68 results about "Metamorphic robots" patented technology

The invention provides a composite transformation mobile robot combining an elastic foot and a wheel type motion mechanism, which comprises a space machine body frame unit of a foot-wheel composite mobile transformation robot, driving wheel drive units, driven wheel driven units, four modular leg units, a control sensing system unit, a hermetical casing and a power source. The robot used elastic foot replaces the traditional rigid foot to increase the kinetic stability of the robot and reduce the vibratility and impact force of the robot, and is combined with a wheel type moving method, so that the quick mobility and high efficiency of the wheel type movement on a flat ground can be guaranteed, and the excellent maneuverability and strong obstacle crossing function of the foot type moving, creeping and climbing motion under complex terrains such as complex mountain environment and city terrain can be taken into account; as the foot type composite transformation mobile robot adopts modular design, the foot and wheel cannot interfere each other, the maintenance and replacement are convenient, and the motion pattern is flexible and variable; and the athletic ability of the robot is improved in virtue of the mutual transformation, coordination and combination of the foot type motion and the wheel type motion.

The invention discloses an air-ground amphibious spherical metamorphic robot based on a metamorphic principle. The robot mainly comprises a flying module and a traveling module. The flying module comprises a symmetrical four-connecting bar mechanism driven by a worm and worm wheel motor, and the four-connecting bar mechanism realizes to automatically fold a stand to adapt to different requirements for the robot structure under a spherical un-deformed state, a terrestrial state and an aerial state. The traveling module uses a 8-freedom four-foot robot, the shanks are driven to move through the four-connecting bar mechanism, and arc plates fitting with the shanks partially fit with the lower semi-spherical shell under the un-deformed state so as to form the spherical shape. When preparing to fly, the upper semi-spherical shell gives place to support arms for folding the stand through moving upwardly. After the support arms stretch to the right positions, the upper semi-spherical shell moves downward to restore. A crank block mechanism is used for driving the upper semi-spherical shell. The air-ground amphibious spherical metamorphic robot based on the metamorphic principle is featured with small volume, reasonable structure, simple and beautiful shape, outstanding movement performance, easiness and high efficiency in control, strong anti-interference ability and the like.

The invention discloses a robot with functions of rolling motion and foot walking. The robot comprises a spherical housing module, a foot module, a drive module, a weight module and an additional function module. The modules coordinate to allow the robot to move in various forms. The robot has the advantages that the fast rolling ability in a ball and complex terrain adaptability in bionic multi-limb walking are deeply fused in mechanical structure; the deformable robot structure with the functions of ball rolling and bionic limb walking is designed, the control schemes for rolling, bionic limb walking, motion state transforming, stable attitude and the like of the robot are designed, the robot can roll fast on plain terrains and reliably walk on complex terrains, and motion performance and reliability of the robot in the real complex terrain environment can be improved.

The present invention disclose a monomer automatic transformable robot with self-assembly characteristic, including movable foundation equipped with butt-joint platform, a rotary mechanism is arranged between the butt-joint platform and the movable foundation for driving the relative rotation between them; the movable foundation includes a plurality of binding surfaces for implementing butt-joint with the butt-joint platform of other monomer automatic transformable robot; the binding surface and the butt-joint platform are respectively mounted with many pairs of infrared emission sensors and infrared receiver sensors for implementing butt-joint guide. The invention can implement automatic movement via movable foundation and implement mutual butt-joint and transformation with other single robot via butt-joint platform.

A transformable robotic platform includes a main frame and a tiltable central assembly and two pairs of parallel tracks. A first pair of tracks is fixed to the main frame while a second pair of tracks is pivotable with respect to the main frame. The central assembly incorporates imaging means, designation means and operational means in a synchronized manner, thus simplifying the maneuvering of the robotic platform and the operation of its operational means by a remote operator. Tilting the central assembly as well as the second pair of tracks shifts the center of gravity of the robotic platform rearward decreasing downward gravitational force on the front end of the platform facilitating climbing over obstacles. Tilting the central assembly also provides double-sided operation and about face operation of the robotic platform without the need to perform maneuvers which flip over the entire robotic platform. The pivoting of second pair of tracks enables transformation of the robotic platform into a quasi pyramid position in order to provide a superior position for information gathering and for operation.

The invention discloses a spherical-hexapod shape shifting robot comprising outer supporting mechanisms, a rotating mechanism and robot leg parts. Each outer supporting mechanism comprises a base plate, a U-shaped frame, a steering engine and a spherical segment. The rotating mechanism comprises a steering disc, a driving mechanism and rotating pieces. The rotating pieces are distributed along the circumferential direction of the driving mechanism and connected with the driving mechanism. The driving mechanism drives the rotating pieces to stretch or retract. Each robot leg part comprises a steering engine, a connecting frame and a foot. The outer supporting mechanisms are fixedly connected with the rotating mechanism. The robot leg parts are distributed along the circumferential direction of the rotating mechanism and fixedly connected with the rotating pieces. The rotating mechanism and the robot leg parts are used for forming a hexapod robot body. The rotating mechanism and the outer supporting mechanism are used for forming a spherical robot body. By means of the outer supporting mechanisms with the spherical segments, the rotating mechanism which can stretch to be in a segment shape and retract to be in a disc shape and robot leg part structures provided with the steering engines and the feet and arranged on the rotating mechanism, the hybrid robot capable of shifting into the spherical robot body and the hexapod robot body is formed.

The invention discloses an underground comprehensive pipe gallery system based on autonomous maintenance of a shape-shifting robot. The underground comprehensive pipe gallery system based on autonomous maintenance of the shape-shifting robot comprises the shape-shifting robot and a control center. A gas collection device, a video camera, a first communication module, a pipeline crack and pipeline joint welding device and a corrosion-prevention spraying device are integrated on the shape-shifting robot. The signal output end of the gas collection device is connected to the signal input end of the first communication module. The video camera is in both-way communication connection with the first communication module. The signal input end of the pipeline crack and pipeline joint welding device and the signal input end of the corrosion-prevention spraying device are connected to the signal output end of the first communication module. The control center comprises a second communication module in both-way communication connection with the first communication module, a data processor in both-way communication connection with the second communication module, and command input equipment used for inputting control commands to the data processor. By adoption of the underground comprehensive pipe gallery system based on autonomous maintenance of the shape-shifting robot, timely repairing of a pipeline leakage part is achieved.

The invention relates to a wheel and track replacement deformation robot, and belongs to the technical field of special robots. The wheel and track replacement deformation robot comprises a track deformation traveling mechanism, a wheel type traveling mechanism, a wheel and track replacement mechanism and a chassis; the track deformation traveling mechanism and the wheel and track replacement mechanism are installed on the chassis; and the wheel type traveling mechanism is installed on the wheel and track replacement mechanism. According to the wheel and track replacement deformation robot, through the wheel and track replacement and deformation function, the obstacle climbing ability of the robot can be improved, and the obstacle climbing flexibility is high; the viability of the robot under the rough terrain environment can be promoted; the robot can have multiple motion modes, and can be suitable for various complex terrain environments; a track type motion mechanism and a wheel type motion mechanism are independent, the number of motion modes of the robot is increased, and the recombination capacity of the robot can be improved; and the wheel and track replacement deformation robot is simple, light and handy in structure, convenient to manufacture and convenient to use.

The invention discloses a determination method for a shape shifting robot attitude transformation optimal path. According to the determination method for the shape shifting robot attitude transformation optimal path, the graph theory is introduced on the attitude control of a shape lifting robot, an attitude transformation problem is converted into a graph theory related problem, accordingly, according to the attitude transformation complexity weight minimum principle, when the optimal attitude transformation path is obtained, a control system can send a corresponding driving order to a motor of each joint of the shape shifting robot, so that the shape shifting robot can transform the joint turning angles of the shape shifting robot in sequence according to the optimal attitude transformation path, the reasonable sequence transformation of the attitude of the shape shifting robot is achieved, the interconversion between different attitudes is achieved, for different environment conditions, the attitude transformation of the shape shifting robot can be achieved stably, efficiently and reasonably, and therefore the good environmental suitability is achieved.

The invention discloses an underwater detection spherical deformation robot which comprises a left side ball shell, a middle ball shell and a right side ball shell. A driving device is arranged in themiddle ball shell, and comprises a driving motor, two coaxial gear shafts on the left side and the right side, a battery and a first control device. The gear shafts on the left side and the right side are rotationally provided with the ball shells through bearings. The two gear shafts are in transmission connection with the driving motor. A high-pressure cylinder is installed in a sealed cavity.An inner cavity of the left side ball shell and an inner cavity of the right side ball shell are communicated with the high-pressure cylinder through air guide pipes respectively. The air guide pipesare provided with second control devices. Propellers installed on the gear shafts are arranged between the left and right side ball shells and the middle ball shell. Through the driving propelling ofthe propellers in cooperation with the control over the telescopic movements of the left side ball shell and the right side ball shell and the quantity flexibility of high-pressure gas, the steering movements of the robot are realized. The technical problem that people cannot directly participate in underwater experiments to obtain experiment data can be solved, and the underwater detection spherical deformation robot is a novel design scheme of underwater robots.

The invention belongs to the technical field of robots, and relates to a magic cube type eight-foot metamorphic robot. The magic cube type eight-foot metamorphic robot comprises a spherical outer body, a center inner body and walking execution supporting legs. The spherical outer body comprises six axis driving assemblies, twelve seamed edge function assemblies and eight vertex angle branch assemblies, the axis driving assemblies, the seamed edge function assemblies and the vertex angle branch assemblies are interlocked to form a space six-circle orthogonal bearing inside the spherical outer body in an inlay mode, and the spherical outer body realizes own relative motion reconstruction by means of the space six-circle orthogonal bearing. Visual devices are arrange on the outer surfaces ofthe axis driving assemblies, motors are arranged in the axis driving assemblies, control devices and communication devices are arranged on the outer surfaces of the seamed edge function assemblies, and supporting leg connecting ends used for connecting the walking execution supporting legs are arranged on the outer surfaces of the vertex angle branch assemblies. The spherical outer body covers theexterior of the center inner body, the spherical outer body can be rotatably connected with the center inner body through the axis driving assemblies, and a battery is arranged in the center inner body.

The invention relates to a polypod deformation robot based on a Schatz mechanism. The polypod deformation robot based on the Schatz mechanism comprises first to fourth biped modules, a first deformation support frame, a second deformation support frame, a first fuselage skeleton, a second fuselage skeleton, a first push rod, a second push rod and a third push rod. The first and second deformationsupport frames and the first and second fuselage skeletons are respectively connected with the first to fourth biped modules and are respectively located on the upper sides and the lower sides of thefirst to fourth biped modules. A chassis of the first biped module is fixedly connected with the first fuselage skeleton and the second fuselage skeleton; and a deformation rotary shaft frame is respectively connected with the first and second deformation support frames and the third push rod through a revolute pair form.

The invention discloses a transforming robot capable of realizing wheel and track replacement. The transforming robot capable of realizing wheel and track replacement comprises a chassis, transformable track mechanisms and wheel and track replacing mechanisms. The chassis is connected with at least three transformable track mechanisms and at least three wheel and track replacing mechanisms for supporting the chassis. Each wheel and track replacing mechanism comprises a telescopic mechanism, a rolling wheel and a rolling wheel driving motor, each telescopic mechanism is connected with a rolling wheel support, and the rolling wheel is driven by the rolling wheel driving motor to rotate; each telescopic mechanism stretches when the robot walks on normal roads; and each telescopic mechanism retracts when the robot encounters roads such as steps, muddy roads and gullies in special environments. Stability of the overall structure of the robot can be improved by the symmetrical transformable track mechanisms and the wheel and track replacing mechanisms; a plurality of transforming tracks are mutually independent from one another, so that the self-adaption ability and the obstacle-crossing ability of the robot under complex environment can be improved; and the robot is simple in integral component, easy to produce and manufacture, and simple and flexible in controlling.

A wheel-leg hybrid drive type mining metamorphic robot comprises a bearing platform and four wheel-leg walking mechanisms, and each wheel-leg walking mechanism comprises a wheel-leg branched chain anda steering device; each wheel-leg branch chain comprises a support, mounting plates are arranged on the two sides of the support, a second motor and a fourth motor are mounted on the mounting platesrespectively, the second motor is connected with a thigh rod, the bottom end of the thigh rod is rotationally connected with a wheel shaft, the fourth motor is connected with a first belt wheel assembly, the fourth motor is connected with and drives the wheel shaft, and wheels are connected to the wheel shaft. The thigh rod is provided with a third motor and hinged to a shank rod, and the third motor is connected with and drives the shank rod. The steering device comprises a rotating shaft connected to the support, the support is rotationally connected with the bearing platform through the rotating shaft, and a first motor is connected to the rotating shaft. The characteristics of high speed and high efficiency of a wheel type mobile robot and high adaptability of a leg type mobile robot to complex terrains are fused, the obstacle crossing capacity of the robot is improved, and the operation range is enlarged.

The invention relates to the field of wheel-foot type robots, in particular to a four-foot wheel type deformable omni-directional mobile robot with multiple advancing modes and a control method thereof. The overall structure of the four-foot wheel type deformable omni-directional robot is composed of a vehicle body, a first leg-foot branch chain, a second leg-foot branch chain, a third leg-foot branch chain and a fourth leg-foot branch chain, and the four-foot wheel type deformable omni-directional robot can be freely switched between a normal foot type robot and a wheel type robot in real time by controlling the rotating angle of a motor, so the four-foot wheel type deformable omni-directional robot has the high moving speed of wheel type movement and the high complex environment adaptability of foot type movement; meanwhile, the front side, the back side, the front side, the back side, the left side and the right side are not distinguished, so the stability and the omnibearing moving capability are further improved, and the wheel type deformable omni-directional robot has wide social application prospects.

The invention discloses a control method and device for a transformation robot, and the transformation robot. The transformation robot comprises a transformable robot body. The control method includesthe steps of collecting surrounding environment parameters of the transformation robot; detecting whether the robot body needs to transform the form or not according to the relationship between preset parameters and the form; if yes, determining the form corresponding to the environment parameters; and controlling the robot body to transform the form according to the form. By the adoption of thetechnical scheme, the practicability of the robot can be improved.