 330 for airflow, so as to ensure that the rotation of the blade 320 can provide lift for the flight of the robot. In addition, the wheel 310 can be provided with a hollow shape, so that the duct 330 is connected with the external space of the wheel 310, so as to strengthen the air circulation when the blade 320 rotates and reduce the lift loss caused by airflow interference.

[0066] The rotating wheel 310 includes a skeleton 311 and a plurality of Mecanum wheels 312 embedded in the skeleton 311. The rotation axis of the Mecanum wheel 312 is inclined relative to the axis of the rotating wheel 310 along the circumference of the skeleton 311, that is, the generatrix of the Mecanum wheel 312 is inclined along the circumference of the skeleton 311. When the robot is in the second motion mode, the Mecanum wheels 312 in the four paddle wheels 300 are in contact with the ground and can rotate synchronously, thereby realizing the omnidirectional movement of the robot on land.

[0067] In addition, there is a gap between the Mecanum wheels 312 adjacent to each other along the circumference of the skeleton 311, so that the duct 330 inside the runner 310 is connected with the external space of the runner 310, thereby ensuring air circulation and reducing lift loss.

[0068] The third driving element 420 is connected to the skeleton 311 and drives the skeleton 311 to rotate. The Mecanum wheel 312 rotates along its own generatrix while the skeleton 311 rotates, so that the robot can move in all directions. The rotation axis of the skeleton 311 can be set to be parallel to the rotation axis of the blade 320, which is conducive to reducing the risk of interference between the two when they move. When the robot is in the first working mode, the water flow can flow through the gap between the skeleton 311 and the blade 320. When the robot is in the third working mode, the air flow can flow through the gap between the skeleton 311 and the blade 320 to reduce the movement resistance of the robot in the first and third functional modes.

[0069] In one embodiment, the third driving element 420 is mounted on the second connecting portion 113 of the connecting rod 110, or the third driving element 420 is disposed at the connecting position between the first connecting portion 112 and the second connecting portion 113, and the output end of the third driving element 420 is connected to the skeleton 311. Further, one end of the skeleton 311 along the axial direction is connected to a transmission frame 340, the transmission frame 340 is annular, and gear teeth are disposed on the inner side of the transmission frame 340. One end of the third driving element 420 is transmission-connected to a plurality of gears 430, one of which is meshed with the gear teeth in the transmission frame 340 to transmit the rotational power of the third driving element 420 to the transmission frame 340, so that the transmission frame 340 drives the skeleton 311 to rotate; because the gear 430 is meshed with the inner side of the transmission frame 340, the transmission structure between the third driving element 420 and the rotating wheel 310 avoids the rotation of the rotating wheel 310, so that the rotating wheel 310 can rotate smoothly.

[0070] In the present invention, Mecanum wheels 312 are arranged in at least two layers along the axis of the rotating wheel 310, and the Mecanum wheels 312 of each layer are arranged to form a rotating unit 313, and the maximum outer diameter of at least one rotating unit 313 is not greater than the minimum outer diameter of the adjacent rotating unit 313, so that the outer diameters of the adjacent rotating units 313 have a changing trend. The outer diameter of the rotating unit 313 is defined as the outer diameter of the outer peripheral surface formed by the generatrix of the multiple Mecanum wheels 312 in the corresponding rotating unit 313. When the robot switches to the second motion mode and is in the first motion form, the Mecanum wheels 312 in the rotating units 313 with larger outer diameters are in contact with the ground, and the Mecanum wheels 312 in the rotating units 313 with smaller outer diameters do not contact the ground. When the robot is in the second motion form, the Mecanum wheels 312 in the rotating units 313 with smaller outer diameters are in contact with the ground, and the Mecanum wheels 312 in the rotating units 313 with larger outer diameters do not contact the ground. That is, no matter what form the robot walks on the ground, the rotating units 313 of the corresponding layer are in contact with the ground and provide a linear speed for the robot to move.

[0071] It can be understood that when the robot is in the second motion mode, the rotating unit 313 with a larger outer diameter is closer to the center of the robot than the rotating unit 313 with a smaller outer diameter; the outer peripheral surface of the rotating unit 313 with a larger outer diameter is inclined compared to the outer peripheral surface of the rotating unit 313 with a smaller outer diameter, and they form an angle a with each other, and the angle a can be set according to the degree of contraction or expansion of the robot when switching between the first motion form and the second motion form.

[0072] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A three-dimensional metamorphic robot, characterized in that: include: A metamorphosis mechanism, comprising eight connecting rods and eight rotating shafts, wherein the eight connecting rods are connected end to end in sequence to form a closed loop structure, and along the circumferential direction of the closed loop structure, adjacent connecting rods are rotationally connected via the rotating shafts, and the axes of adjacent rotating shafts are perpendicular to each other, wherein the rotating shaft whose axis is parallel to a first direction is a first rotating shaft, and the rotating shaft whose axis is parallel to a second direction is a second rotating shaft, and the first direction is perpendicular to the second direction; A configuration drive mechanism comprises four first drive elements, wherein the first drive elements are used to drive the rotating shaft to rotate, wherein two of the first drive elements are respectively connected to two of the first rotating shafts, wherein two of the first drive elements are respectively connected to two of the second rotating shafts; There are four paddle wheels, each of which is connected to one of the first rotating shafts, and the paddle wheels include a rotating wheel and a paddle blade arranged inside the rotating wheel; Among them, the amphibious metamorphic robot has a first motion mode, a second motion mode and a third motion mode. The amphibious metamorphic robot is configured such that, when in the first motion mode, the axes of two of the first rotating shafts are collinear and lower than the other two first rotating shafts; when in the second motion mode, the lowest points of the circumferences of the four paddle wheels are coplanar; when in the third motion mode, the axes of the four first rotating shafts are parallel, and the second rotating shaft is located in the space enclosed by the four first rotating shafts.

2. The amphibious metamorphic robot according to claim 1, characterized in that: The three-dimensional metamorphic robot also has an intermediate mode. The three-dimensional metamorphic robot is configured such that, when in the intermediate mode, the axes of the four first rotating shafts are parallel, and the adjacent connecting rods connected by rotation of the first rotating shafts are parallel, and the adjacent connecting rods connected by rotation of the second rotating shafts are vertical; the three-dimensional metamorphic robot can sequentially experience the intermediate mode, the first motion mode, the second motion mode and the third motion mode.

3. The amphibious metamorphic robot according to claim 1, characterized in that: The second motion mode includes a first motion form and a second motion form. The amphibious metamorphic robot is configured such that, when in the first motion form, the axes of the four first rotating shafts are coplanar, adjacent connecting rods connected by rotation of the first rotating shafts are at a first angle to each other, and the first rotating shaft is lower than the second rotating shaft; when in the second motion form, the axes of the first rotating shafts intersect, adjacent connecting rods connected by rotation of the first rotating shaft are at a second angle to each other, and the second angle is greater than the first angle.

4. The amphibious metamorphic robot according to claim 1, characterized in that: The adjacent connecting rods rotatably connected by the first rotating shaft are distributed along the axis of the first rotating shaft, and when the amphibious metamorphic robot is in the third motion mode, at least parts of the adjacent connecting rods are stacked; Alternatively, among the adjacent connecting rods rotatably connected via the first rotating shaft, one of the connecting rods is provided with a receiving groove, and when the amphibious metamorphic robot is in the third motion mode, at least a portion of the other connecting rod is received in the receiving groove.

5. The amphibious metamorphic robot according to claim 1, characterized in that: The connecting rod includes a first connecting portion and a second connecting portion, the first connecting portion and the second connecting portion are 45 degrees apart from each other, the first connecting portions of adjacent connecting rods are rotationally connected via the first rotating shaft, and the second connecting portions of adjacent connecting rods are rotationally connected via the second rotating shaft.

6. The amphibious metamorphic robot according to claim 5, characterized in that: Among the adjacent second connection parts rotationally connected by the second rotating shaft, one of the second connection parts includes two oppositely arranged connection plates, and the first driving element is accommodated inside the other second connection part, and the first driving element is connected between the two connection plates.

7. The amphibious metamorphic robot according to claim 1, characterized in that: The amphibious metamorphic robot also includes a paddle wheel drive mechanism, which includes a second drive element and a third drive element connected to the connecting rod. The second drive element is located inside the rotating wheel and connected to the paddle blade to drive the paddle blade to rotate. The third drive element is connected to the rotating wheel and is used to drive the rotating wheel to rotate.

8. The amphibious metamorphic robot according to claim 7, characterized in that: The axis of the runner is colinear with the axis of the blade, and there is a gap between the outer side of the blade and the inner side of the runner, and they jointly define a duct.

9. The amphibious metamorphic robot according to claim 7, characterized in that: The rotating wheel comprises a frame and a plurality of Mecanum wheels embedded in the frame, the rotating axes of the Mecanum wheels are inclined relative to the axis of the rotating wheel along the circumference of the frame, and the third driving element is connected to the frame.

10. The amphibious metamorphic robot according to claim 9, characterized in that: The Mecanum wheels are arranged in at least two layers along the axis of the rotating wheel, and the Mecanum wheels in each layer are arranged to form a rotating unit, and the maximum outer diameter of at least one of the rotating units is not greater than the minimum outer diameter of the adjacent rotating units.

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