Multi-degree-of-freedom reconfigurable robot convenient to assemble

Abstract

The utility model provides a multi-degree-of-freedom reconfigurable robot convenient to assemble. The multi-degree-of-freedom reconfigurable robot convenient to assemble comprises a platform structure, two pairs of mechanical legs, two mechanical feet, a power device and a control device. The two pairs of mechanical legs are located on the two sides of the platform structure correspondingly and movably connected with the platform structure. And one pair of mechanical legs is movably connected with one mechanical foot. The platform structure is provided with a first motor which is in driving connection with the mechanical leg and used for driving the mechanical leg to vertically swing relative to the platform structure. Each mechanical foot is provided with a second motor, and the second motor located on each mechanical foot is in driving connection with the mechanical leg correspondingly connected with the mechanical foot and used for driving the mechanical leg to change the included angle between the mechanical leg and the mechanical foot. Each mechanical foot is further provided with a third motor and a pair of foot wheels. The third motor is in driving connection with the foot wheels and used for driving the foot wheels to rotate. The control device is in circuit connection with all the motors. The power device is used for providing electric energy. The robot provided by the utility model is convenient to disassemble and assemble, high in degree of freedom and good in terrain adaptability.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a multi-degree-of-freedom reconfigurable robot that is easy to assemble. Background Technology

[0002] With the continuous evolution of robotics technology, biomimetic and reconfigurable robots have emerged in large numbers. These robots, with their ingenious structural design and high mobility, are widely used in complex terrains and environments such as industrial inspection, earthquake rescue, and environmental monitoring. Their unique mechanical design and motion control technology enable them to adapt to different operational requirements, demonstrating environmental adaptability and task execution capabilities that are difficult for traditional robots to match.

[0003] However, current reconfigurable robots still face numerous limitations. Some reconfigurable robots are manufactured and transported as complete units, occupying significant space during transit, leading to high transportation costs and poor transport convenience. Some reconfigurable robots employing modular assembly methods have overly complex mechanical structures, numerous parts, and require tools such as screwdrivers for assembly, making the assembly process cumbersome and lengthy, hindering rapid deployment and flexible application. Furthermore, the transmission mechanisms of existing reconfigurable robots are relatively complex, making repairs difficult in a short time after a malfunction, and occupying considerable space, increasing the robot's overall weight and impacting its energy efficiency and motion performance. Moreover, most reconfigurable robots also suffer from relatively slow movement speeds, limiting their application in tasks with high time-sensitivity requirements.

[0004] Chinese invention patent publication number CN114987647A discloses a reconfigurable robot component and a robot using the same. The robot component's transmission methods include bevel gear transmission controlled by a geared motor, worm gear transmission controlled by a dual-output-shaft motor, and spur gear transmission controlled by a right-angle motor. The robot has control units for driving the right-angle motor, the dual-output-shaft motor, and the geared motor, and the three control units are independent of each other. However, this robot suffers from problems such as high cost, high error rate, and slow response speed.

[0005] Furthermore, existing reconfigurable robots also have the following technical problems:

[0006] 1. Currently, some reconfigurable robots are shipped as complete units, which has problems such as large space occupation, inconvenient transportation, high transportation costs, and easy damage;

[0007] 2. Currently available modular and reconfigurable robots typically have complex structural designs, numerous parts, and require tools such as screwdrivers for assembly. The assembly process is cumbersome and inefficient, and errors are prone to occur in emergency situations.

[0008] 3. Although existing reconfigurable robots can undergo significant structural changes, their degree of deformation is limited by the design of their mechanical and transmission structures.

[0009] 4. Existing reconfigurable robot transmission structures occupy a large amount of space, increase the weight of the robot, and are usually non-removable parts; when the transmission structure fails or is damaged, it is difficult to repair or replace it in a short time, resulting in significant economic and time losses.

[0010] 5. Existing reconfigurable robots mostly use crawling, which is slow; traditional intelligent vehicles use wheel rolling, which is fast but difficult to navigate complex, rugged terrain. Both locomotion methods have their drawbacks.

[0011] 6. Existing reconfigurable robots have fixed structural dimensions. In some application scenarios, reconfigurable robots may need to occupy a large space in order to achieve multiple configurations and functions, or they may be limited by module integration and performance when their size is reduced, affecting their application in confined spaces or environments with high space requirements.

[0012] In summary, current reconfigurable robots have several shortcomings. In terms of transportation, pre-assembled reconfigurable robots occupy a large space, are inconvenient to transport, costly, and are easily damaged. In terms of assembly, assemblable reconfigurable robots have complex structures and numerous parts, requiring tools for installation, making assembly cumbersome, inefficient, and prone to errors in emergency situations. Their deformability is limited by the design of their mechanical and transmission structures. The transmission structure occupies a large space, adds weight, and is not disassembled, making it difficult to repair or replace quickly in case of failure, resulting in significant economic and time losses. Regarding movement, crawling speed is slow, and while wheeled rolling is fast, it is difficult to adapt to complex terrain. Their fixed structural dimensions limit space utilization when achieving multiple configurations, making them unsuitable for applications in confined or space-constrained environments. Utility Model Content

[0013] The embodiments of this utility model provide a multi-degree-of-freedom reconfigurable robot that is easy to assemble, solving the technical problems existing in the prior art.

[0014] To achieve the above objectives, the present invention adopts the following technical solution.

[0015] A multi-degree-of-freedom reconfigurable robot that is easy to assemble includes a platform structure, two pairs of mechanical legs, two mechanical feet, a power unit, and a control unit.

[0016] Two pairs of mechanical legs are located on both sides of the platform structure and are movably connected to the platform structure; each pair of mechanical legs is movably connected to a mechanical foot.

[0017] The platform structure has a first motor, which is connected to the mechanical leg drive and is used to drive the mechanical leg to swing up and down relative to the platform structure.

[0018] Each mechanical foot has a second motor, which is connected to the mechanical leg corresponding to that mechanical foot, and is used to drive the mechanical leg to change the angle between the mechanical leg and the mechanical foot.

[0019] Each mechanical foot also has a third motor and a pair of casters; the casters are spaced apart along the length of the mechanical foot; the third motor drives the connected casters to rotate the casters;

[0020] The control device is electrically connected to the first motor, the second motor, and the third motor respectively; the power device is used to provide electrical energy to the control device, the first motor, the second motor, and the third motor.

[0021] Preferably, the platform structure includes a first platform, a second platform, and a platform motor limiting groove; the first platform and the second platform are interconnected through the platform motor limiting groove; the first motor is located within the platform motor limiting groove.

[0022] Preferably, it also includes rotating connectors; there are two pairs of rotating connectors, respectively disposed on both sides of the platform structure; each pair of rotating connectors is movably connected to the first platform and the second platform, and are connected in series with each other;

[0023] Each rotating connector has a first mounting groove on one side. The first mounting groove is a through groove, and the rotating connector is movably connected to the platform structure through the first mounting groove.

[0024] Each rotating connector has a second mounting groove on the other side. The second mounting groove is a through groove, through which the rotating connector is movably connected to the mechanical leg.

[0025] Preferably, it further includes a first connecting block, a second connecting block, a third connecting block, and a fourth connecting block; the first connecting block and the second connecting block respectively extend into the first mounting groove of the rotating connector located on one side of the platform structure, and the third connecting block and the fourth connecting block respectively extend into the first mounting groove of the rotating connector located on the other side of the platform structure; the output shaft of the first motor passes through the first connecting block, the second connecting block, the third connecting block, and the fourth connecting block respectively, and is connected to the rotating connector.

[0026] Preferably, one side of the mechanical foot has a foot motor limiting groove, and the second motor is located inside the foot motor limiting groove;

[0027] One side of the mechanical foot has a pair of lugs, through which the output shaft of the second motor passes and connects to the mechanical foot.

[0028] Preferably, the first motor is a dual-output worm gear motor, the second motor is a single-output worm gear motor, and the third motor is a geared motor.

[0029] Preferably, the caster wheel is a toothed wheel or a circular wheel.

[0030] Preferably, the power unit includes a battery and a voltage conversion module that are electrically connected to each other.

[0031] As can be seen from the technical solutions provided by the embodiments of this utility model above, this utility model provides a multi-degree-of-freedom reconfigurable robot that is easy to assemble, including a platform structure, two pairs of mechanical legs, two mechanical feet, a power unit, and a control unit. The two pairs of mechanical legs are located on both sides of the platform structure and are movably connected to it. Each pair of mechanical legs is movably connected to one mechanical foot. The platform structure has a first motor, which is driven and connected to the mechanical legs to drive them to swing up and down relative to the platform structure. Each mechanical foot has a second motor, which is driven and connected to the corresponding mechanical leg to drive it to change the angle between itself and the mechanical foot. Each mechanical foot also has a third motor and a pair of wheels. The third motor drives and connects to the wheels to drive them to rotate. The control unit is electrically connected to all motors. The power unit provides electrical power. The robot provided by this utility model has the following advantages:

[0032] 1. Utilizing a modular assembly approach, the number of parts is reduced, making assembly convenient, efficient, and facilitating rapid deployment. When certain modules are damaged or malfunction, they can be quickly replaced or repaired.

[0033] 2. The innovative design of the rotating connector, the dual-output shaft worm gear motor, and the rotating shaft limiting hole structure enables the three to be tightly connected and fixed together, ensuring high-precision connection and structural stability between modules, and achieving efficient assembly and reliable fixation;

[0034] 3. The traditional, space-consuming, and fixed transmission structure is optimized into a modular transmission structure that can be assembled and replaced. By using an integrated worm gear motor, the connection angle between various mechanical structures can be changed, and the shape of the machine body can be altered.

[0035] 4. Develop wheel-foot hybrid drive technology, which integrates biomimetic crawling gait with omnidirectional wheel system drive, taking into account the mobility of wheeled platforms and the obstacle-crossing ability of foot mechanisms, and significantly improving adaptability to complex terrain;

[0036] 5. The highly symmetrical structural design increases the deformability of the reconfigurable robot, which can effectively cope with emergencies such as tipping over and overturning, as well as various complex environments such as disaster areas and pipelines;

[0037] 6. The mechanical legs are available in various sizes, and the appropriate length can be selected according to actual needs; the wheels are available in both round and toothed designs, and the appropriate choice can be made according to the actual terrain; in addition, the robot has multiple mounting holes, which can be used to mount different sensors and tools according to actual needs.

[0038] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of the invention. Attached Figure Description

[0039] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 A schematic diagram of a highly reconfigurable robot with easy assembly provided by this utility model;

[0041] Figure 2 A schematic diagram of a platform structure for a highly reconfigurable robot with easy assembly, provided by this utility model;

[0042] Figure 3 A schematic diagram of a highly reconfigurable robot with easy assembly provided by this utility model when unfolded;

[0043] Figure 4 A general schematic diagram of a highly reconfigurable robot with a high degree of freedom and mechanical feet that is easy to assemble and crawls with its legs and feet raised high, provided by this utility model;

[0044] Figure 5 A schematic diagram illustrating the splicing of two rotating connecting parts of a highly reconfigurable robot with high degrees of freedom that is easy to assemble, as provided by this utility model;

[0045] Figure 6 A schematic diagram of a highly reconfigurable robotic leg that is easy to assemble, provided by this utility model;

[0046] Figure 7 A schematic diagram of a highly reconfigurable circular wheel for a robot that is easy to assemble, provided by this utility model;

[0047] Figure 8 A schematic diagram of a high-degree-of-freedom reconfigurable robot geared motor that is easy to assemble, provided by this utility model;

[0048] Figure 9A schematic diagram of a single-output-shaft worm gear motor for a highly reconfigurable robot with a high degree of freedom that is easy to assemble, provided by this utility model;

[0049] Figure 10 This invention provides a schematic diagram of a dual-output-shaft worm gear motor for a highly reconfigurable robot with high degrees of freedom that is easy to assemble.

[0050] In the picture:

[0051] 11. First platform; 12. Second platform; 13. First motor limiting slot; 14. First motor limiting slot; 32. Third motor limiting slot; 34. Fourth motor limiting slot;

[0052] 15. First connecting block 151, first rotating shaft limiting hole 16, second connecting block 161, second rotating shaft limiting hole 17, third connecting block 171, third rotating shaft limiting hole 18, fourth connecting block 181, fourth rotating shaft limiting hole;

[0053] 21. First rotating connector; 22. Second rotating connector; 23. Third rotating connector; 24. Fourth rotating connector;

[0054] 211. First circular hole of the rotating connector; 221. Second circular hole of the rotating connector; 231. Third circular hole of the rotating connector; 241. Fourth circular hole of the rotating connector;

[0055] 212. Fifth circular hole of the rotating connector; 222. Sixth circular hole of the rotating connector; 232. Seventh circular hole of the rotating connector; 242. Eighth circular hole of the rotating connector;

[0056] 213, D-shaped hole of the first rotating connector; 223, D-shaped hole of the second rotating connector; 233, D-shaped hole of the third rotating connector; 243, D-shaped hole of the fourth rotating connector; These are the positions where the rotating connectors connect to the worm gear motor. The D-shaped holes can make the connection tighter, improve the transmission effect, and reduce slippage.

[0057] 25. First mechanical leg; 26. Second mechanical leg; 27. Third mechanical leg; 28. Fourth mechanical leg;

[0058] 252, 262, 272, 282, and 4 of the first and second mechanical legs are all circular holes connected to the rotating connectors, with pins inserted.

[0059] 251, lower hole of the first mechanical leg 261, lower hole of the second mechanical leg 271, lower hole of the third mechanical leg 281, lower hole of the fourth mechanical leg; connected to the mechanical foot, wherein the lower holes of the second and fourth mechanical legs are circular holes for inserting pin shafts; the lower holes of the third and fourth mechanical legs are D-shaped holes for connecting to the worm gear motor;

[0060] 31. First mechanical foot; 33. Second mechanical foot;

[0061] 311. First circular hole of mechanical foot; 331. Second circular hole of mechanical foot; 312. Third circular hole of mechanical foot; 332. Fourth circular hole of mechanical foot; The geared motor is placed in the slot of the mechanical foot, and the output shaft passes through this hole to connect to the toothed wheel or the circular wheel;

[0062] 321. The fifth circular hole of the mechanical foot; 341. The sixth circular hole of the mechanical foot. The worm gear motor is placed in the third motor limit slot and the fourth motor limit slot. The output shaft passes through this hole and connects to the mechanical leg.

[0063] 313. Seventh circular hole of mechanical foot; 333. Eighth circular hole of mechanical foot;

[0064] 35. Toothed gear; 36. Circular gear; 41. Gear motor; 42. Single-output shaft worm gear motor; 43. Double-output shaft worm gear motor. Detailed Implementation

[0065] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0066] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this specification means the presence of features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or couplings. The term “and / or” as used herein includes any and all combinations of one or more of the associated listed items.

[0067] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as herein.

[0068] To facilitate understanding of the embodiments of this utility model, the following will provide further explanation and description with reference to the accompanying drawings and several specific embodiments. These embodiments do not constitute a limitation on the embodiments of this utility model.

[0069] See Figures 1 to 10 This utility model provides a multi-degree-of-freedom reconfigurable robot that is easy to assemble, including a platform structure, two pairs of mechanical legs, two mechanical feet, a power unit, and a control unit.

[0070] Two pairs of robotic legs are located on either side of the platform structure and are detachably and movably connected to the platform structure. Each pair of robotic legs is detachably and movably connected to a robotic foot.

[0071] The platform structure has a first motor, which is connected to the mechanical leg drive to drive the mechanical leg to swing up and down relative to the platform structure, thereby changing the shape of the machine body.

[0072] Each mechanical leg has a second motor, which is connected to the corresponding mechanical leg to drive the mechanical leg to change the angle between the mechanical leg and the mechanical leg. This can change the platform height, change the center of gravity position, and further realize the crawling function of the whole machine.

[0073] Each mechanical leg also has a third motor and a pair of casters. The casters are spaced apart along the length of the mechanical leg. The third motor drives the casters to rotate, enabling functions such as forward, backward, left turn, right turn, stop, and speed change.

[0074] It should be understood that two mechanical legs located on the same side of the platform structure constitute a pair of mechanical legs, and similarly, two casters on a single mechanical leg constitute a pair of casters.

[0075] The control unit is electrically connected to the first motor, the second motor, and the third motor. The power unit provides electrical energy to the control unit, the first motor, the second motor, and the third motor.

[0076] In the embodiments provided by the utility model, the first motor, the second motor and the third motor are also installed in a detachable connection manner.

[0077] In a preferred embodiment provided by this utility model, such as Figure 1 As shown, the platform structure includes a first platform 11, a second platform 12, and a platform motor limiting slot; the first platform 11 and the second platform 12 are interconnected through the platform motor limiting slot; the first motor is located within the platform motor limiting slot. The specific configuration of the limiting slot can be appropriately set. For example, in some feasible embodiments, the platform motor limiting slot adopts a tubular slot structure, and two first motors can be set to drive the mechanical legs on both sides of the platform structure respectively.

[0078] In this embodiment, the robot also includes rotating connectors. There are two pairs of rotating connectors, each located on one side of the platform structure, meaning one pair is installed on each side. Each pair of rotating connectors is detachably and movably connected to the first platform 11 and the second platform 12, and is detachably connected in series with each other. For example... Figure 2 As shown, a first connecting block 15 and a second connecting block 16 are respectively provided on one side of the first platform 11 and the second platform 12, and the first connecting block 15 and the second connecting block 16 are also connected in series with each other. On the other side of the first platform 11 and the second platform 12, a third connecting block 17 and a fourth connecting block 18 are respectively provided, and the third connecting block 17 and the fourth connecting block 18 are also connected in series with each other.

[0079] like Figure 3 , 4 As shown in Figure 5, each rotating connector has a first mounting slot on one side. The first mounting slot is a vertical through slot, through which the rotating connector is movably connected to the platform structure. The vertical through slot allows for a wide range of vertical swinging of the rotating connector and the connected mechanical leg / foot. For example, depending on the motor control, the mechanical leg can be positioned perpendicular to the platform structure or in the same plane. Each rotating connector has a second mounting slot on the other side. The second mounting slot is a horizontal through slot, through which the rotating connector is movably connected to the mechanical leg. Here, "horizontal" refers to the direction consistent with the robot's movement direction, i.e., the forward / backward direction. The horizontal through slot allows for the conversion of the angle between the mechanical leg and the platform structure from 0 to 90 degrees.

[0080] In one feasible embodiment, the robot also has a first connecting block 15 and a second connecting block 16 (e.g., Figure 2 The first connecting block 15 and the second connecting block 16 extend into the slots of the first mounting groove of the rotating connector, respectively; the output shaft of the first motor passes through the first connecting block 15 and the second connecting block 16, respectively, and connects to the rotating connector.

[0081] The mechanical foot has a foot motor limiting groove on one side, and the second motor is located inside the foot motor limiting groove;

[0082] One side of the mechanical foot has a pair of lugs, through which the output shaft of the second motor passes and connects to the mechanical foot.

[0083] In this embodiment, the first motor is preferably a dual-output-shaft worm gear motor 43, which can simultaneously drive a pair of rotating connecting parts by providing output shafts on both sides. The second motor can be a single-output-shaft worm gear motor 42, which has one output shaft, but the worm gear output shaft can simultaneously mesh with two shaft heads to achieve simultaneous driving of a pair of mechanical legs on the same side. The third motor can be a geared motor 41, used to drive the casters.

[0084] In this embodiment, the voltage conversion module preferably uses the LM2596 adjustable step-down regulated power supply module (LM2596-3.3V, LM2596-5V, LM2596-ADJ), which has the following advantages: brand new aluminum electrolytic capacitors and brand new power inductors; high safety performance with four self-resetting fuses to ensure safe use; power indicator lights (three indicator lights; the indicator lights being off indicates a short circuit in the load, requiring immediate disconnection of the power supply); wide applicability, such as powering various competition and experimental equipment. Its main chip is LM2596-3.3V, LM2596-5V, or LM2596-ADJ. Input: DC7V~25V, >1A. Output voltage: DC3.3V, DC5V, DC1.25V-Vin. DC power input interface type: DC 5.5mm*2.1mm. Pin header material: gold-plated pin header, anti-oxidation. The output voltage types are as follows: DC 3.3V: 2A resettable fuse with power indicator light, suitable for powering 3.3V microcontrollers and core boards of S08 series, S12 series, Kinetis-M4 K60 / 10 series, DSC series, and Coldfire series; DC 5V: 2A resettable fuse with power indicator light, suitable for powering S12 series and MPC series microcontrollers and core boards; DC 1.25V-Vin: 2A resettable fuse with power indicator light, adjustable output voltage, suitable for powering servos. The control device can use a controller with a microcontroller, such as the commercially available AT89C52. Its corresponding control circuit and layout can be obtained from publicly available platforms and will not be elaborated here.

[0085] The robot assembly method provided in this embodiment is as follows:

[0086] like Figure 1 As shown, the reconfigurable robot body consists of a first platform 11, a second platform 12, and a first motor limiting groove 13 and a second motor limiting groove 14 connecting the first platform 11 and the second platform 12. The first platform 11 has 15 regularly arranged mounting holes, the purpose of which is to quickly fix the control system to the first platform 11. The second platform 12 has 15 regularly arranged mounting holes, the purpose of which is to quickly fix the battery and voltage conversion module of the power system to the second platform 12.

[0087] like Figure 10 , Figure 1As shown, one of the dual-output shaft worm gear motors 43 is placed in the first motor limiting groove 13 and the other is placed in the second motor limiting groove 14. The output shafts of the two dual-output shaft worm gear motors 43 are correspondingly nested in the first rotating connector D-shaped hole 213, the second rotating connector D-shaped hole 223, the third rotating connector D-shaped hole 233, and the fourth rotating connector D-shaped hole 243. The first rotating shaft limiting hole 151, the second rotating shaft limiting hole 161, the third rotating shaft limiting hole 171, and the fourth rotating shaft limiting hole 181 of the four connecting blocks are coaxial with the first circular hole 211, the second circular hole 221, the third circular hole 231, and the fourth circular hole 241 of the rotating connector, respectively, and are connected in series by a pin.

[0088] During assembly, firstly, insert the D-shaped output shaft of the dual-output shaft worm gear motor 43 into the D-shaped hole 213 of the first rotating connector and the D-shaped hole 223 of the second rotating connector. At this time, the first rotating connector 21 and the second rotating connector 22 are connected as one unit. Next, insert the dual-output shaft worm gear motor 43 into the motor limiting groove 13 until the output shaft of the dual-output shaft worm gear motor 43 is coaxial with the first rotating shaft limiting hole 151 and the second rotating shaft limiting hole 161. At this time, the dual-output shaft worm gear motor 43 is installed in the correct position. Subsequently, insert the pin between the first rotating shaft limiting hole 151 and the first circular hole 211 of the rotating connector, and insert the pin between the second rotating shaft limiting hole 161 and the first circular hole 221 of the rotating connector. The same applies to the other side.

[0089] like Figure 1 , 6 As shown, the first mechanical leg 25, the second mechanical leg 26, the third mechanical leg 27, and the fourth mechanical leg 28 are respectively connected to the first rotating connector 21, the second rotating connector 22, the third rotating connector 23, and the fourth rotating connector 24, as well as the first mechanical foot 31 and the second mechanical foot 33. The holes 252, 262, 272, and 282 on the first mechanical leg are respectively connected to the fifth circular hole 212 and the sixth circular hole 222 of the rotating connector. The seventh circular hole 232 and the eighth circular hole 242 of the rotating connector are coaxial and then connected in series by a pin; the second mechanical leg lower hole 261 and the fourth mechanical leg lower hole 281 are coaxial with the seventh circular hole 313 and the eighth circular hole 333 of the mechanical foot, respectively, and then connected in series by a pin; the first mechanical leg lower hole 251 and the third mechanical leg lower hole 271 are coaxial with the fifth circular hole 321 and the sixth circular hole 341 of the mechanical foot, respectively, and then connected in series by the output shaft of the single output shaft worm gear motor 42.

[0090] During assembly, first install the single-output shaft worm gear motor 42 in the motor limiting groove 32, with the single output shaft passing through the third circular hole 321 of the mechanical leg; then, insert the output shaft of the single-output shaft worm gear motor 42 into the lower hole 251 of the first mechanical leg; next, use pins to connect the upper hole 252 of the first mechanical leg to the fifth circular hole 212 of the rotating connector, the upper hole 262 of the second mechanical leg to the sixth circular hole 222 of the rotating connector, and the lower hole 261 of the second mechanical leg to the seventh circular hole 313 of the mechanical leg; the same applies to the other side.

[0091] like Figure 1 , 6 As shown in Figure 7, four geared motors 41 are respectively placed on the first mechanical foot 31 and the second mechanical foot 33. The output shaft of the geared motor 41 is output through the first circular hole 311, the second circular hole 331, the third circular hole 312, and the fourth circular hole 332 of the mechanical foot and connected to the corresponding toothed wheel 35 or circular wheel 36.

[0092] During assembly, the geared motor 41 is installed into the groove of the first mechanical foot 31, with the output shaft extending from the first circular hole 311 of the mechanical foot. Then, according to actual needs, the toothed wheel 35 or the circular wheel 36 is installed onto the output shaft of the geared motor 41; the other three geared motors 41 are installed in the same way as the wheels. At this point, all mechanical structures are installed. After connecting the motor wires to the power system and control system, normal operation can begin.

[0093] When the dual-output shaft worm gear motor 43 is de-energized, according to the characteristics of the worm gear, the output shaft remains stationary, and the angles between the first rotating connector 21, the second rotating connector 22, the third rotating connector 23, the fourth rotating connector 24 and the first platform 11 and the second platform 12 remain unchanged. When the dual-output shaft worm gear motor 43 is energized, the output shaft rotates, driving the second rotating connector 22, the third rotating connector 23, the fourth rotating connector 24, the first mechanical leg 25, the second mechanical leg 26, the third mechanical leg 27, the fourth mechanical leg 28, and the first mechanical foot 31 and the second mechanical foot 33 to rotate together.

[0094] like Figure 1 , 3 As shown, by controlling the rotation of the dual-output-axis worm gear motor 43, the reconfigurable robot body can be altered, and the included angle between the left and right sides of the body can be continuously changed from 0° to 180°. When the desired angle is reached... Figure 2 In the flattened position shown, the left and right sides of the fuselage can continue to swing upwards until the included angle of the fuselage reaches 0° again, as shown. Figure 4 As shown.

[0095] When the single-output shaft worm gear motor 42 is de-energized, according to the characteristics of the worm gear, the output shaft is stationary, and the angles between the first mechanical leg 25, the second mechanical leg 26 and the first mechanical foot 31, and between the third mechanical leg 27, the fourth mechanical leg 28 and the second mechanical foot 33 remain unchanged. When the single-output shaft worm gear motor 42 is energized, the output shaft rotates, driving the first mechanical leg 25, the second mechanical leg 26, the third mechanical leg 27, and the fourth mechanical leg 28 to rotate, thereby changing the angles between the first mechanical leg 25, the second mechanical leg 26 and the first mechanical foot 31, and between the third mechanical leg 27, the fourth mechanical leg 28 and the second mechanical foot 33.

[0096] By controlling the rotation of the single-output-shaft worm gear motor 42, the included angle of the parallelogram formed by the first mechanical leg 25, the second mechanical leg 26, the first mechanical foot 31, the first connecting member 21, and the second connecting member 22 can be changed, thereby changing the distance between the first platform 11, the second platform 12, and the mechanical foot, and adjusting the center of gravity of the reconfigurable robot.

[0097] When the geared motor 41 is de-energized, the output shaft is stationary, the toothed wheel 35 or the circular wheel 36 is stationary, and the robot remains stationary; when the geared motor 41 is energized, the output shaft rotates, the toothed wheel 35 or the circular wheel 36 rotates, and the robot moves; through the instructions of the control system, functions such as moving forward, moving backward, turning left, turning right, stopping, and changing speed can be realized.

[0098] In summary, this utility model provides a multi-degree-of-freedom reconfigurable robot that is easy to assemble, comprising a platform structure, two pairs of mechanical legs, two mechanical feet, a power unit, and a control unit. The two pairs of mechanical legs are located on opposite sides of the platform structure and are movably connected to it. Each pair of mechanical legs is movably connected to one mechanical foot. The platform structure has a first motor, which is driven by the mechanical legs to drive them to swing up and down relative to the platform structure. Each mechanical foot has a second motor, which is driven by the corresponding mechanical leg to change the angle between the mechanical leg and the foot. Each mechanical foot also has a third motor and a pair of wheels. The third motor drives the wheels to rotate. The control unit is electrically connected to all motors. The power unit provides electrical power. The robot provided by this utility model has the following advantages:

[0099] 1. The design adopts an assembly method. When not in use, each component can be disassembled and packed into its corresponding storage box, saving space and facilitating transportation. When needed, the corresponding parts can be assembled into a robot that meets the requirements.

[0100] 2. The reconfigurable robot designed in this utility model has few parts and requires no additional tools for assembly. Assembly is completed simply by inserting the corresponding parts into the pre-drilled slots and inserting the pins.

[0101] 3. This utility model adopts a highly symmetrical structural design, simplifying and adjusting the transmission structure design, which greatly improves the degree of freedom of mechanical structure deformation. For example, even if the robot tipes over or flips, it can still operate normally by adjusting the robot's mechanical structure.

[0102] 4. The transmission structure of this utility model adopts a modular design, with a worm gear motor at its core. When parts such as the motor limit groove, pin mounting hole, or motor are damaged, they can be quickly repaired simply by replacing the corresponding parts.

[0103] 5. This invention combines the existing reconfigurable robot crawling locomotion method with the traditional intelligent vehicle wheel rolling locomotion method by adding wheels to the mechanical feet. It can crawl on rugged terrain and also move using the wheels on flat terrain;

[0104] 6. The mechanical legs of this utility model are designed in various sizes, and the appropriate length can be selected according to actual needs; the wheels are designed in two types, round wheels and toothed wheels, and the appropriate choice can be made according to the actual terrain; in addition, multiple mounting holes are reserved on the robot, which can be equipped with different sensors and tools according to actual needs.

[0105] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for apparatus or system embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. The apparatus and system embodiments described above are merely illustrative. Units described as separate components may or may not be physically separate. Components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0106] The above are merely preferred embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the scope of protection of this utility model. Therefore, the scope of protection of this utility model should be determined by the scope of the claims.

Claims

1. A multi-degree-of-freedom reconfigurable robot that is easy to assemble, characterized in that, It includes a platform structure, two pairs of mechanical legs, two mechanical feet, a power unit, and a control unit; The two pairs of mechanical legs are located on both sides of the platform structure and are movably connected to the platform structure. A pair of said mechanical legs are movably connected to one said mechanical foot; The platform structure has a first motor, which is driven to the mechanical leg and is used to drive the mechanical leg to swing up and down relative to the platform structure. Each of the mechanical feet has a second motor, and the second motor located in each of the mechanical feet is driven to be connected to the mechanical leg corresponding to that mechanical foot, for driving the mechanical leg to change the angle between the mechanical leg and the mechanical foot; Each of the mechanical feet also has a third motor and a pair of wheels; the wheels are spaced apart along the length of the mechanical foot; the third motor drives the wheels for rotating the wheels; The control device is electrically connected to the first motor, the second motor, and the third motor respectively; the power device is used to provide electrical energy to the control device, the first motor, the second motor, and the third motor.

2. The multi-degree-of-freedom reconfigurable robot according to claim 1, characterized in that, The platform structure includes a first platform, a second platform, and a platform motor limiting groove; the first platform and the second platform are interconnected through the platform motor limiting groove; the first motor is located within the platform motor limiting groove.

3. The multi-degree-of-freedom reconfigurable robot according to claim 2, characterized in that, It also includes rotating connectors; there are two pairs of rotating connectors, which are respectively disposed on both sides of the platform structure; each pair of rotating connectors is movably connected to the first platform and the second platform, and are connected in series with each other; Each of the rotating connectors has a first mounting groove on one side, the first mounting groove being a through groove, and the rotating connector is movably connected to the platform structure through the first mounting groove; Each of the rotating connectors has a second mounting groove on its other side. The second mounting groove is a through groove, through which the rotating connector is movably connected to the mechanical leg.

4. The multi-degree-of-freedom reconfigurable robot according to claim 3, characterized in that, It also includes a first connecting block, a second connecting block, a third connecting block, and a fourth connecting block; the first connecting block and the second connecting block respectively extend into the first mounting groove of the rotating connector located on one side of the platform structure, and the third connecting block and the fourth connecting block respectively extend into the first mounting groove of the rotating connector located on the other side of the platform structure; the output shaft of the first motor passes through the first connecting block, the second connecting block, the third connecting block, and the fourth connecting block respectively, and is connected to the rotating connector.

5. The multi-degree-of-freedom reconfigurable robot according to claim 4, characterized in that, The mechanical foot has a foot motor limiting groove on one side, and the second motor is located in the foot motor limiting groove; One side of the mechanical foot has a pair of lugs, and the output shaft of the second motor passes through the lugs and is connected to the mechanical foot.

6. The multi-degree-of-freedom reconfigurable robot according to any one of claims 2 to 5, characterized in that, The first motor is a dual-output worm gear motor, the second motor is a single-output worm gear motor, and the third motor is a geared motor.

7. The multi-degree-of-freedom reconfigurable robot according to any one of claims 1 to 5, characterized in that, The caster wheel is a toothed wheel or a circular wheel.

8. The multi-degree-of-freedom reconfigurable robot according to any one of claims 1 to 5, characterized in that, The power unit includes a battery and a voltage conversion module that are interconnected by circuitry.

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