Three-dimensional metamorphic robot

Abstract

The present invention discloses a ternary metamorphic robot, comprising a metamorphic mechanism, a configuration drive mechanism and a paddle wheel. The metamorphic mechanism comprises a closed-loop structure formed by eight connecting rods connected end to end in sequence. The configuration drive mechanism comprises four first drive elements, two of which are respectively connected to a first rotating shaft, two of which are connected to a second rotating shaft, and each first rotating shaft is connected to a paddle wheel. The ternary metamorphic robot has a first motion mode, a second motion mode and a third motion mode. The configuration drive mechanism can drive the metamorphic mechanism to change its configuration, so that the metamorphic mechanism switches to different postures and the robot switches between different motion modes. The robot relies on the deformation of the metamorphic mechanism's own structure to switch motion modes to adapt to the motion requirements of multi-habitat environments such as water, land and air.

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 related technologies, 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-functional 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 with a motion mode that can adapt to water, land, and air environments, meeting the robot's multi-habitat motion needs.

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

[0005] A metamorphic mechanism comprising eight connecting rods and eight rotating shafts, wherein the eight connecting rods are sequentially connected end to end to form a closed loop structure, and adjacent connecting rods are rotatably connected by the rotating shafts along the circumferential direction of the closed loop structure, 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 includes 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, and 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 each of the paddle wheels includes a rotating wheel and a paddle blade disposed 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 metamorphic mechanism to change its configuration, so that the metamorphic mechanism switches to different postures and enables the robot to switch between different motion modes. The robot relies on the deformation of the metamorphic mechanism's own structure to switch motion modes to adapt to the motion requirements of multi-habitat environments such as water, land and air.

[0011] According to some embodiments of the present invention, the ternary metamorphic robot also has an intermediate mode. The ternary 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 the first rotating shafts are parallel, and the adjacent connecting rods connected by the second rotating shafts are vertical; the ternary 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, the adjacent connecting rods connected by rotation of the first rotating shafts form a first angle with 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, the adjacent connecting rods connected by rotation of the first rotating shafts form a second angle with each other, and the second angle is greater than the first angle.

[0013] According to some embodiments of the present invention, 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 by 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 through the first rotating shaft, and the second connecting portions of adjacent connecting rods are rotationally connected through the second rotating shaft.

[0016] According to some embodiments of the present invention, among adjacent second connecting parts that are rotatably connected by the second rotating shaft, one of the second connecting parts includes two oppositely arranged connecting plates, and the first driving element is accommodated in the interior of 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 is connected to the paddle blade for driving the paddle blade to rotate, and the third drive element is connected to the rotating wheel and is used to drive the rotating wheel to rotate.

[0018] According to some embodiments of the present invention, the axis of the runner is collinear with the axis of the blade, and a gap exists 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 no larger than the minimum outer diameter of the adjacent rotating units.

[0021] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by 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, in which:

[0023] Figure 1 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 Schematic diagram of the metamorphic mechanism in the intermediate mode of the amphibious metamorphic robot;

[0028] Figure 6Schematic diagram of the metamorphic mechanism in the first motion mode of the amphibious metamorphic robot;

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

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

[0031] Figure 9 Schematic diagram of the metamorphic mechanism in the amphibious metamorphic robot in the third motion mode;

[0032] Figure 10 A schematic diagram of the connection between the paddle wheel and the connecting rod in one embodiment;

[0033] Figure 11 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] The following describes embodiments of the present invention in detail. Examples of the embodiments 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 intended only to explain the present invention and are not to be construed 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., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They 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. Therefore, they cannot be understood as limitations on the present invention.

[0038] In the description of the present invention, "several" means more than one, "plurality" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0039] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting 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 based on the specific content of the technical solution.

[0040] In the description of the present invention, reference to terms such as "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 exemplary expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0041] Reference Figures 1 to 4 In an embodiment of the present invention, a three-dimensional 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 to 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 metamorphic mechanism, Figure 4-8The metamorphosis mechanism is simplified), the robot includes a metamorphosis mechanism 100, which is the main structure of the robot that changes its configuration. The metamorphosis mechanism 100 includes eight connecting rods 110 and eight rotating shafts 120. The eight connecting rods 110 are connected end to end in sequence 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. 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. In the winding direction of the closed-loop structure, a second rotating shaft 140 is respectively provided on both sides of each first rotating shaft 130. Similarly, a first rotating shaft 130 is respectively provided 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 also includes a configuration drive mechanism 200, which is used to connect to the metamorphic mechanism 100 and transform the configuration of the metamorphic mechanism 100 by driving the connecting rods 110 in the metamorphic mechanism 100 to rotate. The configuration drive mechanism 200 includes four first drive elements 210, which are used to drive the rotating shafts 120 to rotate. The first drive elements 210 are not limited to being configured as motors, servos, 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 first rotating shafts 130 and two of the second rotating shafts 140 among the eight rotating shafts 120 are in an underdriven 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 elements 210 are in operation, they drive the adjacent connecting rods 110 to rotate about the first direction and / or the second direction.

[0045] The robot also includes a paddle wheel 300, and there are four paddle wheels 300. In the present invention, each first rotating shaft 130 is connected to a paddle wheel 300. The paddle wheel 300 includes a runner 310 and a paddle blade 320 arranged inside the runner 310. The paddle blade 320 is rotatable and is 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 runner 310 is rotatable and is 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 metamorphic 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 collinear 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, and their axes are parallel. The outer peripheral surface of the runner 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 be changed by adjusting the rotational state of the paddle blades 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 wheel 300a and paddle wheel 300b. If the paddle blades 320 in paddle wheel 300a are set to rotate and the paddle blades 320 in paddle wheel 300b are set to stationary, the robot as a whole travels in the forward direction. If the paddle blades 320 in paddle wheel 300a are set to stationary and the paddle blades 320 in paddle wheel 300b are set to rotate, 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 located on different sides of the robot. Under this configuration, the robot can move on the ground, and the circumferences of the wheels 310 in the four paddle wheels 300 can all contact the ground. When the wheels 310 rotate, they provide power for the movement of the robot.

[0049] It is understood 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 paddle wheels 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 wheels 310 in different paddle wheels 300. For example, 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, and paddle wheel 300c is arranged opposite to paddle wheel 300d. The wheels 310 in paddle wheels 300a and 300b rotate at the same speed and in the same direction, so that the robot moves in a straight line. The paddle wheels 300a and 300b rotate at a differential speed, so that the robot turns.

[0050] Reference Figure 4 and Figure 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, the rotation axes of the blades 320 in the four paddle wheels 300 are parallel, and 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, forming 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 metamorphic mechanism 100 to change its configuration, so that the metamorphic mechanism 100 switches to different postures and enables the robot to switch between different motion modes. The robot relies on the deformation of the metamorphic mechanism 100's own structure to switch motion modes 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 perpendicular. At this time, the closed loop structure formed by the metamorphic mechanism 100 is square, the second rotating shafts 140 are located at the diagonal positions of the metamorphic mechanism 100, and the first rotating shafts 130 are located at the center of each side of the metamorphic mechanism 100. The robot can sequentially experience the intermediate mode, the first motion mode, the second motion mode, and the third motion mode, allowing the robot to quickly switch between various motion modes and having 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 from the first motion mode to the second motion mode or the intermediate mode, or 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. 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 movement is reduced. It is understandable that in other embodiments, the adjacent connecting rods 110 connected by the first rotating shaft 130a 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 located at a higher position and the adjacent connecting rods 110 rotatably connected by the first rotating shafts 130 at a higher position are both located between the two first rotating shafts 130 at a 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 opposite sides of the metamorphic 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 metamorphic mechanism 100, and the axes of the two first rotating shafts 130 are parallel. The axis direction of the two 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 8When 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, adjacent connecting rods 110 connected by the first rotating shafts 130 form a first angle with each other. When the robot is in the second motion form, 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. As a result, the connecting rods 110 in the first motion form are closer to the center of the robot than the connecting rods 110 in the second motion form. The projected area of ​​the robot as a whole onto the horizontal plane in the first motion form is smaller than the projected area onto the horizontal plane in the second motion form. The robot in the second motion form can provide a larger installation area and space for other modules in the robot. The structure of the robot in the first motion form is more compact, and it has higher movement flexibility and convenience.

[0057] In the present invention, the adjacent links 110 rotatably connected by the first rotating shaft 130 are distributed along the axis of the first rotating shaft 130. Exemplarily, the two links 110 are distributed along the axis of the first rotating shaft 130, and the ends of the two links 110 are rotatably connected by the first rotating shaft 130. When the robot is in the third motion mode, the two links 110 rotate relative to each other around the first direction, so that at least part of the adjacent links 110 are stacked with each other along the axis of the first rotating shaft 130. Due to the stacking of adjacent links 110, the two links 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 Figure 9 Among the adjacent links 110 rotatably connected by the first rotating shaft 130, one of the links 110 is provided with a receiving groove 111. When the robot is in the third motion mode, at least a portion of the other link 110 is received in the receiving groove 111, so that the two links 110 are stacked in the axial direction of the first rotating shaft 130. In this way, the two links 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, and 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 rotatably connected via the first rotating shaft 130, one of the connecting rods 110 has a receiving groove 111. Similarly, among the adjacent connecting rods 110 rotatably connected via the second rotating shaft 140, one of the connecting rods 110 has a receiving groove 111. To maximize the stacking of adjacent connecting rods 110, rotating portions are provided at both ends of the connecting rods 110. The rotating portions of adjacent connecting rods 110 are rotatably connected via the first rotating shaft 130 or the second rotating shaft 140. Among the adjacent connecting rods 110 rotatably connected via the first rotating shaft 130, a receiving groove 111 is defined between the two rotating portions of one connecting rod 110. Therefore, the portion of the other connecting rod 110 other than the rotating portion can be accommodated in the receiving groove 111, resulting in a high degree of stacking of the adjacent connecting rods 110.

[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° to each other, the first connecting portion 112 of adjacent connecting rods 110 are rotatably connected by a first rotating shaft 130, and the second connecting portion 113 of adjacent connecting rods 110 are rotatably connected by 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 connected by the first rotating shaft 130, the first connecting portion 112 of one link 110 is accommodated in the accommodating groove 111 of the other link 110, and the first connecting portions 112 of the two links 110 together 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 connected by the second rotating shaft 140 are located between the adjacent rotating arms, and the second connecting portions 113 of the adjacent links 110 connected by the second rotating shaft 140 are parallel to each other, and the second connecting portions 113 of the adjacent links 110 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 position of the robot.

[0061] In addition, refer to Figure 10 and Figure 11 Among the adjacent second connecting parts 113 rotatably connected by the second rotating shaft 140, one second connecting part 113 includes two oppositely disposed connecting plates 1131, and the other second connecting part 113 houses the first driving element 210 therein, with the first driving element 210 connected between the two connecting plates 1131. In this way, the first driving element 210 can be built into the connecting rod 110, and the first driving element 210 drives the two second connecting parts 113 to rotate about 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. The two first rotating shafts 130 connected with the first driving element 210 can be adjacent or spaced apart along the circumferential direction of the metamorphic mechanism 100. Similarly, the two second rotating shafts 140 connected with the first driving element 210 can be adjacent or spaced apart along the circumferential direction of the metamorphic mechanism 100. Therefore, there are two first driving elements 210 disposed in a connecting rod 110, 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 about the first direction and the second direction. There is a first driving element 210 disposed inside a connecting rod 110, the first driving element 210 is disposed at the end of the connecting rod 110, and is used to drive the connecting rod 110 to rotate about the first direction or the second direction.

[0063] Furthermore, the present invention includes three types of connecting rods 110, wherein the first connecting portion 112 of the connecting rod 110 is provided with a receiving groove 111, and the second connecting portion 113 includes two spaced connecting plates 1131. Furthermore, the first connecting portion 112 of the connecting rod 110 is not provided with the receiving groove 111, and the interior thereof can accommodate the first driving element 210, and the second connecting portion 113 includes two spaced connecting plates 1131. Furthermore, the first connecting portion 112 of the connecting rod 110 is not provided with the receiving groove 111, and the second connecting portion 113 is not provided with the connecting plates 1131, and the interiors of the first connecting portion 112 and the second connecting portion 113 can accommodate the first driving element 210. The type of connecting rod 110 is selected for connection based on the position of the first rotating shaft 130, the second rotating shaft 140, and the position setting requirements of the first driving element 210.

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

[0065] In the present invention, the axis of the rotor 310 is collinear with the axis of the blades 320. A gap exists between the outer side of the blades 320 and the inner side of the rotor 310, defining a duct 330 for airflow, ensuring that the rotation of the blades 320 provides lift for the robot's flight. Furthermore, the rotor 310 can be hollowed out, allowing the duct 330 to connect with the outer space of the rotor 310. This enhances airflow during the rotation of the blades 320 and reduces lift loss caused by airflow interference.

[0066] Wheel 310 includes a skeleton 311 and multiple Mecanum wheels 312 embedded within skeleton 311. The rotation axes of Mecanum wheels 312 are tilted relative to the axis of wheel 310 along the circumference of skeleton 311. That is, the generatrix of Mecanum wheels 312 is tilted along the circumference of 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, enabling omnidirectional movement of the robot on land.

[0067] In addition, there is a gap between the adjacent Mecanum wheels 312 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, ensuring air circulation and reducing lift loss.

[0068] The third drive element 420 is connected to the skeleton 311 and drives the skeleton 311 to rotate. The Mecanum wheels 312 rotate along their own generatrix simultaneously with the skeleton 311, enabling omnidirectional movement of the robot. The axis of rotation of the skeleton 311 can be set to be parallel to the axis of rotation of the blades 320, which helps reduce the risk of interference between the two during movement. When the robot is in the first operating mode, water can flow through the gap between the skeleton 311 and the blades 320. When the robot is in the third operating mode, air can flow through the gap between the skeleton 311 and the blades 320, thereby reducing 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 is disposed at the connection between the first connecting portion 112 and the second connecting portion 113. The output end of the third driving element 420 is connected to the frame 311. Furthermore, one axial end of the frame 311 is connected to a transmission frame 340. The transmission frame 340 is annular and has gear teeth disposed on its inner side. One end of the third driving element 420 is drivingly connected to a plurality of gears 430, one of which meshes with the gear teeth within the transmission frame 340 to transmit the rotational power of the third driving element 420 to the transmission frame 340, causing the transmission frame 340 to drive the frame 311 to rotate. Because the gears 430 mesh 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, allowing the rotating wheel 310 to 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. Each layer of Mecanum wheels 312 encloses a rotating unit 313. The maximum outer diameter of at least one rotating unit 313 is no greater than the minimum outer diameter of an adjacent rotating unit 313, resulting in a varying outer diameter of adjacent rotating units 313. The outer diameter of a rotating unit 313 is defined as the outer diameter of the outer circumference formed by the generatrix of the multiple Mecanum wheels 312 within 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, while the Mecanum wheels 312 in the rotating units 313 with smaller outer diameters are not in contact with 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, while the Mecanum wheels 312 in the rotating units 313 with larger outer diameters are not in contact with the ground. That is, no matter which form the robot uses to walk on the ground, the corresponding layer of rotating units 313 is in contact with the ground and provides linear speed for the robot's movement.

[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 form an angle a with each other. 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] While the embodiments of the present invention have been described in detail above with reference to the accompanying drawings, the present invention is not limited to the embodiments described above. Various modifications may be made within the scope of knowledge possessed by a person skilled in the art without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof may be combined with one another unless there is a conflict.

Claims

1. A three-dimensional metamorphic robot, characterized in that: include: A metamorphic mechanism comprising eight connecting rods and eight rotating shafts, wherein the eight connecting rods are sequentially connected end to end to form a closed loop structure, and adjacent connecting rods are rotatably connected by the rotating shafts along the circumferential direction of the closed loop structure, 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 includes 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, and 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 each of the paddle wheels includes a rotating wheel and a paddle blade disposed 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 ternary metamorphic robot also has an intermediate mode. The ternary 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 the first rotating shafts are parallel, and the adjacent connecting rods connected by the second rotating shafts are vertical; the ternary metamorphic robot can sequentially experience the intermediate mode, the first motion mode, the second motion mode and the third motion mode.

3. The terrestrial 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, the 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, the adjacent connecting rods connected by rotation of the first rotating shafts 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 by 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, the first connecting portions of adjacent connecting rods are rotationally connected through the first rotating shaft, and the second connecting portions of adjacent connecting rods are rotationally connected through the second rotating shaft.

6. The amphibious metamorphic robot according to claim 5, characterized in that: Among the adjacent second connection parts that are rotatably 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 is connected to the paddle blade for driving 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 collinear with the axis of the blade, and a gap exists between the outer side of the blade and the inner side of the runner, which together define a duct.

9. The amphibious metamorphic robot according to claim 7, characterized in that: The rotating wheel includes a frame and a plurality of Mecanum wheels embedded in the frame. The rotation axes of the Mecanum wheels are inclined relative to the axis of the rotating wheel along the circumference of the frame. 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. The Mecanum wheels in each layer are arranged to form a rotating unit. The maximum outer diameter of at least one of the rotating units is no greater than the minimum outer diameter of the adjacent rotating units.

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