Triphibious reconfigurable robot

Abstract

Disclosed in the present application is a triphibious reconfigurable robot, which comprises a reconfigurable mechanism, a configuration driving mechanism, and paddle wheels. The reconfigurable mechanism comprises eight links that are sequentially connected end to end to form a closed-loop structure. The configuration driving mechanism comprises four first driving elements, two of which are respectively connected to first rotating shafts, and the other two of which are respectively connected to second rotating shafts. Each first rotating shaft is connected to a paddle wheel. The triphibious reconfigurable robot has a first motion mode, a second motion mode, and a third motion mode. The configuration driving mechanism is capable of driving the reconfigurable mechanism to change configurations, such that the reconfigurable mechanism is switched to different postures and enables the robot to switch between different motion modes. The robot achieves mode switching by reconfiguration of the reconfigurable mechanism, thereby adapting to motion requirements in aquatic, terrestrial, and aerial environments.

Description

Tri-amphibious variovoid robot Technical Field

[0001] This application relates to the field of variable cell robotics, and more particularly to a triphibious variable cell robot. Background Technology

[0002] In related technologies, in order to improve the robot's adaptability in different terrains, the robot is designed to have multiple walking postures, such as standing, kneeling, and lying down. However, the robot can only switch between wheels and legs or change its own shape by changing its configuration, which means that the robot can only move on land in different ways of walking. This cannot meet the robot's amphibious movement needs in water, land, and air.

[0003] Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a triphibious cellular robot with a movement mode capable of adapting to water, land, and air environments, thus meeting the multi-amphibious movement requirements of robots.

[0005] The amphibious morphological robot according to the embodiments of this application includes:

[0006] The variable-cell mechanism includes eight links and eight rotating shafts. The eight links are connected end to end to form a closed-loop structure. Along the circumferential direction of the closed-loop structure, adjacent links are rotatably connected by the rotating shafts, and the axes of adjacent rotating shafts are perpendicular to each other. The rotating shaft with its axis parallel to a first direction is the first rotating shaft, and the rotating shaft with its axis parallel to a second direction is the second rotating shaft. The first direction is perpendicular to the second direction.

[0007] The configuration drive mechanism includes four first drive elements, which are used to drive the rotating shaft to rotate. Two of the first drive elements are respectively connected to two first rotating shafts, and two of the first drive elements are respectively connected to two second rotating shafts.

[0008] The propeller wheel is provided with four of them, and each of the first rotating shafts is connected to one of the propeller wheels. The propeller wheel includes a rotating wheel and a blade disposed inside the rotating wheel.

[0009] The amphibious cellular robot has a first motion mode, a second motion mode, and a third motion mode. The amphibious cellular robot is configured such that, in the first motion mode, the axes of two of the first rotating shafts are collinear and lower than the other two first rotating shafts; in the second motion mode, the lowest points of the circumferential surfaces of the four propellers are coplanar; and in the third motion mode, the axes of the four first rotating shafts are parallel, and the second rotating shaft is located within the space enclosed by the four first rotating shafts.

[0010] According to the triphibian metamorphic robot, at least the following beneficial effects are achieved:

[0011] The configuration driving mechanism in the application can drive the metamorphic mechanism to change the configuration, switch the metamorphic mechanism to different postures, and switch the robot in different motion modes. The robot switches the motion mode by relying on the deformation of the structure of the metamorphic mechanism, so as to adapt to the motion demand in the water, land and air multi-environment.

[0012] According to some embodiments of the application, the triphibian metamorphic robot further has an intermediate mode, and the triphibian metamorphic robot is configured to, when in the intermediate mode, the axes of the four first rotating shafts are parallel, the adjacent connecting rods connected by the first rotating shaft are parallel, and the adjacent connecting rods connected by the second rotating shaft are perpendicular; the triphibian metamorphic robot can sequentially experience the intermediate mode, the first motion mode, the second motion mode and the third motion mode.

[0013] According to some embodiments of the application, the second motion mode includes a first motion form and a second motion form, and the triphibian metamorphic robot is configured to, when in the first motion form, the axes of the four first rotating shafts are coplanar, the adjacent connecting rods connected by the first rotating shaft form a first angle with each other, and the first rotating shaft is lower than the second rotating shaft; when in the second motion form, the axes of the first rotating shafts intersect, the adjacent connecting rods connected by the first rotating shaft form a second angle with each other, and the second angle is greater than the first angle.

[0014] According to some embodiments of the application, the adjacent connecting rods connected by the first rotating shaft are distributed along the axis of the first rotating shaft, and when the triphibian metamorphic robot is in the third motion mode, at least part of the adjacent connecting rods are stacked.

[0015] Alternatively, one of the adjacent connecting rods connected by the first rotating shaft is provided with a receiving groove, and when the triphibian metamorphic robot is in the third motion mode, at least part of the other connecting rod is accommodated in the receiving groove.

[0016] According to some embodiments of the application, the connecting rod includes a first connecting portion and a second connecting portion, and the first connecting portion and the second connecting portion form an angle of 45° with each other, the first connecting portion of the adjacent connecting rod is connected by the first rotating shaft, and the second connecting portion of the adjacent connecting rod is connected by the second rotating shaft.

[0017] According to some embodiments of the present application, the adjacent second connecting portions connected by the second rotating shaft are rotated, one of the second connecting portions comprises two oppositely arranged connecting plates, the other second connecting portion internally accommodates the first driving element, and the first driving element is connected between the two connecting plates.

[0018] According to some embodiments of the present application, the triphasic metamorphic robot further comprises a paddle wheel driving mechanism, the paddle wheel driving mechanism comprises a second driving element and a third driving element connected to the connecting rod, the second driving element is located inside the rotating wheel and connected with the paddle blade for driving the paddle blade to rotate, and the third driving element is connected with the rotating wheel and used for driving the rotating wheel to rotate.

[0019] According to some embodiments of the present application, the axis of the rotating wheel is collinear with the axis of the paddle blade, and a gap exists between the outer side of the paddle blade and the inner side of the rotating wheel, and the gap together defines a duct.

[0020] According to some embodiments of the present application, the rotating wheel comprises a skeleton and a plurality of Mecanum wheels embedded in the skeleton, the rotating axis of the Mecanum wheels is inclined to the axis of the rotating wheel along the circumference of the skeleton, and the third driving element is connected with the skeleton.

[0021] According to some embodiments of the present application, the Mecanum wheels are arranged in at least two layers along the axis of the rotating wheel, the Mecanum wheels of each layer are arranged to form a rotating unit, and the maximum outer diameter of at least one of the rotating units is not greater than the minimum outer diameter of the adjacent rotating unit.

[0022] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0023] The present application will be further described below in conjunction with the accompanying drawings and embodiments, wherein:

[0024] Fig. 1 is a schematic view of the triphasic metamorphic robot in a first motion mode according to the present application;

[0025] Fig. 2 is a schematic view of the triphasic metamorphic robot in a second motion mode according to the present application, and the robot is in a first motion form;

[0026] Fig. 3 is a schematic view of the triphasic metamorphic robot in a second motion mode according to the present application, and the robot is in a second motion form;

[0027] Fig. 4 is a schematic view of the triphasic metamorphic robot in a third motion mode according to the present application;

[0028] Fig. 5 is a schematic diagram of the metamorphic mechanism in the intermediate mode of the triphibian metamorphic robot;

[0029] Fig. 6 is a schematic diagram of the metamorphic mechanism in the first movement mode of the triphibian metamorphic robot;

[0030] Fig. 7 is a schematic diagram of the metamorphic mechanism in the second movement mode of the triphibian metamorphic robot, and the robot is in the first movement form;

[0031] Fig. 8 is a schematic diagram of the metamorphic mechanism in the second movement mode of the triphibian metamorphic robot, and the robot is in the second movement form;

[0032] Fig. 9 is a schematic diagram of the metamorphic mechanism in the third movement mode of the triphibian metamorphic robot;

[0033] Fig. 10 is a schematic diagram of the connection of the paddle wheel and the connecting rod in an embodiment;

[0034] Fig. 11 is a schematic diagram of the connection of the paddle wheel and the connecting rod in another embodiment.

[0035] Reference signs:

[0036] Metamorphic mechanism 100, connecting rod 110, accommodating groove 111, first connecting part 112, second connecting part 113, connecting plate 1131, rotating shaft 120, first rotating shaft 130, second rotating shaft 140; configuration driving mechanism 200, first driving element 210; paddle wheel 300, rotating wheel 310, framework 311, Mecanum wheel 312, rotating unit 313, paddle blade 320, duct 330, transmission frame 340; paddle wheel driving mechanism 400, second driving element 410, third driving element 420, gear 430. DETAILED DESCRIPTION

[0037] The embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below are examples for explaining the present application and should not be understood as limiting the present application.

[0038] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and should not be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be understood as limiting the present application.

[0039] In the description of the present application, the meaning of several is one or more, the meaning of multiple is two or more, greater than, less than, more than, etc. are understood as not including the number, above, below, within, etc. are understood as including the number. If it is described as first, second, it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the order of indicated technical features.

[0040] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be broadly understood, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0041] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0042] Referring to FIGS. 1 to 4, in the embodiments of the present application, a triphibian metamorphic robot (hereinafter referred to as robot) is provided, which can convert into different motion modes by using the structural change of the robot itself, and can be applied in water, land and air triphibian environment, realizing the flight of the robot in the air, the movement on the ground and the travel in the water.

[0043] Referring to FIGS. 4-8 (for the purpose of clearly showing the cooperation between the components in the metamorphic mechanism, the metamorphic mechanism is simplified in FIGS. 4-8), the robot comprises a metamorphic mechanism 100, which is the main structure for changing the configuration of the robot, and the metamorphic mechanism 100 comprises eight connecting rods 110 and eight rotating shafts 120. The eight connecting rods 110 are sequentially connected end to end and form a closed loop structure, i.e., the head end and the tail end of each connecting rod 110 are respectively connected to the end portions of two other connecting rods 110. In the circumferential direction of the closed loop structure, the adjacent connecting rods 110 are rotationally connected by the rotating shafts 120, so that the adjacent connecting rods 110 can relatively rotate. In addition, the rotating shaft 120 whose axis is parallel to the first direction is defined as a first rotating shaft 130, and the rotating shaft 120 whose axis is parallel to the second direction is defined as a second rotating shaft 140. The first direction is perpendicular to the second direction, and the axes of the adjacent rotating shafts 120 in the circumferential direction of the closed loop structure are perpendicular to each other, i.e., the first rotating shaft 130 and the second rotating shaft 140 are adjacently arranged. On both sides of each first rotating shaft 130 in the circumferential direction of the closed loop structure, one second rotating shaft 140 is arranged, and on both sides of each second rotating shaft 140, one first rotating shaft 130 is arranged.

[0044] It can be understood that the two ends of each connecting rod 110 are respectively connected to the first rotating shaft 130 and the second rotating shaft 140, so that one end of each connecting rod 110 can rotate relative to the adjacent connecting rod 110 around the first direction, and the other end can rotate relative to the adjacent connecting rod 110 around the second direction.

[0045] Referring to FIGS. 1-4, the robot further comprises a configuration driving mechanism 200, which is used to be connected with the metamorphic mechanism 100 and change the configuration of the metamorphic mechanism 100 by driving the connecting rods 110 in the metamorphic mechanism 100 to rotate. The configuration driving mechanism 200 comprises four first driving elements 210, which are used to drive the rotating shafts 120 to rotate. The first driving elements 210 are not limited to be arranged as motors, servos, etc. Two of the four first driving elements 210 are respectively connected to two first rotating shafts 130, and the other two are respectively connected to two second rotating shafts 140, i.e., two first rotating shafts 130 and two second rotating shafts 140 of the eight rotating shafts 120 are in an under-actuated state, and the other two first rotating shafts 130 and the other two second rotating shafts 140 are each connected with one first driving element 210. When the first driving element 210 works, it drives the adjacent connecting rods 110 to rotate around the first direction and / or the second direction.

[0046] The robot further comprises four paddle wheels 300, each of which is connected to one of the first rotating shafts 130. The paddle wheel 300 comprises a rotating wheel 310 and a paddle 320 arranged inside the rotating wheel 310. The paddle 320 is rotatable and used to disturb the airflow to provide lift when the robot is flying, and to disturb the water flow to provide propulsion when the robot is in water. The rotating wheel 310 is rotatable and used to provide forward driving force when the robot is moving on the ground.

[0047] The robot has three movement modes, i.e. a first movement mode, a second movement mode and a third movement mode. The configuration driving mechanism 200 drives the rotating shafts 120 to change the configuration of the metamorphic mechanism 100, so that the robot can switch between the first movement mode, the second movement mode and the third movement mode. Referring to FIG. 1 and FIG. 6, when the robot is in the first movement mode, the axes of two of the first rotating shafts 130 are collinear and lower than the other two first rotating shafts 130. In this configuration, the robot can propel in water. The paddle wheels 300 connected to the higher two first rotating shafts 130 are above the water surface, and the paddle wheels 300 connected to the lower two first rotating shafts 130 are respectively on the opposite sides of the robot, and the axes of the rotating wheels 310 in the two paddle wheels 300 are parallel to the water surface and can provide buoyancy to the whole robot. The rotating shafts 130 of the paddle blades 320 are parallel to the rotating shafts 130 of the first rotating shafts 130. When the paddle blades 320 rotate, they disturb the water flow to form a driving force for moving the whole robot.

[0048] In addition, the moving direction of the robot can be changed by adjusting the rotating state of the paddle blades 320 in the two lower paddle wheels 300. For example, the two paddle wheels 300 connected to the higher two rotating shafts 120 are defined as paddle wheel 300a and paddle wheel 300b. The paddle blades 320 in the paddle wheel 300a are set to rotate, and the paddle blades 320 in the paddle wheel 300b are set to be stationary. In this case, the whole robot moves in the forward direction. The paddle blades 320 in the paddle wheel 300a are set to be stationary, and the paddle blades 320 in the paddle wheel 300b are set to rotate. In this case, the whole robot moves in the reverse direction.

[0049] Referring to FIG. 2, FIG. 3, FIG. 7 and FIG. 8, when the robot is in the second movement mode, the lowest points of the circumferences of the four paddle wheels 300 are coplanar, and the lowest points of the four first rotating shafts 130 are coplanar. The four paddle wheels 300 are respectively on different sides of the robot. In this configuration, the robot can move on the ground. The circumferences of the rotating wheels 310 in the four paddle wheels 300 can contact the ground, and the rotating wheels 310 can provide driving force for the movement of the robot.

[0050] It can be understood that when the robot is in the second movement mode, two paddle wheels 300 are located on opposite sides of the robot respectively, and the other two robots are located on the other opposite sides of the robot; by controlling the movement speed of the rotating wheels 310 in different paddle wheels 300, the overall movement speed or direction of the robot can be changed. For example, define the four paddle wheels 300 as paddle wheel 300a, paddle wheel 300b, paddle wheel 300c, and paddle wheel 300d, paddle wheel 300a and paddle wheel 300b are arranged opposite to each other, paddle wheel 300c and paddle wheel 300d are arranged opposite to each other, the rotating wheels 310 in paddle wheel 300a and paddle wheel 300b are set to rotate at the same speed and in the same direction, and the robot moves straight, and the rotating wheels 310 in paddle wheel 300a and paddle wheel 300b are set to rotate at different speeds, and the robot turns.

[0051] Referring to FIGS. 4 and 9, when the robot is in the third movement mode, the axes of the four first rotating shafts 130 are parallel, and the second rotating shaft 140 is located in the space enclosed by the four first rotating shafts 130. In this configuration, the robot can fly in the air, the rotating axes of the paddles 320 in the four paddle wheels 300 are parallel, the four second rotating shafts 140 are close to each other and concentrated at the center of the robot to reduce the flight resistance of the robot, and the four paddle wheels 300 are located on the outer side of the robot to form a quadcopter robot. The airflow generated by the rotation of the paddles 320 provides lift for the flight of the robot.

[0052] The configuration driving mechanism 200 in the present application can drive the metamorphic mechanism 100 to change the configuration, so that the metamorphic mechanism 100 switches to different postures, and the robot switches between different movement modes. The robot relies on the deformation of the structure of the metamorphic mechanism 100 to switch the movement mode, so as to adapt to the movement needs of the water, land, and air multi-habitat environment without the help of external structures.

[0053] Referring to FIG. 5, the robot also has an intermediate mode. When the robot is in the intermediate mode, the axes of the four first rotating shafts 130 are parallel, and the adjacent connecting rods 110 connected by the first rotating shafts 130 are parallel, and the adjacent connecting rods 110 connected by the second rotating shafts 140 are perpendicular. At this time, the closed loop structure formed by the metamorphic mechanism 100 is a square, the second rotating shaft 140 is located at the diagonal position of the metamorphic mechanism 100, and the first rotating shaft 130 is located at the center of each side of the metamorphic mechanism 100. The robot can sequentially experience the intermediate mode, the first movement mode, the second movement mode, and the third movement mode, so that the robot can quickly switch between different movement modes, and the robot has strong maneuverability. It can be understood that the robot can quickly switch between different movement modes, such as switching from the second movement mode to the first movement mode or the third movement mode, or switching from the first movement mode to the second movement mode or the intermediate mode, or switching from the third movement mode to the second movement mode.

[0054] Specifically, the two first rotation shafts 130 located at the lower position are defined as the first rotation shaft 130a and the first rotation shaft 130b. When the robot is in the first movement mode, the adjacent connecting rods 110 connected by the first rotation shaft 130a are parallel, and the adjacent connecting rods 110 connected by the first rotation shaft 130b are parallel. At this time, the connecting rods 110 connected by the first rotation shaft 130a and the first rotation shaft 130b are all parallel to each other. The robot has a larger contact area with the water surface, and the robot moves more stably in the water, reducing the shaking of the robot during movement. Understandably, in other embodiments, the adjacent connecting rods 110 connected by the first rotation shaft 130a form a certain angle with each other, and the adjacent connecting rods 110 connected by the first rotation shaft 130b form a certain angle with each other.

[0055] Further, when the robot is in the first movement mode, the two first rotation shafts 130 located at the higher position and the adjacent connecting rods 110 connected by the first rotation shaft 130 located at the higher position are all located between the two first rotation shafts 130 located at the lower position. The structure of the robot in the first movement mode is more compact, and the operation is more stable.

[0056] The second movement mode includes a first movement form and a second movement form. Referring to FIGS. 2 and 7, when the robot is in the first movement form, the axes of the four first rotation shafts 130 are coplanar. At this time, two of the first rotation shafts 130 are located on opposite sides of the metamorphic mechanism 100, and the axes of the two first rotation shafts 130 are parallel. The other two first rotation shafts 130 are located on the other opposite sides of the metamorphic mechanism 100, and the axes of the two first rotation shafts 130 are parallel. The direction of the axis of the two first rotation shafts 130 with parallel axes is defined as X, and the direction of the axis of the other two first rotation shafts 130 with parallel axes is defined as Y. X and Y are perpendicular, and the axes of the four first rotation shafts 130 are all in the same plane.

[0057] Referring to FIGS. 3 and 8, when the robot is in the second movement form, the axes of the four first rotation shafts 130 intersect, that is, the axes of the four first rotation shafts 130 are all not parallel. When the robot is in the first movement form, the adjacent connecting rods 110 connected by the first rotation shaft 130 form a first angle with each other. When the robot is in the second movement form, the adjacent connecting rods 110 connected by the first rotation shaft 130 form a second angle with each other, and the second angle is greater than the first angle. Thus, the connecting rods 110 in the first movement form are closer to the center of the robot than the connecting rods 110 in the second movement form. The projection area of the robot in the first movement form on the horizontal plane is smaller than the projection area of the robot in the second movement form on the horizontal plane. The robot in the second movement form can provide a larger installation area and space for other modules in the robot. The structure of the robot in the first movement form is more compact, and has higher movement flexibility and convenience.

[0058] In the present application, the adjacent connecting rods 110 connected by the first rotating shaft 130 are distributed along the axis of the first rotating shaft 130. For example, two connecting rods 110 are distributed along the axis of the first rotating shaft 130, and the ends of the two connecting rods 110 are connected by the first rotating shaft 130. When the robot is in the third movement mode, the two connecting rods 110 are relatively rotated in the first direction, so that at least part of the adjacent connecting rods 110 are stacked along the axis of the first rotating shaft 130. Due to the stacking of the adjacent connecting rods 110, the two connecting rods 110 connected by the first rotating shaft 130 together form a cantilever connected to the paddle wheel 300. One end of the cantilever is connected to the paddle wheel 300, and the other end is connected to the second rotating shaft 140. The second rotating shaft 140 is located at the center of the robot, so as to reduce the resistance of the robot during flight, and the flight efficiency of the robot is high.

[0059] In another embodiment, referring to FIGS. 5 and 9, one of the adjacent connecting rods 110 connected by the first rotating shaft 130 is provided with a receiving groove 111. When the robot is in the third movement mode, at least part of the other connecting rod 110 is accommodated in the receiving groove 111, so that the two connecting rods 110 are stacked in the axis direction of the first rotating shaft 130. In this way, the two connecting rods 110 connected by the first rotating shaft 130 together form a cantilever connected to the paddle wheel 300. One end of the cantilever is connected to the paddle wheel 300, and the other end is connected to the second rotating shaft 140. The second rotating shaft 140 is located at the center of the robot, so as to reduce the resistance of the robot during flight.

[0060] It can be understood that one of the adjacent connecting rods 110 connected by the first rotating shaft 130 has a receiving groove 111. Similarly, one of the adjacent connecting rods 110 connected by the second rotating shaft 140 has a receiving groove 111. In order to maximize the stacking of the adjacent connecting rods 110, rotating parts are respectively arranged at both ends of the connecting rod 110. The rotating parts of the adjacent connecting rods 110 are connected by the first rotating shaft 130 or the second rotating shaft 140. In the adjacent connecting rods 110 connected by the first rotating shaft 130, the receiving groove 111 is defined between the two rotating parts of one of the connecting rods 110. Therefore, the part of the other connecting rod 110 except the rotating part can be accommodated in the receiving groove 111, and the degree of stacking of the adjacent connecting rods 110 is higher.

[0061] In the present application, the connecting rod 110 comprises a first connecting portion 112 and a second connecting portion 113, the first connecting portion 112 and the second connecting portion 113 are mutually 45°, the first connecting portion 112 of the adjacent connecting rod 110 is rotationally connected through the first rotating shaft 130, the second connecting portion 113 of the adjacent connecting rod 110 is rotationally connected through the second rotating shaft 140, and the accommodating groove 111 is arranged on the first connecting portion 112. When the robot is in the third movement mode, among the adjacent connecting rods 110 rotationally connected through the first rotating shaft 130, the first connecting portion 112 of one of the connecting rods 110 is accommodated in the accommodating groove 111 of the other connecting rod 110, the first connecting portions 112 of the two connecting rods 110 jointly form a cantilever, the adjacent cantilevers are perpendicular to each other, the paddle wheel 300 is connected to one end of the cantilever, the second connecting portion 113 is connected to the other end of the cantilever, the adjacent second connecting portions 113 rotationally connected through the second rotating shaft 140 are located between the adjacent rotating arms, and the second connecting portions 113 of the adjacent connecting rods 110 rotationally connected through the second rotating shaft 140 are parallel to each other, the second connecting portions 113 of the adjacent connecting rods 110 rotationally connected through the first rotating shaft 130 are perpendicular to each other and can abut against each other, and the second connecting portions 113 can be maximally close to each other and concentrated in the central position of the robot.

[0062] In addition, with reference to FIGS. 10 and 11, among the adjacent second connecting portions 113 rotationally connected through the second rotating shaft 140, one of the second connecting portions 113 comprises two oppositely arranged connecting plates 1131, the other second connecting portion 113 accommodates the first driving element 210 inside, and the first driving element 210 is connected between the two connecting plates 1131. In this way, the first driving element 210 can be built-in inside the connecting rod 110, and the first driving element 210 drives the two second connecting portions 113 to rotate around the second direction.

[0063] It should be noted that in the present application, the first driving element 210 is connected at any two first rotating shafts 130 and any two second rotating shafts 140, the two first rotating shafts 130 connected with the first driving element 210 can be adjacent or spaced along the circumferential direction of the metamorphic mechanism 100, and similarly, the two second rotating shafts 140 connected with the first driving element 210 can be adjacent or spaced along the circumferential direction of the metamorphic mechanism 100. Therefore, there is a connecting rod 110 provided with two first driving elements 210, the two first driving elements 210 are respectively connected to the two ends of the connecting rod 110 and are respectively used to drive the connecting rod 110 to rotate around the first direction and the second direction, and there is a connecting rod 110 provided with one first driving element 210 inside, the first driving element 210 is arranged at the end of the connecting rod 110 and is used to drive the connecting rod 110 to rotate around the first direction or the second direction.

[0064] Further, the connecting rod 110 in the application includes three forms, one of which is provided with a receiving groove 111 in the first connecting part 112, and the second connecting part 113 includes two spaced connecting plates 1131; one of which is not provided with a receiving groove 111 in the first connecting part 112, and the inside can accommodate the first driving element 210; one of which is not provided with a receiving groove 111 in the first connecting part 112, and the second connecting part 113 is not provided with a connecting plate 1131, and the inside of the first connecting part 112 and the second connecting part 113 can accommodate the first driving element 210. According to the position of the first rotating shaft 130, the second rotating shaft 140 and the position setting requirement of the first driving element 210, the connecting rod 110 in the form is selected for connection.

[0065] Referring to FIGS. 1-4, the robot further comprises a paddle wheel driving mechanism 400, which comprises a second driving element 410 and a third driving element 420 connected to the connecting rod 110, the second driving element 410 is located inside the rotating wheel 310 and connected with the paddle blade 320 to drive the paddle blade 320 to rotate, and the third driving element 420 is connected with the rotating wheel 310 and used to drive the rotating wheel 310 to rotate. Thus, when the robot is in the first movement mode and the third movement mode, the third driving element 420 does not work, and the second driving element 410 drives the paddle blade 320 to rotate, and when the robot is in the second movement mode, the second driving element 410 does not work, and the third driving element 420 drives the rotating wheel 310 to rotate; the rotation of the paddle blade 320 and the rotation of the rotating wheel 310 are independent of each other, which can meet the movement requirement of the robot in different movement modes.

[0066] In the application, the axis of the rotating wheel 310 is collinear with the axis of the paddle blade 320, and there is a gap between the outside of the paddle blade 320 and the inside of the rotating wheel 310, which together define a duct 330 for airflow to flow, so as to ensure that the rotation of the paddle blade 320 can provide lift for the flight of the robot. In addition, the rotating wheel 310 can be provided in a hollow form, so that the duct 330 is in communication with the outside space of the rotating wheel 310, so as to strengthen the air flow when the paddle blade 320 rotates, and reduce the loss of lift caused by airflow interference.

[0067] The rotating wheel 310 comprises a framework 311 and a plurality of Mecanum wheels 312 embedded in the framework 311, and the rotating axis of the Mecanum wheel 312 is inclined to the axis of the rotating wheel 310 along the circumferential direction of the framework 311, that is, the generatrix of the Mecanum wheel 312 is inclined along the circumferential direction of the framework 311, and when the robot is in the second movement mode, the Mecanum wheels 312 in the four paddle wheels 300 are in contact with the ground and can rotate synchronously, realizing the omnidirectional movement of the robot on land.

[0068] In addition, gaps are provided between the adjacent Mecanum wheels 312 along the circumference of the skeleton 311, so that the duct 330 inside the rotating wheel 310 is in communication with the space outside the rotating wheel 310, ensuring the air circulation and reducing the lift loss.

[0069] The third driving element 420 is connected with the skeleton 311 and drives the rotation of the skeleton 311, and the Mecanum wheels 312 rotate along the generatrix of the Mecanum wheels 312 while the skeleton 311 rotates, so that the robot can move omnidirectionally. The rotation axis of the skeleton 311 can be arranged in parallel with the rotation axis of the paddle 320, which is beneficial to reduce the risk of interference between the two during movement, and when the robot is in the first working mode, the water flow can flow through the gap between the skeleton 311 and the paddle 320, and when the robot is in the third working mode, the air flow can flow through the gap between the skeleton 311 and the paddle 320, so as to reduce the movement resistance of the robot in the first and third working modes.

[0070] In one embodiment, the third driving element 420 is installed on the second connecting portion 113 of the connecting rod 110, or the third driving element 420 is arranged at the connecting position of the first connecting portion 112 and the second connecting portion 113, and the output end of the third driving element 420 is connected with the skeleton 311. Further, the skeleton 311 is connected with a transmission frame 340 at one end in the axial direction, the transmission frame 340 is annular, the inner side of the transmission frame 340 is provided with a gear, and one end of the third driving element 420 is drivingly connected with a plurality of gear wheels 430, one of which is engaged with the gear in the transmission frame 340, so as to transmit the rotating power of the third driving element 420 to the transmission frame 340, and drive the skeleton 311 to rotate by the transmission frame 340; since the gear wheels 430 are engaged with the inner side of the transmission frame 340, the transmission structure between the third driving element 420 and the rotating wheel 310 avoids the rotation of the rotating wheel 310, so that the rotating wheel 310 can rotate smoothly.

[0071] In the present application, the Mecanum wheels 312 are arranged in at least two layers along the axis of the rotating wheel 310, and each layer of the Mecanum wheels 312 forms a rotating unit 313. The maximum outer diameter of at least one of the rotating units 313 is not greater than the minimum outer diameter of the adjacent rotating unit 313, so that the outer diameters of the adjacent rotating units 313 have a changing trend. The outer diameter of the rotating unit 313 is defined as the outer diameter of the outer circumferential surface formed by the generatrices of the plurality of Mecanum wheels 312 in the corresponding rotating unit 313. When the robot switches to the second movement mode and is in the first movement form, the Mecanum wheels 312 in the rotating unit 313 with a larger outer diameter are in contact with the ground, and the Mecanum wheels 312 in the rotating unit 313 with a smaller outer diameter are not in contact with the ground. When the robot is in the second movement form, the Mecanum wheels 312 in the rotating unit 313 with a smaller outer diameter are in contact with the ground, and the Mecanum wheels 312 in the rotating unit 313 with a larger outer diameter are not in contact with the ground. That is, no matter what form the robot walks on the ground, the corresponding layer of the rotating unit 313 is in contact with the ground and provides a straight-line speed for the robot to move.

[0072] It can be understood that, when the robot is in the second movement mode, the rotating unit 313 with a larger outer diameter is closer to the center of the robot than the rotating unit 313 with a smaller outer diameter. The outer circumferential surface of the rotating unit 313 with a larger outer diameter is inclined relative to the outer circumferential surface of the rotating unit 313 with a smaller outer diameter, and they form an angle a. The angle a can be set according to the degree of contraction or expansion when the robot switches between the first movement form and the second movement form.

[0073] The above embodiments of the present application are described in detail in combination with the drawings, but the present application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the purpose of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

Claims

1. A triphibian metamorphic robot, comprising: a metamorphic mechanism, comprising eight links and eight rotation axes, the eight links are sequentially connected end to end to form a closed loop structure, adjacent links are connected by rotation through the rotation axes along the circumferential direction of the closed loop structure, and the axes of adjacent rotation axes are perpendicular to each other, wherein the rotation axis parallel to the first direction is the first rotation axis, and the rotation axis parallel to the second direction is the second rotation axis, the first direction is perpendicular to the second direction; a configuration driving mechanism, comprising four first driving elements, the first driving elements are used to drive the rotation of the rotation axes, wherein two first driving elements are connected to two first rotation axes respectively, and two first driving elements are connected to two second rotation axes respectively; paddle wheels, four are provided, one paddle wheel is connected to each first rotation axis, the paddle wheel comprises a rotating wheel and a paddle provided inside the rotating wheel; wherein the triphibian metamorphic robot has a first movement mode, a second movement mode and a third movement mode, the triphibian metamorphic robot is configured to, when in the first movement mode, the axes of two first rotation axes are collinear and lower than the other two first rotation axes; when in the second movement mode, the lowest points of the circumferential surfaces of the four paddle wheels are coplanar; when in the third movement mode, the axes of the four first rotation axes are parallel, and the second rotation axes are located in the space enclosed by the four first rotation axes.

2. The tri-modal metamorphic robot of claim 1, wherein, The triphibian metamorphic robot also has an intermediate mode, the triphibian metamorphic robot is configured to, when in the intermediate mode, the axes of the four first rotation axes are parallel, and the adjacent links connected by the first rotation axes are parallel, and the adjacent links connected by the second rotation axes are perpendicular; the triphibian metamorphic robot can sequentially experience the intermediate mode, the first movement mode, the second movement mode and the third movement mode.

3. The tri-modal metamorphic robot of claim 1, wherein, The second movement mode comprises a first movement form and a second movement form, the triphibian metamorphic robot is configured to, when in the first movement form, the axes of the four first rotation axes are coplanar, the adjacent links connected by the first rotation axes form a first angle with each other, and the first rotation axes are lower than the second rotation axes; when in the second movement form, the axes of the first rotation axes intersect, the adjacent links connected by the first rotation axes form a second angle with each other, and the second angle is greater than the first angle.

4. The tri-modal metamorphic robot of claim 1, wherein, The adjacent links connected by the first rotation axes are distributed along the axes of the first rotation axes, when the triphibian metamorphic robot is in the third movement mode, at least part of the adjacent links are stacked; Alternatively, one of the adjacent links connected by the first rotation axes is provided with a receiving groove, when the triphibian metamorphic robot is in the third movement mode, at least part of the other link is accommodated in the receiving groove.

5. The tri-modal metamorphic robot of claim 1, wherein, The connecting rod comprises a first connecting part and a second connecting part, the first connecting part and the second connecting part are 45° to each other, the first connecting part of the adjacent connecting rod is connected by the first rotating shaft, and the second connecting part of the adjacent connecting rod is connected by the second rotating shaft.

6. The tri-modal metamorphic robot of claim 5, wherein, Among the adjacent second connecting parts connected by the second rotating shaft, one of the second connecting parts comprises two oppositely arranged connecting plates, the other second connecting part accommodates the first driving element inside, and the first driving element is connected between the two connecting plates.

7. The tri-modal metamorphic robot of claim 1, wherein, The triphasic metamorphic robot further comprises a paddle wheel driving mechanism, the paddle wheel driving mechanism comprises a second driving element and a third driving element connected to the connecting rod, the second driving element is located inside the rotating wheel and connected with the paddle blade for driving the paddle blade to rotate, and the third driving element is connected with the rotating wheel and used for driving the rotating wheel to rotate.

8. The tri-modal metamorphic robot of claim 7, wherein, The axis of the rotating wheel is collinear with the axis of the paddle blade, and there is a gap between the outer side of the paddle blade and the inner side of the rotating wheel, which together define a duct.

9. The tri-modal metamorphic robot of claim 7, wherein, The rotating wheel comprises a skeleton and a plurality of Mecanum wheels embedded in the skeleton, the rotating axis of the Mecanum wheel is inclined to the axis of the rotating wheel along the circumference of the skeleton, and the third driving element is connected with the skeleton.

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

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