Transformable robot

Abstract

The utility model provides a deformable robot, and relates to the technical field of probe vehicles, a plurality of telescopic devices are inserted on a spherical mechanical shell to form a sea urchin-shaped robot, a driving device is arranged on the mechanical shell, and the driving device drives the telescopic devices to move so as to drive the telescopic devices to telescopically move relative to the mechanical shell. The effect that the outer contour changes into the given track body contour is achieved, that is, the effect of rolling along the given track is achieved through deformation of the outer contour, and the technical problems that in the prior art, an existing spherical robot cannot move along the given track, and the control difficulty is large are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of detection vehicles, in particular to a deformable robot. Background Art

[0002] Currently, most technologies on the market are still limited to wheeled mobile robots, and there is little research on spherical rolling robots.

[0003] Especially in the field of lunar exploration, conventional exploration vehicles include four-wheel structures, six-wheel suspension structures, wheel-foot structures, etc. However, the four-wheel structure is simple to implement but has poor obstacle-crossing ability, the six-wheel suspension structure has good platform stability but large structure volume, and the wheel-foot structure can resist overturning but is not flexible enough. Therefore, how to simplify the structure of the exploration vehicle, reduce its mass, and adapt to complex terrain and move flexibly has become a new trend in the development of exploration vehicles. Therefore, the concept of a new type of robot, a rolling mobile robot, which is relatively simple to control, not easy to flip, and small in size, has been proposed.

[0004] However, existing spherical robots are unable to move along a given trajectory and are difficult to control. Utility Model Content

[0005] The utility model aims to provide a deformable robot to alleviate the technical problem in the prior art that the existing spherical robots cannot move along a given trajectory and are difficult to control.

[0006] The deformable robot provided by the utility model comprises: a mechanical shell, a telescopic device and a driving device;

[0007] The mechanical housing is spherical, and the telescopic device and the driving device are each provided with a plurality of them, and the plurality of telescopic devices are inserted into the mechanical housing and are shaped like a sea urchin;

[0008] The driving device is connected to the mechanical housing, and the driving device is transmission-connected to the telescopic device. The driving device is used to drive the telescopic device to move telescopically relative to the mechanical housing.

[0009] In an alternative embodiment,

[0010] The mechanical housing is provided with a plug hole, and the telescopic device is inserted into the plug hole.

[0011] In an alternative embodiment,

[0012] The driving device comprises a steering gear housing and a steering gear body;

[0013] The steering gear housing is fixed to the mechanical housing;

[0014] The steering gear body is arranged in the steering gear housing, and the driving end of the steering gear body is transmission-connected with the telescopic device.

[0015] In an alternative embodiment,

[0016] The driving end of the steering gear body is provided with a rotating gear;

[0017] The telescopic device has a rack segment, the rotating gear is meshedly connected with the rack segment, and the driving end of the servo body drives the rotating gear to rotate, so as to drive the telescopic device to telescopically move relative to the mechanical housing through the rack segment.

[0018] In an alternative embodiment,

[0019] The telescopic device comprises a telescopic body and a supporting foot;

[0020] The telescopic body is arranged in the jack, and one end of the telescopic body is located inside the mechanical housing, while the other end of the telescopic body is located outside the mechanical housing and connected to the support leg.

[0021] In an alternative embodiment,

[0022] The telescopic body has a through slot, and the rack segment is arranged on the inner wall of the through slot;

[0023] The rotating gear is located in the through slot.

[0024] In an alternative embodiment,

[0025] The mechanical housing includes a first housing and a second housing;

[0026] The first shell and the second shell are both configured to be hemispherical, and the first shell and the second shell are connected to each other.

[0027] In an alternative embodiment,

[0028] The transformable robot further comprises a housing locking device;

[0029] The housing locking module is connected to the first housing and the second housing respectively, and the housing locking device is used to lock and connect the first housing and the second housing.

[0030] In an alternative embodiment,

[0031] The housing locking device comprises a first locking block and a second locking block;

[0032] The first locking block is disposed on the first housing, and the second locking block is disposed on the second housing;

[0033] The first locking block has a locking column, the second locking block has a locking hole, and the locking column extends into the locking hole.

[0034] In an alternative embodiment,

[0035] The transformable robot further comprises a control device;

[0036] The control device is arranged in the mechanical housing, and the control device is electrically connected to the driving device.

[0037] The deformable robot provided by the utility model forms a sea urchin-shaped robot by inserting a plurality of telescopic devices on a spherical mechanical shell, and installing a driving device on the mechanical shell, the driving device drives the telescopic device to move, thereby driving the telescopic device to telescopically move relative to the mechanical shell, achieving the effect of changing the outer contour to become the contour of a given trajectory body, that is, achieving the effect of rolling along a given trajectory through the deformation of the outer contour, thereby alleviating the technical problem in the prior art that the existing spherical robots cannot move along a given trajectory and are difficult to control. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A schematic diagram of the overall structure of a deformable robot provided by an embodiment of the utility model;

[0040] Figure 2 A schematic diagram of the structure of the deformable robot provided by an embodiment of the utility model from another perspective;

[0041] Figure 3 for Figure 2 Sectional view at AA in the middle;

[0042] Figure 4 for Figure 3 The enlarged schematic diagram of point I in the middle;

[0043] Figure 5 A schematic diagram of the structure of a mechanical shell in a deformable robot provided in an embodiment of the utility model.

[0044] Icons: 100-mechanical housing; 110-first housing; 120-second housing; 200-telescopic device; 210-telescopic body; 220-support foot; 230-rack segment; 300-driving device; 310-servo housing; 320-servo body; 330-rotating gear; 400-housing locking device; 410-first locking block; 411-locking column; 420-second locking block; 421-locking hole. DETAILED DESCRIPTION

[0045] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0046] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0047] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0049] like Figure 1 , Figure 2 , Figure 3As shown, the deformable robot provided in this embodiment includes: a mechanical housing 100, a telescopic device 200 and a driving device 300; the mechanical housing 100 is spherical, and the telescopic device 200 and the driving device 300 are each provided with a plurality, and the plurality of telescopic devices 200 are all inserted into the mechanical housing 100.

[0050] Specifically, a plurality of sockets are provided on the mechanical housing 100, and the number of the sockets corresponds to the number of the telescopic devices 200. The telescopic devices 200 are inserted into the sockets. After the telescopic devices 200 are inserted into the mechanical housing 100 through the sockets, the whole is in the shape of a sea urchin.

[0051] The driving device 300 is connected to the mechanical housing 100. The driving device 300 is fixed on the mechanical housing 100. The driving device 300 is transmission-connected to the telescopic device 200. The driving force generated by the driving device 300 acts on the telescopic device 200, driving the telescopic device 200 to telescope and move relative to the mechanical housing 100. By controlling different telescopic devices 200 to perform telescopic movements, the overall outer contour can be changed, and rolling along a given trajectory can be achieved through changes in the outer contour.

[0052] In an optional embodiment, the transformable robot further includes a control device; the control device is disposed in the mechanical housing 100 , and the control device is electrically connected to the driving device 300 .

[0053] Specifically, the control device is specifically configured as a single chip microcomputer, which controls the operation of the driving device 300, thereby controlling the telescopic movement of the telescopic device 200, and further controlling the change of the overall outer contour.

[0054] In an optional embodiment, the driving device 300 specifically includes a servo housing 310 and a servo body 320; the servo housing 310 is fixed on the mechanical housing 100; the servo body 320 is arranged in the servo housing 310, and the servo housing 310 provides an installation space for the servo body 320. The driving end of the servo body 320 is transmission-connected with the telescopic device 200. When the servo body 320 is working, the driving end of the servo body 320 rotates to generate a driving force, which acts on the telescopic device 200, thereby driving the telescopic device 200 to telescope relative to the mechanical housing 100.

[0055] In an optional embodiment, a rotating gear 330 is provided at the driving end of the servo body 320 , and the rotating gear 330 is fixedly connected to the driving end of the servo body 320 , so that when the driving end of the servo body 320 rotates, the rotating gear 330 rotates together.

[0056] The telescopic device 200 has a rack segment 230, and the rotating gear 330 is meshed with the rack segment 230. The driving end of the servo body 320 drives the rotating gear 330 to rotate. Since the rotating gear 330 is meshed with the rack segment 230, the telescopic device 200 is driven by the rack segment 230 to telescope relative to the mechanical housing 100, thereby realizing a change in the overall outer contour.

[0057] In addition, the above-mentioned control device is connected to the signal of the servo body 320. The control device is used to control the rotation speed of the servo body 320, thereby controlling the change of the outer contour as a whole. The control device can be set according to the number of servo bodies 320, or a total control device can be set to be connected to the signals of multiple servo bodies 320 respectively to ensure that the multiple servo bodies 320 can be independently controlled.

[0058] like Figure 4 As shown, in an optional embodiment, the telescopic device 200 includes a telescopic body 210 and a support leg 220; the telescopic body 210 is a square frame structure, the telescopic body 210 is arranged in the socket, and one end of the telescopic body 210 is located inside the mechanical housing 100, and the other end of the telescopic body 210 is located outside the mechanical housing 100 and connected to the support leg 220, and the support leg 220 is located in the middle position of the end face of the telescopic body 210, and the support leg 220 can contact the ground to play a supporting role.

[0059] In an optional embodiment, the telescopic body 210 is a square frame structure, the middle part of the telescopic body 210 of the square frame structure is through-through to form a through slot, and a rack segment 230 is provided on the inner wall of the through slot; the rotating gear 330 is located in the through slot, and the rotating gear 330 rotates in the through slot, driving the telescopic body 210 to telescope and move as a whole.

[0060] In an optional embodiment, the mechanical housing 100 includes a first housing 110 and a second housing 120 ; the first housing 110 and the second housing 120 are both configured to be hemispherical, and the first housing 110 and the second housing 120 are connected to each other to form a spherical mechanical housing 100 .

[0061] like Figure 5 As shown, in order to lock and fix the first shell 110 and the second shell 120, in an optional embodiment, the transformable robot also includes a shell locking device 400; the shell locking module is respectively connected to the first shell 110 and the second shell 120, and the shell locking device 400 can lock and connect the first shell 110 and the second shell 120.

[0062] Specifically, the shell locking device 400 includes a first locking block 410 and a second locking block 420; the first locking block 410 is arranged on the first shell 110, and the second locking block 420 is arranged on the second shell 120; the first locking block 410 has a locking column 411, and the second locking block 420 has a locking hole 421, and the locking column 411 extends into the locking hole 421.

[0063] In addition, a first groove is formed in the surface of the first shell 110, and a second groove is formed in the surface of the second shell 120. The first locking block 410 extends into the first groove for installation and fixation. The second locking block 420 has a semicircular locking groove. The locking groove and the second groove are connected to each other to form a locking hole 421. The locking hole 421 is for the locking column 411 to be inserted. After insertion, the first shell 110 and the second shell 120 can be locked and fixed.

[0064] It should be noted that there are multiple shell locking devices 400, and the multiple shell locking devices 400 are evenly spaced along the circumference of the connection between the first shell 110 and the second shell 120. The setting of multiple shell locking devices 400 can make the connection between the first shell 110 and the second shell 120 more secure.

[0065] The deformable robot provided in this embodiment forms a sea urchin-shaped robot by inserting multiple telescopic devices 200 on a spherical mechanical shell 100, and installing a driving device 300 on the mechanical shell 100. The driving device 300 drives the telescopic device 200 to move, thereby driving the telescopic device 200 to telescopically move relative to the mechanical shell 100, thereby achieving the effect of changing the outer contour to become the contour of a given trajectory body, that is, achieving the effect of rolling along a given trajectory through the deformation of the outer contour, thereby alleviating the technical problem in the prior art that the existing spherical robots cannot move along a given trajectory and are difficult to control.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model.

Claims

1. A transformable robot, characterized in that: include: A mechanical housing (100), a telescopic device (200) and a driving device (300); The mechanical housing (100) is spherical, and a plurality of the telescopic devices (200) and the driving devices (300) are provided correspondingly, and the plurality of telescopic devices (200) are inserted into the mechanical housing (100) and are shaped like a sea urchin; The driving device (300) is connected to the mechanical housing (100), the driving device (300) is in transmission connection with the telescopic device (200), and the driving device (300) is used to drive the telescopic device (200) to telescopically move relative to the mechanical housing (100).

2. The transformable robot according to claim 1, characterized in that: The mechanical housing (100) is provided with a plug hole, and the telescopic device (200) is inserted into the plug hole.

3. The transformable robot according to claim 2, characterized in that: The driving device (300) comprises a steering gear housing (310) and a steering gear body (320); The steering gear housing (310) is fixed on the mechanical housing (100); The steering gear body (320) is arranged in the steering gear housing (310), and a driving end of the steering gear body (320) is transmission-connected to the telescopic device (200).

4. The transformable robot according to claim 3, characterized in that: The driving end of the steering engine body (320) is provided with a rotating gear (330); The telescopic device (200) has a rack segment (230), the rotating gear (330) is meshingly connected with the rack segment (230), and the driving end of the steering engine body (320) drives the rotating gear (330) to rotate, so as to drive the telescopic device (200) to telescopically move relative to the mechanical housing (100) through the rack segment (230).

5. The transformable robot according to claim 4, characterized in that: The telescopic device (200) comprises a telescopic body (210) and a support leg (220); The telescopic body (210) is arranged in the insertion hole, and one end of the telescopic body (210) is located inside the mechanical housing (100), and the other end of the telescopic body (210) is located outside the mechanical housing (100) and connected to the support leg (220).

6. The transformable robot according to claim 5, characterized in that: The telescopic body (210) has a through slot, and the rack segment (230) is arranged on the inner wall of the through slot; The rotating gear (330) is located in the through slot.

7. The transformable robot according to any one of claims 1 to 6, characterized in that: The mechanical housing (100) comprises a first housing (110) and a second housing (120); The first shell (110) and the second shell (120) are both configured to be hemispherical, and the first shell (110) and the second shell (120) are connected to each other.

8. The transformable robot according to claim 7, characterized in that: The transformable robot further comprises a shell locking device (400); The housing locking module is connected to the first housing (110) and the second housing (120) respectively, and the housing locking device (400) is used to lock and connect the first housing (110) and the second housing (120).

9. The transformable robot according to claim 8, characterized in that: The housing locking device (400) comprises a first locking block (410) and a second locking block (420); The first locking block (410) is disposed on the first housing (110), and the second locking block (420) is disposed on the second housing (120); The first locking block (410) has a locking column (411), and the second locking block (420) has a locking hole (421), and the locking column (411) extends into the locking hole (421).

10. The transformable robot according to claim 1, characterized in that: The transformable robot further comprises a control device; The control device is arranged in the mechanical housing (100), and the control device is electrically connected to the driving device (300).

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