Metamorphic robot

Abstract

The invention discloses a metamorphic robot. The metamorphic robot comprises a body assembly, a supporting leg assembly, a mechanical claw assembly and a cam assembly. The body assembly is composed of a plurality of steering engines and connecting assemblies which are movably connected with one another, so that the body assembly can be subjected to form transformation. The supporting leg assemblies are connected to the rear ends of the two sides of the body assembly and used for supporting the body assembly and driving the body assembly to move. The mechanical claw assemblies are connected to the front ends of the two sides of the body assembly. Wherein the cam assembly enables the supporting leg assembly to bounce by controlling the stretching and retracting of the spring. According to the cam assembly, the motor frame plate is driven to move by rotating the cylindrical cam, operation is stable, the bearing capacity is large, movement of the spring can be efficiently controlled, the design is simple, the number of components is small, the transmission accumulative error is small, and compression and stretching of the spring can be accurately achieved. And meanwhile, the body assembly can control the whole frame to be converted into various forms, so that different use environments are adapted, and the overall flexibility is improved.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and specifically relates to a metamorphic robot. Background Art

[0002] The multi-legged bionic robot has a simple and flexible structure, strong carrying capacity and good stability. It has broad application prospects in complex non-structural mining, nuclear energy industry, planetary exploration, firefighting and rescue, construction, agricultural and forestry logging, education and entertainment and other fields.

[0003] For example, a metamorphic hexapod robot provided in CN 212738352 U applies a metamorphic mechanism to the body of a multi-legged bionic robot, and changes the mechanism configuration and degree of freedom during the movement by the metamorphic mechanism to achieve changes in the body of the multi-legged bionic robot, thereby better imitating the main parts of various animals, achieving bionics of multiple types of animals, and combining the advantages of multiple types of animals by setting different drive forms, including the speed of mammals, the flexibility of reptiles, and the stability of insects. However, the above-mentioned overall frame shape cannot be changed, which leads to the inability to adapt to different narrow sections, and the flexibility is not enough. Summary of the invention

[0004] The present application provides a metamorphic robot to solve the above-mentioned technical problems.

[0005] In order to solve the above technical problems, a technical solution adopted in this application is: a metamorphic robot, comprising:

[0006] The body component is composed of a plurality of servos and connecting components that are movably connected to each other so that the body component can be transformed;

[0007] The leg assembly is connected to the rear ends of both sides of the body assembly, wherein the leg assembly is used to support the body assembly and drive the body assembly to move;

[0008] A mechanical claw assembly is connected to the front ends of both sides of the body assembly, wherein the mechanical claw assembly is used to grab objects;

[0009] The cam assembly is used for connecting the body assembly to the mechanical claw assembly and the leg assembly respectively; wherein the cam assembly controls the expansion and contraction of the spring to make the leg assembly bounce.

[0010] Furthermore, the connecting component includes two symmetrically arranged opening and closing components, and the two sides of the opening and closing components are connected to one end of the first bent plate, and the other end of the first bent plate is connected to the rotating shaft of the first servo; the fuselage of the first servo is fixedly connected to one side of the second bent plate, and the other side of the second bent plate is fixedly connected to the first cam servo, and a connecting plate is connected between the right-angle ends of the second bent plate, and the other side of the connecting plate is connected to the rotating shaft of the second servo; the second servos are connected by a straight plate; a side plate is provided at the middle end of the straight plate, and the side plate is connected to the first cam servo.

[0011] Furthermore, the opening and closing assembly includes a first U-shaped plate and a second U-shaped plate, the side plates on both sides of the first U-shaped plate are connected to the rotating shaft of the vertical servo, and the side plates on both sides of the second U-shaped plate are connected to the fuselage of the vertical servo; wherein the bottom plates of the first U-shaped plate and the second U-shaped plate are connected to the first bent plate.

[0012] Furthermore, the cam assembly includes a cross connecting plate, which includes a base and a servo side plate and a motor side plate both of which are vertically arranged with the base, and the servo side plate and the motor side plate are arranged at intervals and in opposite directions; the servo side plate is connected to the leg assembly\mechanical claw assembly through a second cam servo, wherein pillars are provided at the four corners of the base on the same side as the motor side plate.

[0013] Furthermore, the cam assembly also includes a cylindrical cam, a brushless motor and a motor frame plate. The four corners of the motor frame plate are sleeved on the pillar through through holes, and a spring is sleeved on the pillar; the brushless motor is fixed to the middle part of the motor frame plate, and the cylindrical cam is connected to the brushless motor and is located between the motor frame plate and the base; wherein the length of the pillar is greater than the length of the cylindrical cam.

[0014] Furthermore, a curved slide groove is provided on the outer side wall of the cylindrical cam, and the end of the curved slide groove is connected to a vertical slide groove; a sliding wheel is provided on the top of the opposite side of the motor side plate and is slidably engaged in the curved slide groove.

[0015] Furthermore, servo connecting plates are provided at both ends of the motor frame plate away from the cylindrical cam, the servo connecting plates are fixedly connected to the body of the third cam servo, the rotating shaft of the third cam servo is connected to one side of the cross connecting frame, and the other side of the cross connecting frame is connected to the rotating shaft of the first cam servo.

[0016] Furthermore, the mechanical claw assembly connection includes a stepper motor, which is connected to the second cam servo through a third U-shaped plate, and the stepper motor is fixed to the motor seat. The motor seat is connected to the upper connecting plate through a first connecting shaft, and the other end of the upper connecting plate is connected to the claw seat plate through a second connecting shaft. The claw seat plates are movably connected to the mechanical claw through a movable shaft; wherein a splint is provided at the bottom of the mechanical claw.

[0017] Furthermore, the rotating shaft of the stepper motor is connected to a coupling, and the other end of the coupling is connected to a screw rod, a threaded sleeve is sleeved in the screw rod, and a plurality of slide plates are arranged on the outside of the threaded sleeve, wherein the splint is clamped in the slide groove in the slide groove plate through a movable buckle.

[0018] Furthermore, the leg assembly includes a conical bracket, and extension plates are provided on both sides of the conical bracket, and the extension plates are connected to the second cam steering gear.

[0019] The beneficial effects of the present application are as follows: the cam assembly of the present application drives the movement of the motor frame plate by rotating the cylindrical cam, operates smoothly, has a large load-bearing capacity, can efficiently control the movement of the spring, has a simple design, has few components, has a small cumulative transmission error, and can accurately achieve the compression and extension of the spring. At the same time, the body assembly of the present application can control the overall frame to change into various forms, thereby adapting to different use environments and improving overall flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of an embodiment of a metamorphic robot of the present application;

[0021] Figure 2 yes Figure 1 A schematic structural diagram of an embodiment of a body component in FIG.

[0022] Figure 3 yes Figure 2 A schematic diagram of the structure of region A in FIG.

[0023] Figure 4 yes Figure 1 A schematic structural diagram of another embodiment of the body component;

[0024] Figure 5 yes Figure 1 A schematic structural diagram of another embodiment of the body component;

[0025] Figure 6 yes Figure 1 A structural schematic diagram of an embodiment of a cam assembly;

[0026] Figure 7 yes Figure 1 A schematic diagram of the assembly structure of the cam assembly and the leg assembly;

[0027] Figure 8 yes Figure 1 A schematic structural diagram of an embodiment of a mechanical claw assembly;

[0028] Fig. 9 yes Figure 1 A schematic structural diagram of another embodiment of the mechanical claw assembly;

[0029] Fig.10 yes Figure 1 A structural schematic diagram of an embodiment of a leg assembly in FIG. DETAILED DESCRIPTION

[0030] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below in conjunction with specific embodiments.

[0031] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments of the following disclosure.

[0032] See also Figure 1 , Figure 1 It is a structural schematic diagram of an embodiment of a metamorphic robot of the present application. The robot comprises: a body component 1, a leg component 2, a mechanical claw component 3 and a cam component 4; the body component 1 is composed of a plurality of servos and connecting components that are movably connected to each other, so that the body component 1 can be transformed; the leg component 2 is connected to the rear ends of both sides of the body component 1, wherein the leg component 2 is used to support the body component 1 and drive the body component 1 to move; the mechanical claw component 3 is connected to the front ends of both sides of the body component 1, wherein the mechanical claw component 3 is used to grab objects; the cam component 4 is used for the body component 1 to connect the mechanical claw component 3 and the leg component 2 respectively; wherein the cam component 4 controls the scaling of the spring to make the leg component 2 bounce. The body component 1 in the above design can be transformed into a variety of forms such as square and circular to adapt to different environments. At the same time, the cam component 4 can store elastic energy, so that the robot can jump as a whole.

[0033] See also Figure 2-5The connection assembly includes two symmetrically arranged opening and closing assemblies 5, the two sides of the opening and closing assemblies 5 are connected to one end of the first curved plate 11, and the other end of the first curved plate 11 is connected to the rotating shaft of the first servo 13; the body of the first servo 13 is fixed to one side of the second curved plate 12, and the other side of the second curved plate 12 is fixed to the first cam servo 15, and the right-angle ends of the second curved plate 12 are connected with a connecting plate 16, and the other side of the connecting plate 16 is connected to the rotating shaft of the second servo 14; the second servos 14 are connected by a straight plate 17; the middle end of the straight plate 17 is provided with a side plate 18, and the side plate 18 is connected to the first cam servo 15. The opening and closing assemblies 5, the first curved plate 11, the first servo 13, the second curved plate 12, the second servo 14, and the straight plate 17 in the above design are combined into a body frame, and the shape of the body frame can be changed by controlling the rotation of the first servo 13 and the second servo 14. The body frame can be in various shapes such as rectangular and quasi-circular, so that the body frame of the robot can adapt to different use environments. For example, a rectangular body frame can be used in narrow terrain, and a quasi-circular body frame can be used in an uneven ground to ensure the smooth operation of the frame. In other embodiments, the first curved plate 12 and the connecting plate 16 form an integral connecting plate, and its length is the same as that of the straight plate 17. Therefore, the integral connecting plate and the straight plate 17 can be replaced with each other according to actual needs.

[0034] The opening and closing assembly 5 includes a first U-shaped plate 51 and a second U-shaped plate 52. The side plates on both sides of the first U-shaped plate 51 are connected to the rotating shaft of the vertical steering gear 53, and the side plates on both sides of the second U-shaped plate 52 are connected to the fuselage of the vertical steering gear 53; wherein the bottom plates of the first U-shaped plate 51 and the second U-shaped plate 52 are connected to the first curved plate 11. The first U-shaped plate 51 and the second U-shaped plate 52 in the above design are opened and closed by the vertical steering gear 53, thereby controlling the body assembly 1 on both sides to open and close, thereby further reducing the width of the body frame to adapt to very narrow passages.

[0035] See also Figure 6-7 The cam assembly 4 includes a cross connecting plate 41, which includes a base 411 and a steering engine side plate 412 and a motor side plate 413 which are both vertically arranged with the base 411, and the steering engine side plate 412 and the motor side plate 413 are arranged at intervals and in opposite directions; the steering engine side plate 412 is connected to the leg assembly 2\mechanical claw assembly 3 through the second cam steering engine 42, wherein pillars 43 are provided at the four corners of the same side of the base 411 as the motor side plate 413. In the above design, the cross connecting plate 41 can be connected to the leg assembly 2 or the mechanical claw assembly 3 through the second cam steering engine 42.

[0036] The cam assembly 4 also includes a cylindrical cam 44, a brushless motor 45 and a motor frame 46. The four corners of the motor frame 46 are sleeved on the pillar 43 through through holes, and a spring 47 is sleeved on the pillar 43. The brushless motor 45 is fixed to the middle of the motor frame 46. The cylindrical cam 44 is connected to the brushless motor 45 and is located between the motor frame 46 and the base 411. The length of the pillar 43 is greater than that of the cylindrical cam 44. In the above design, the brushless motor 45 can drive the cylindrical cam 44 to rotate, thereby compressing the spring 47 between the base 411 and the motor frame 46 to store energy.

[0037] A curved slot 441 is provided on the outer side wall of the cylindrical cam 44, and a vertical slot 442 is connected to the end of the curved slot 441; a sliding wheel 48 is provided on the top of the opposite side of the motor side plate 413 and is slidably engaged in the curved slot 441. The sliding wheel 48 in the upper design is slidably engaged in the curved slot 441, and when the brushless motor 45 rotates, the sliding wheel 48 can be moved downward along the curved slot 441, so that the cylindrical cam 44 is close to the base 411, thereby compressing the spring 47 to store energy.

[0038] Among them, the cylindrical cam 44 needs to realize two functions of energy storage and release, so it is designed to rise slowly during the push stroke and fall instantly during the return stroke. Considering the balance of force, two such curved chutes 441 are arranged on one cam circle, and two sliding wheels 48 move on the chutes at the same time, and the movement phase difference between the two is 180°. The curve of the curved chutes 441 pairs adopts a spiral line, and the lowest point of one curved chutes 441 is connected to the highest point of another curved chutes 441 through a vertical chutes 442, and fillets are used for transition between each section of the curve. Taking the lowest point as the starting point of the movement, the height of each rise after turning a certain angle is the same. In addition, after the energy storage is completed, an area needs to be locked, so in addition to rising and falling, a rest area, i.e. a small platform, is also set. On the platform, the force of the spring 47 does not produce a horizontal component, and the motor does not need to maintain torque, which is more power-saving and safer.

[0039] The motor frame plate 46 is provided with a servo connecting plate 461 at both ends of the side away from the cylindrical cam 44. The servo connecting plate 461 is fixedly connected to the body of the third cam servo 462. The rotating shaft of the third cam servo 462 is connected to one side of the cross connecting frame 49, and the other side of the cross connecting frame 49 is connected to the rotating shaft of the first cam servo 15. The second cam servo 42 designed as above adjusts the horizontal angle of the cam assembly 4.

[0040] See also Figure 8-9The mechanical claw assembly 3 includes a stepper motor 31, which is connected to the third cam servo 462 through a third U-shaped plate 32. The stepper motor 31 is fixed to the motor seat 33, and the motor seat 33 is connected to the upper connecting plate 35 through a first connecting shaft 34. The upper connecting plate 35 is connected to the claw seat plate 37 through a second connecting shaft 36. The claw seat plate 37 is movably connected to the mechanical claw 38 through a movable shaft; wherein a clamping plate 381 is provided at the bottom of the mechanical claw 38. The mechanical claw 38 in the above design is movably connected to the claw seat plate 37, so as to facilitate the opening and closing of the mechanical claw 38.

[0041] The rotating shaft of the stepper motor 31 is connected to a coupling 311, and the other end of the coupling 311 is connected to a screw 312, a threaded sleeve 313 is sleeved in the screw 312, and a plurality of slide plates 314 are arranged on the outside of the threaded sleeve 313, wherein the clamping plate 381 is clamped in the slide in the slide plate 314 through a movable buckle. The stepper motor 31 in the above design rotates, driving the coupling 311 and the screw 312 to rotate, so that the threaded sleeve 313 moves up and down to control the movable buckle to move back and forth in the slide plate 314, so as to realize the opening and closing of the mechanical claw 38. The present application uses a screw 312 type three-finger machine to simplify the mechanical structure and improve the efficiency of electric energy utilization. At the same time, compared with the two-claw machine, the three-claw machine has more diverse transformation forms, lower restrictions on the clamped objects, and is more suitable for the two forms of the fuselage.

[0042] See also Fig.10 The leg assembly 2 includes a conical bracket 21, and extension plates 22 are provided on both sides of the conical bracket 21, and the extension plates 22 are connected to the second cam servo 42. The conical bracket 21 in the above design can reduce the support area of ​​the leg assembly 2, thereby reducing the impact of the road surface on the overall movement of the robot.

[0043] The specific working method is that the brushless motor 45 supplies power to the cylindrical cam 44 to rotate the cylindrical cam 44, and the roller of the sliding wheel 48 on the cross connecting plate 41 realizes the upward movement by relying on the shape lock and the groove along the cylindrical cam 44, further driving the spring 47 on the four pillars 43 of the cross connecting plate 41 to be compressed, and the four pillars 43 on the cross connecting plate 41 move upward, so that the spring 47 stores elastic potential energy, and the sliding wheel 48 can be stuck in the small platform in the slide groove in the cylindrical cam 44, so that the spring 47 remains in a compressed state. When the robot needs to jump, the brushless motor 45 continues to rotate, so that the sliding wheel 48 moves to the vertical slide groove 442 part of the cylindrical cam 44, and the brushless motor 45 stops moving at the same time. Since there is no external force restriction, the spring 47 quickly releases the elastic potential energy, and finally realizes the jumping action. And because the vertical slide grooves 442 on both sides are symmetrical structures, the brushless motor 45 can realize continuous jumping actions without reversing.

[0044] The leg part of the robot of the present application is divided into two parts, consisting of a mechanical claw assembly 3 and a leg assembly 2. When the body assembly 1 is in a circular unfolded form, the legs at both ends of the front are equipped with three-finger mechanical claws 38 that can be folded inwards. In the unfolded form, the two claws perform their respective functions. In the folded form, the two claws overlap up and down to cooperate to complete the task.

[0045] The above descriptions are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A metamorphic robot, characterized in that: include: A body component, which is composed of a plurality of servos and connecting components that are movably connected to each other, so that the body component can be transformed; A leg assembly connected to the rear ends of both sides of the body assembly, wherein the leg assembly is used to support the body assembly and drive the body assembly to move; A mechanical claw assembly connected to the front ends of both sides of the body assembly, wherein the mechanical claw assembly is used to grab objects; A cam assembly is used for connecting the body assembly to the mechanical claw assembly and the leg assembly respectively; wherein the cam assembly controls the expansion and contraction of the spring to make the leg assembly bounce.

2. A metamorphic robot according to claim 1, characterized in that: The connecting component includes two symmetrically arranged opening and closing components, wherein two sides of the opening and closing components are connected to one end of the first bent plate, and the other end of the first bent plate is connected to the rotating shaft of the first servo; the fuselage of the first servo is fixedly connected to one side of the second bent plate, and the other side of the second bent plate is fixedly connected to the first cam servo, a connecting plate is connected between the right-angle ends of the second bent plate, and the other side of the connecting plate is connected to the rotating shaft of the second servo; the second servos are connected by a straight plate; a side plate is provided at the middle end of the straight plate, and the side plate is connected to the first cam servo.

3. A metamorphic robot according to claim 2, characterized in that: The opening and closing assembly includes a first U-shaped plate and a second U-shaped plate, the side plates on both sides of the first U-shaped plate are connected to the rotating shaft of the vertical servo, and the side plates on both sides of the second U-shaped plate are connected to the fuselage of the vertical servo; wherein the bottom plates of the first U-shaped plate and the second U-shaped plate are connected to the first bent plate.

4. A metamorphic robot according to claim 2, characterized in that: The cam assembly includes a cross connecting plate, which includes a base and a servo side plate and a motor side plate that are both vertically arranged with the base, the servo side plate and the motor side plate are spaced apart and in opposite directions; the servo side plate is connected to the leg assembly\the mechanical claw assembly through a second cam servo, wherein pillars are provided at the four corners of the base on the same side as the motor side plate.

5. A metamorphic robot according to claim 4, characterized in that: The cam assembly also includes a cylindrical cam, a brushless motor and a motor frame plate. The four corners of the motor frame plate are sleeved on the pillar through through holes, and a spring is sleeved on the pillar; the brushless motor is fixed to the middle part of the motor frame plate, and the cylindrical cam is connected to the brushless motor and is located between the motor frame plate and the base; wherein the length of the pillar is greater than the length of the cylindrical cam.

6. A metamorphic robot according to claim 5, characterized in that: A curved slide groove is provided on the outer side wall of the cylindrical cam, and a vertical slide groove is connected to the end of the curved slide groove; a sliding wheel is provided on the top of the opposite side of the motor side plate to be slidably engaged in the curved slide groove.

7. A metamorphic robot according to claim 5, characterized in that: The motor frame plate is provided with servo connecting plates at both ends of one side away from the cylindrical cam, the servo connecting plates are fixedly connected to the body of the third cam servo, the rotating shaft of the third cam servo is connected to one side of the cross connecting frame, and the other side of the cross connecting frame is connected to the rotating shaft of the first cam servo.

8. The metamorphic robot according to claim 5, characterized in that: The mechanical claw assembly connection includes a stepper motor, the stepper motor is connected to the second cam servo through a third U-shaped plate, the stepper motor is fixed to the motor seat, the motor seat is connected to the upper connecting plate through a first connecting shaft, the upper connecting plate is also connected to the claw seat plate through a second connecting shaft, and the claw seat plates are movably connected to the mechanical claw through a movable shaft; wherein, a splint is provided at the bottom of the mechanical claw.

9. A metamorphic robot according to claim 8, characterized in that: The rotating shaft of the stepper motor is connected to a coupling, and the other end of the coupling is connected to a screw rod, a threaded sleeve is sleeved in the screw rod, and a plurality of slide plates are arranged on the outside of the threaded sleeve, wherein the clamping plate is clamped in the slide slot in the slide slot plate through an active buckle.

10. The metamorphic robot according to claim 4, characterized in that: The leg assembly comprises a conical bracket, and extension plates are provided on both sides of the conical bracket, and the extension plates are connected to the second cam servo.

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