133 results about "Metamorphic robots" patented technology

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

The invention provides a wheel-paddle integrated multi-mode land-air amphibious transformation robot, and relates to the technical field of aerial robots, the robot comprises a robot main body, and the robot main body is used for controlling the robot to realize land-air amphibious transformation, air flight and land walking; the wheel-paddle integrated mechanism is formed by combining two parts, namely a land walking mechanism and an air flying mechanism; the mechanical arms are connected to the four corners of the robot body, and the other ends of the mechanical arms are connected with the wheel-paddle integrated mechanism through servo push rod mechanisms. The deformation mechanism adopts a bistable locking mechanism driven by a servo electric push rod, a stable mechanical self-locking mechanism is constructed while the axial thrust of the push rod is kept, conversion between a flight folding state and a ground supporting state can be completed only through instantaneous driving, the wheel-propeller integrated mechanism adopts a propeller and protective driving wheel composite structure design, and the structure is simple and convenient. And a power decoupling system of the non-rotating core module and the rotating execution mechanism is constructed.

A robot includes a mobile base comprising a base body with a set of active wheels, an upper body comprising a torso with arms, and a pedestal linkage having a first end coupled to the base body by a first pivotable joint and a second end coupled to the torso by a second pivotable joint, wherein the pedestal linkage is pivotable relative to the base body to transform the robot between an elevated, elongated, or standing configuration and a lowered, contracted, or sitting configuration. In the second configuration, an omniwheel positioned at the base of the torso contacts the ground to improve stability of the system, and the pedestal linkage is received in a slot in the base body to produce a congruous work surface over which the torso may be rotated to face and upon which objects may be placed and manipulated during transport.

The invention discloses a motion control method for adjusting a slide block of a centroid mechanism in a reconstruction process of a transformation robot, which comprises the following steps: 1, establishing a transformation robot model, 2, inputting the deviation between an expected zero moment point and an actual zero moment point into a Fuzzy-PID controller, and calculating and outputting expected displacement of the slide block, 3, carrying out anti-impact rapid motion planning on the expected displacement, and 4, carrying out anti-impact rapid motion planning on the expected displacement. 4, inputting the deviation between the expected speed and the actual speed into an integral sliding mode controller, and calculating and outputting a sliding block control voltage; 5, inputting the control voltage into an electromechanical dynamics model to obtain the actual speed, and feeding back the actual speed to the integral sliding mode controller to realize smooth closed-loop control; 6, integrating the speed to obtain displacement; and a zero moment point is calculated by utilizing displacement and is fed back to the Fuzzy-PID controller to form stability closed-loop control. According to the method, multi-target comprehensive control can be carried out on the displacement and speed of the movement of the sliding block, so that the sliding block quickly reaches an expected position on the premise of no impact, and the reconstruction stability of the transformation robot can be effectively improved.

A robot includes a mobile base comprising a base body with a set of active wheels, an upper body comprising a torso with arms, and a pedestal linkage having a first end coupled to the base body by a first pivotable joint and a second end coupled to the torso by a second pivotable joint, wherein the pedestal linkage is pivotable relative to the base body to transform the robot between an elevated, elongated, or standing configuration and a lowered, contracted, or sitting configuration. In the second configuration, an omniwheel positioned at the base of the torso contacts the ground to improve stability of the system, and the pedestal linkage is received in a slot in the base body to produce a congruous work surface over which the torso may be rotated to face and upon which objects may be placed and manipulated during transport.

The invention relates to the field of insulator robots, in particular to an insulator metamorphic robot mechanism based on secondary metamorphism and a using method, and a secondary metamorphic clamping mechanism comprises a secondary metamorphic clamping mechanism and a metamorphic epicyclic bevel gear train clamping mechanism. The secondary metamorphic clamping mechanisms are arranged at the far ends of the metamorphic epicyclic bevel gear train clamping mechanisms and used for clamping insulator umbrella skirts, the metamorphic epicyclic bevel gear train clamping mechanisms are used for clamping insulator steel caps, and the two sets of secondary metamorphic clamping mechanisms achieve clamping jaw rotation and clamping jaw movement in the metamorphic epicyclic bevel gear train clamping mechanisms through epicyclic bevel gear trains. In the clamping process, a clamping jaw of the secondary metamorphic clamping mechanism moves to drive the secondary metamorphic clamping mechanism to complete clamping of an insulator umbrella skirt and then continuously moves to complete clamping of an insulator steel cap, finally the robot is fixed to an insulator chain, the adaptability to the size of an insulator is high, the stable clamping capacity is provided, and the working efficiency is improved. The robot is protected against deviation when moving on the insulator chain, and the stress condition is good.

The invention provides a six-foot type wheel foot metamorphic robot, belongs to the technical field of metamorphic robots, and solves the problems that an existing traditional metamorphic robot is difficult to consider the adaptability of complex road conditions and the rapid moving efficiency of flat road surfaces, is difficult to comprehensively acquire surrounding environment information, lacks a flexible camouflage function, and is inconvenient to use. And diversified operation requirements are difficult to meet and the like. Comprising an upper mounting plate, a lower mounting plate, a sensing assembly, a control assembly, walking foot mechanisms and a mobile power source, a hemispherical shell is detachably arranged at the upper end of the upper mounting plate, fragmented spherical shells are detachably arranged on the six walking foot mechanisms, and the sensing assembly, the walking foot mechanisms and the mobile power source are electrically connected with the control assembly. According to the invention, the walking state is switched, the adaptability of complex road conditions and the rapid moving efficiency of flat road surfaces are considered, the external environment information is comprehensively collected in real time, the protection and disguise performance is good, and the overall working efficiency is improved through reasonable structure integration and control cooperation.

1. Name of the product in this design: Toy (Beverage Box Transforming Robot). 2. Intended use of this design: for toys. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The invention relates to a wheel-foot transformation robot walking mechanism which comprises a base and a robot body, a driving mechanism is installed on the lower side of the base, wheel-foot modules are installed at the two ends of a driving shaft of the driving mechanism, a flatness measuring module is installed on the inner side of the base and comprises a rod shell, and supporting blocks are symmetrically connected to the lower side of the rod shell; the lower end face of the supporting block is fixed to the inner wall of the base, balls are slidably connected into the rod shell, contact buttons are connected into the hole positions in the left end and the right end, a balance weight module is installed on the base and comprises a motor, the motor is fixed to the left side of the base, and the tail end of an output shaft of the motor penetrates through the wall thickness of the base to be fixedly connected with a threaded rod. A threaded block is spirally connected to the outer side of the threaded rod, connecting frames are connected to the front side and the rear side of the threaded block, sleeve shells are connected to the lower ends of the connecting frames, and high-density balance weight rollers are movably connected to the inner sides of the sleeve shells. The balance weight of the robot when the robot travels on the stairs is adjusted, and the capacity of adjusting the balance weight according to the displacement traveling direction is achieved.

1. The name of the design product: toy transforming robot (King Kong). 2. The use of the design product: children's toys, for people to play. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective drawing.

1. The name of the design product: Transforming robot toy (spherical DIY disassembly 5 in 1). 2. The use of the design product: for toys. 3. The design features of the design product: in shape. 4. The picture or photo that best indicates the design features: perspective view 1.

The utility model relates to an electric hand cannon for a transformable robot, comprising a shell (2), a gun barrel (1) located at the front end of the shell (2), and a gun tail (3) located at the rear end of the shell (2); the gun barrel (1) comprises a shell (11), a steering gear located inside the shell (11), a cannonball launching mechanism (13), and a gear (12) located outside the shell (11); the steering gear is fixedly connected to the gear (12) through screws, and when the robot is working, the steering gear transmits power (rotational motion) to the gear (12), and the gear (12) cooperates with a rack (25) on the shell (11) to push the gun barrel (1) to automatically move forward and backward; the gun tail (3) comprises a gun tail shell (31), and a circuit board (32) with a lamp bead and a spring wire (33) are arranged in the gun tail shell (31), and the spring wire (33) provides electric energy for the gun barrel moving forward and backward. The electric gun barrel of the utility model can automatically extend and retract and semi-automatically launch cannonballs, thereby increasing the fun of the robot.

1. Name of the product in this design: Toy (Planet Transforming Robot). 2. Purpose of this design: for children to play with. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

1. Name of the product in this design: Toy (Transforming Combining Robot). 2. Purpose of this design: A transforming robot toy for children's entertainment or play. 3. The key design features of this product are its overall shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

1. The name of the product of this design: Toy Transformer Robot (Fire Fighter Four). 2. Purpose of the product of this design: children's toy, for people to play with. 3. The design key point of this appearance design product lies in the shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture.

1. The name of the product of this design: Toy transformable robot (grasshopper). 2. Purpose of the product of this design: transformable robot toy. 3. The design key point of this appearance design product lies in the shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture.

1. Name of the product in this design: Toy (Ice Cream Transforming Robot). 2. Intended use of this design: Toy. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The invention provides a robot and a robot system capable of suppressing deformation of a second arm. The robot includes: a base; a first arm that rotates about a first rotation axis with respect to the base; the second arm rotates around a second rotating shaft relative to the first arm; and a connector exposed at an outer side of the second arm. In addition, the second arm has: an arm base; a frame fixed to the arm base and provided with a connector; and a first support member and a second support member fixed to the arm base and supporting the frame. Furthermore, the frame extends in the extension direction of the second arm, is fixed to the arm base at a base end portion located on the base end side of the second arm, has a cantilever beam shape in which a distal end portion becomes a free end separated from the arm base, and is supported by the first support member and the second support member at a portion closer to the distal end side of the second arm than the connector.

1. The name of this design product: Toy Transforming Robot (Phoenix). 2. The purpose of this design product: a transforming robot for people to play with. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture.

1. Name of the design product: Toy (Transformable Robot Jinyi Guard). 2. Use of the design product: This design product is used for children to play with. 3. Design key points of the design product: Lies in the shape. 4. Picture or photo that best shows the design key points: Three-dimensional view.

1. The name of the product of this design: Toy transformable robot (Rhino). 2. Purpose of the product of this design: children's toy, for people to play with. 3. The design key point of this appearance design product lies in the shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture.

1. Name of the designed product: Toy (Tianpi transformation robot). 2. Use of the designed product: Toy. 3. Design points of the designed product: in shape. 4. Picture or photo that best shows the design points: front view.

The utility model discloses a combined transformation robot, which is characterized by comprising a main trunk, a main body, a main body, a main body and an auxiliary body, the first head part is rotationally arranged at the upper end of the main trunk, can rotate up and down relative to the main trunk and can be rotationally accommodated in the concave cavity; the two upper limb components are symmetrically arranged on the two sides of the main trunk, each upper limb component comprises a shoulder part, an arm limb and a first supporting part which are sequentially and rotationally connected, the shoulder parts are rotationally arranged on the main trunk and can longitudinally rotate and move relative to the main trunk, and the arm limbs can transversely rotate and move relative to the shoulder parts; the first supporting part can rotate up and down relative to the arm limb; a lower limb member; the two branch bodies are symmetrically arranged on the two sides of the main trunk, each branch body comprises a first branch body and a second branch body, the first branch bodies and the second branch bodies are sequentially and rotationally connected, the first branch bodies are rotationally arranged on the main trunk and can longitudinally rotate and move relative to the main trunk, and the second branch bodies can transversely rotate and move relative to the first branch bodies; the first hand decorating part is detachably connected to one side of the arm limb in a clamped mode.

1. The name of the design product: toy transforming robot (dragon). 2. The use of the design product: children's toys, for people to play. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: perspective drawing.

1. Name of the product in this design: Toy (Cake Transforming Robot). 2. Intended use of this design: for toys. 3. The key design feature of this product is its shape. 4. Images or photos that best illustrate the design highlights: Refer to Figure 2 for usage status.

The present invention relates to a robot moving mechanism, specifically, an adaptive deformable robot moving platform, wherein the head module, the middle module and the tail module are all covered with tracks, the two ends of the head module are respectively provided with a driving device and a pitch device, the driving device of the head module drives the track of the head module to move, and the output end of the pitch device of the head module is connected to the middle module; the two ends of one side of the middle module are respectively provided with a driving device and a pitch device, the two ends of the other side are respectively provided with a driving device and a driven device, the two ends of the tail module are respectively provided with a driving device and a driven device, and a locking device is installed on the tail module, the driving devices on both sides of the middle module drive the track of the middle module to move, the driving device of the tail module drives the track of the tail module to move, and the output end of the pitch device of the middle module is connected to the locking shaft in the locking device. The present invention has the characteristics of being deformable, modular, highly adaptable, easy to install and precisely controlled.

The invention relates to the technical field of transformation toys, in particular to a storable truck transformation robot toy which comprises a transformation robot body, the transformation robot body comprises two transformation forms including a truck form and a robot form, and when the transformation robot body is in the truck form, the transformation robot body is in the robot form. The robot comprises a vehicle head capable of being transformed into a robot hand structure, a vehicle body internally provided with a robot trunk and a head structure, a vehicle frame used for being transformed into a robot leg structure and a compartment with a storage function, and the vehicle head and the vehicle body are movably connected through a first steering engine; the vehicle body and the vehicle frame are movably connected by arranging a second steering engine; the carriage is detachably connected to the frame, a chassis frame is arranged at the bottom end of the carriage, and a plurality of wheels are movably connected to the bottom end of the chassis frame and the bottom end of the frame. The truck transformation robot toy has two transformation forms of a truck and a robot, is convenient to transform, and can be suitable for children of more age groups to play.

A flexible transducer is responsive to an electrical circuit for rupturing or perforating a substrate material with a printed trace defining a circuit element. The substrate defines a fluidic seal or valve on a vessel for controlling fluidic communication with the vessel. The control circuit delivers an electrical flow across the trace for inducing an arc or current flow sufficient to melt the substrate and allow the fluid to pass through a formed perforation. Flexible construction of the substrate and vessel are amenable to usage in soft-bodied robots. A flexible polymer such as TPU (Thermoplastic Polyurethane) may receive a printed conductive ink in thermal communication with the substrate from a current flow or voltage arc along the substrate. Controlled passage of a gas through the perforation provides a valve or fluid release in a deformable robotic configuration.

1. Name of the product in this design: Toy (Xuanka Fighter - Train Transforming Robot 4). 2. Purpose of this design: This design is intended for children to play with. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D view of the assembled state.

1. Name of the Design Product: Toy (Transformable Robot 6). 2. Use of the Design Product: For toys. 3. Design Key Points of the Design Product: Lies in the shape. 4. Picture or Photograph that Best Illustrates the Design Key Points: Perspective view.