The invention relates to a transformation robot, which belongs to the technical field of robots, and is characterized in that the transformation robot consists of a movement mechanism, a transformation mechanism, an execution motor and a machine body, and can be switched among four feet, four wheels, two feet and two wheels. The movement mechanism is composed of four four-bar mechanisms and serves as limbs of the robot, and switching of a wheel type and a foot type of the movement mechanism is achieved through the four-bar mechanisms driven by an execution motor. The deformation mechanism is composed of five hinge mechanisms; standing and bending of the robot body are achieved in the mode that an execution motor drives a robot waist hinge mechanism to rotate and drives an execution motor connected with posterior limbs. The switching between four feet and two feet is realized by standing and bending over of the machine body; in addition, according to the robot, the limbs can transversely swing through hinge mechanisms installed between the limbs and the robot body, and therefore transverse movement of the robot is achieved. Switching of multiple motion modes can be achieved, and the motion flexibility and practicability of the robot are improved.

    本发明涉及一种变形机器人,属于机器人技术领域,其特征在于:一种变形机器人,由运动机构、变形机构、执行电机和机身组成,可在四足、四轮、双足、双轮之间切换。所述运动机构是四个四连杆机构,作为机器人的肢体,其轮式与足式的切换依靠执行电机驱动的四连杆机构实现;所述变形机构由五个合页机构组成;所述机身的站立与趴俯通过执行电机驱动机器人腰部合页机构的旋转运动和与后肢相连执行电机的驱动实现;四足与双足的切换依靠机身的站立与趴俯实现;另外,该机器人还可以通过安装于肢体与机身之间的合页机构使肢体发生横向摆动,从而使机器人实现横向运动。本发明可以实现多种运动方式的切换,提高了其运动灵活性与实用性。


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    Title :

    Transformation robot


    Additional title:

    一种变形机器人


    Contributors:
    XUE YONGJIANG (author) / SONG SHUAI (author) / WU SHUANG (author) / ZHANG BAOJIA (author) / SUN XIAOFEI (author) / LIU JIAN (author) / XIAO XUAN (author)

    Publication date :

    2022-08-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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