CN207045490U - A kind of spherical Bian Bao robots - Google Patents

Abstract

The utility model belongs to the field of robots and discloses a spherical metamorphic robot. The robot includes a support frame, a telescopic component, an upper limb component and a lower limb component. The support frame is the carrier of other components, including the upper and lower guide rail plates, the main steering gear and the gear transmission mechanism, and the telescopic rod in the telescopic component is connected to the track on the guide rail plate. The main servo drives the gear transmission mechanism to drive the telescopic rod to perform telescopic movement along the track direction of the guide rail plate. The upper limb is connected to the support platform, and the lower limb is connected to the telescopic rod. The upper limb component and the lower limb component respectively contain two joints, and each joint has its own corresponding Driven by the steering gear, so as to realize the movement of multiple degrees of freedom. Through the utility model, two kinds of motions of the footed and rolling movements of the spherical metamorphic robot are realized, which is suitable for various terrains, has stable metamorphosis, convenient control and simple structure.

Description

A spherical metamorphic robot

technical field

The utility model belongs to the field of robots, and more specifically relates to a spherical metamorphic robot.

Background technique

With the continuous development of science and technology and the economy, spherical robots are favored by the majority of science enthusiasts due to their advantages of small size, good sealing and strong self-recovery. The research investment is increasing year by year, and its research results are becoming more and more popular The field replaces human beings in security inspection patrols, submarine detection, military firefighting and other work. However, some practitioners have observed that with the expansion of the scope of human activities and the deepening of the exploration stage, in some complex and changeable environments, such as rugged mountain roads, the common simple spherical mobile robot is not conducive to practical applications. Therefore, The concept of spherical reversible robot is proposed, which can change the shape and structure according to different environments, and improve the adaptability of the robot to the environment.

As far as the current development status of spherical deformable robots is concerned, most of the robots with both rolling and bionic walking are still in the conceptual design stage. The reasons are briefly summarized as follows: (1) The spherical robot is a relatively new form of mobile robot, and the related technology is still in the research stage, and the driving mode and control technology need to be improved. (2) The spherical robot and the legged robot have structural differences. There are large differences, and it is difficult to preserve their respective advantages after combination. Therefore, a robot that can take into account various sports abilities well will become a mobile carrier with strong adaptability and practicality in various environments.

At present, there are many studies on spherical deformable robots. The Chinese utility model patent application number CN201310683706.8 records a deformable robot with a wide range of adaptability and strong scalability. It can be realized by driving six external gears through the central gear. Deformation, but it must have high gear processing and installation accuracy, otherwise it is prone to tooth loss, jamming and other phenomena. Its hexapod structure is divided into two groups spaced apart from each other, which can realize foot walking through alternating movements between feet, Rolling can also be achieved with the help of the support force generated by the body swinging in contact with the ground, but its rolling speed is low and the control is difficult; the Chinese utility model patent with the application number CN201310476310.6 records a spherical shell module , a foot module, a drive module, a counterweight module and an additional function module to form a robot with rolling and foot-like walking functions. Terrain adaptability, but it relies on quadrupeds to walk, due to the small swing angle, slow movement speed, low obstacle surmounting ability, and poor environmental adaptability; the Chinese utility model patent with application number CN201410546977.3 records a flight module and The walking module is a ground-air amphibious spherical metamorphic robot based on the principle of metamorphosis. The flight module is driven by a worm gear motor and four sets of symmetrically arranged linkage mechanisms realize the autonomous folding of the frame, so as to adapt to the robot's undeformed spherical shape and land Different requirements for its structure in the three states of habitat and air habitat, its walking module is based on a quadruped robot with 8 degrees of freedom, the movement speed of the legged state is slow, and the ability to overcome obstacles is low; the application number is CN201410223732.7 Chinese utility model patent , which records a kind of fast steering spherical robot composed of 8 pairs of spherical ball feet on both sides, 8 pairs of ball foot linkage mechanisms, two ball foot drive mechanisms, a central spherical wheel frame and a central pendulum mechanism. The structure is simple, the driving device is composed of two high-torque steering gears and a brushless motor, the rolling is driven by the central pendulum mechanism to change the center of gravity, and the speed is relatively fast, and the steering is driven by two steering gears through 8 pairs of spherical connecting rods and 8 pairs of spherical surfaces The steering is smooth and flexible, but it can only adapt to relatively flat terrain.

At present, there are some real spherical transformable robots, such as the Morphex spherical deformation robot made by Norwegian engineer Zenta in his spare time. At present, three generations have been developed. Their deformation is driven by the central steering gear to drive the main gear and six legs at the same time. The rotation of the fixed external gear is realized, and the six legs are controlled by one steering gear. Therefore, the torque of the steering gear must be large enough, and the machining and installation precision of the gears must be high, otherwise, it is easy to lose teeth and get stuck. Another example is Sun Zhangjun of Beijing Institute of Technology, etc. proposed a variable structure robot with three basic motion forms of spherical, turbofan and wheel. This robot has the characteristics of strong mobility and good protection, but it is mainly suitable for The terrain is flat, and the movement is jumpy when the turbofan is in the wheel state.

Utility model content

Aiming at the above defects or improvement needs of the prior art, the utility model provides a spherical metamorphic robot, through the setting of the support frame, the telescopic assembly, the upper limb assembly and the lower limb assembly structure, thereby solving the two problems of the spherical robot leg type and rolling. The technical issues of the simultaneous realization of the movement.

In order to achieve the above purpose, according to one aspect of the present invention, a spherical metamorphic robot is provided, which includes a support frame, a telescopic assembly, a plurality of upper limb assemblies and lower limb assemblies, and is characterized in that,

The support frame includes a disc-shaped support platform, an upper guide rail plate and a lower guide rail plate from top to bottom, and the upper guide rail plate and the lower guide rail plate are evenly provided with a plurality of outwardly extending tracks in the circumferential direction. , a plurality of main steering gears are arranged between the upper guide rail plate and the lower guide rail plate, and the main steering gears are connected with the gear transmission mechanism;

The telescopic assembly includes an upper swivel frame and a lower swivel frame, the upper swivel frame and the lower swivel frame are respectively provided with a plurality of upper telescopic rods and lower telescopic rods, and each telescopic rod is respectively connected to the corresponding track. The main steering gear drives the gear transmission mechanism, thereby driving the upper rotating frame to rotate, thereby making the upper telescopic rod and the lower telescopic rod move along the track respectively;

The upper limb assembly includes a first steering gear, a first rotating shaft, a bracket, a second steering gear, a second rotating shaft and an upper spherical shell, the first steering gear is connected to the bracket through the first rotating shaft to form a first joint, The first steering gear drives the bracket to move up and down around the first rotating shaft, the second steering gear is connected with the upper spherical shell through the second rotating shaft to form a second joint, and the second steering gear drives the upper ball The shell rotates around the second rotation axis. In addition, the first steering gear is connected to the support platform for fixing the upper limb assembly on the support frame;

The lower limb assembly includes a third steering gear, an oblique U-shaped bracket, a fourth steering gear, an arc rod and a lower spherical shell, and the upper end of the third steering gear is fixed on the upper telescopic rod through the steering gear disc of the steering gear The lower end of which is fixed on the lower telescopic rod, one end of the oblique U-shaped bracket is fixed on the third steering gear, and the steering gear of the third steering gear, the oblique U-shaped bracket and the fourth steering gear The steering plate constitutes a third joint, the third steering gear and the oblique U-shaped bracket move around the steering gear disc of the third steering gear, and the other end of the oblique U-shaped bracket is connected with the fourth steering gear to form a In the fourth joint, the fourth steering gear is connected to the lower spherical shell through the arc rod, and the fourth steering gear drives the lower spherical shell to move up and down around the fourth rotation axis.

Further preferably, the number of upper limb components is three, and the number of lower limb components is six.

In order to reduce the overall weight, considering that only the lower limb components are used for foot walking, the upper limb components should be started. The number of lower limbs in common legged robots exists in even numbers, such as bipeds, quadrupeds, hexapods, and octapeds. If the number of legs is too small, it is difficult to maintain balance, and if the number of legs is too large, it will be difficult to control. Considering the actual application site Based on laboratory research, hexapods are preferred, and the upper limbs are mainly used to cover the upper half of the sphere and roll. Since the number of lower limbs is six, to ensure coordination with the lower limbs, it is obvious that the number of upper limbs is three. At the same time, the simulation And the experiment proves that this design can complete rolling and foot walking very well.

Further preferably, the support platform is connected to the upper rail plate by a support rod, and the upper rail plate and the lower rail plate are connected by a support plate.

The design of the support rod is to fix the support platform and ensure the activity space of the upper limbs. Due to the structural design of the robot's internal support frame and telescopic components, the size of the containing sphere is limited, and the height of the support rod is too low. When the upper limbs are stretched, the sphere will collide with the internal mechanism. The bow-shaped design of the support plate is to connect the lower guide rail plate and provide enough stable support to ensure that the telescopic assembly will not be affected by too much deformation when moving along the track on it. Both designs improve the overall motion performance of the robot.

Further preferably, the upper rotating frame and the lower rotating frame, and the upper telescopic rod and the lower telescopic rod are respectively fixedly connected through support rods, so that the upper telescopic rod and the lower telescopic rod move synchronously.

The design of the support rod is because the rotating frame needs to be rotated 100° to complete all metamorphic actions, and the support rod passes through the upper guide rail plate with three spokes, so the number is preferably three. Too many will affect the movement, and too few will not guarantee The stability of the swivel frame. The design of the support rod is to reduce the deflection of the telescopic rod, reduce the deformation, and ensure the movement performance of the mechanism. Likewise, both designs improve the overall kinematic performance of the robot.

Further preferably, between the second steering gear and the upper spherical shell, between the fourth steering gear and the lower spherical shell, an arc-shaped upper spherical connecting piece and a lower spherical connecting piece are respectively provided for the upper , The inner surface of the lower spherical shell is bonded.

The upper and lower spherical connecting pieces are designed to connect plane parts and spherical parts, avoiding the inconvenient and unreliable direct installation of pure spherical and plane parts. This design improves the reliability of the connection.

Further preferably, the bottom end of the arc-shaped rod is provided with foot pads, and the foot pads are used to contact the ground when the spherical metamorphic robot walks on the ground.

The foot pad is designed to increase friction and prevent slipping, and the material of the foot pad is wear-resistant rubber, which can prolong the service life, and it is fixed with bolts for easy installation and replacement. This design improves the legged locomotion performance of the robot and improves the reliability of the lower limb components.

Further preferably, a steering gear support frame is provided inside the upper guide rail plate and the lower guide rail plate for placing the main steering gear, and the upper guide rail plate of the steering gear and the steering gear support frame are connected by a support rod.

The design of the steering gear support frame is to fix the main steering gear and connect the upper rail plate, and its design considers the installation size of the steering gear. This structure replaces three multifunctional steering gear brackets and their connecting devices, which reduces the overall weight and improves the overall motion performance of the robot.

Further preferably, the upper and lower guide rail plates are respectively connected to the upper and lower telescopic rods through flange bearings.

The flange bearing connection is designed to support the telescopic rod and reduce the coefficient of friction with the guide rail. This design prolongs the life of the upper and lower guide rail plates and improves the reliability of the telescopic assembly.

Further preferably, a battery fixed by a fixing plate is also arranged under the lower guide rail plate.

The battery is placed on the bottom, which lowers the overall center of gravity of the robot during walking motion. This design increases the stability of the robot and improves the foot movement performance of the robot.

Generally speaking, compared with the prior art, the above technical solutions conceived by the utility model can achieve the following beneficial effects:

1. The utility model adopts a lightweight design and uses a small driving force to cause a large displacement of the center of gravity, so the rolling movement speed is relatively fast; changing the direction of the center of gravity offset can realize rolling in different directions , and the change of direction only needs to be realized by controlling the swing sequence of the upper and lower limbs divided into three groups, so the control is relatively simple;

2. The spherical robot provided by the utility model is a hexapod and uses a triangular gait to walk. Due to the use of telescopic components, the swing angle of the lower limbs is greatly improved, and its own weight is relatively light due to the lightweight design, so the foot movement The speed has been improved, the ability to overcome obstacles has been improved, and the environmental adaptability has been enhanced;

3. The spherical robot provided by the utility model can adapt to relatively rugged terrain due to the improvement of its ability to overcome obstacles;

4. The utility model continuously controls the opening angles of the upper spherical surface and the lower spherical surface through the second and fourth steering gears respectively, so that the robot keeps in close contact with the ground, making the rolling motion smoother, and avoiding the fixed curved surface structure of the turbofan wheel state , causing the robot to intermittently touch the ground to generate jumps.

Description of drawings

Fig. 1 is a schematic diagram of the walking state structure of a spherical metamorphic robot constructed according to a preferred embodiment of the present invention;

Fig. 2 is the bottom view of the walking state of the spherical metamorphic robot constructed according to the preferred embodiment of the present invention;

Fig. 3 is a schematic structural view of the rolling state of the spherical metamorphic robot constructed according to the preferred embodiment of the present invention;

Fig. 4 is a schematic structural view of a spherical metamorphic robot support frame and a telescopic assembly constructed according to a preferred embodiment of the present invention;

Fig. 5 is a schematic structural diagram of the extended state of the telescopic assembly of the spherical metamorphic robot constructed according to a preferred embodiment of the present invention;

Fig. 6 is a schematic structural diagram of the shrinkage state of the telescopic assembly of the spherical metamorphic robot constructed according to a preferred embodiment of the present invention;

Fig. 7 is a schematic diagram of the internal structure of the support frame of the spherical metamorphic robot constructed according to the preferred embodiment of the present invention;

Fig. 8 is a front view of the supporting frame structure of the spherical metamorphic robot constructed according to the preferred embodiment of the present invention;

Fig. 9 is a schematic structural diagram of the lower limb assembly of a spherical metamorphic robot constructed according to a preferred embodiment of the present invention;

Fig. 10 is a schematic structural diagram of the upper limb assembly of the spherical metamorphic robot constructed according to the preferred embodiment of the present invention.

Throughout the drawings, the same reference numerals are used to designate the same elements or structures, wherein:

11-support platform 12-steering gear support frame 13-multifunctional steering gear bracket 14-upper rail plate 15-lower rail plate 16-main steering gear 17-gear transmission mechanism 18-support rod 19-support plate 21-upper rotating frame 22-lower rotating frame 23-upper telescopic rod 24-lower telescopic rod 31-first steering gear 32-first rotating shaft 33-bracket 34-second steering gear 35-second rotating shaft 36-upper spherical connecting piece 37- Upper spherical shell 41-third steering gear 42-oblique U-shaped bracket 43-fourth steering gear 44-arc rod 45-lower spherical shell 46-serving gear disc 47-foot pad 48-lower spherical connecting piece 50-fixing plate 51-battery

detailed description

In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the utility model. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute conflicts with each other.

Fig. 1 is a schematic diagram of the walking state structure of the spherical metamorphic robot built according to the preferred embodiment of the present invention. The robot includes a support frame, telescopic components, upper limb components and lower limb components, and its specific structure is as follows:

The support frame is divided into three layers, the uppermost layer is the support platform 11, the middle layer is the upper guide rail plate 14, the lowermost layer is the lower guide rail plate 15, the support platform and the upper guide rail plate are connected by a support rod 18, the upper guide rail plate and the lower guide rail The plates are connected by a support plate 19, and six tracks are respectively arranged on the outer circumference of the upper guide rail plate and the lower guide rail plate, and a steering gear support frame 12 is arranged inside the upper guide rail plate 14 and the lower guide rail plate 15, and on the steering gear support frame Three main steering gears 16 are fixed, and pinion gears are arranged above the circular steering gear disc 46 of the three main steering gears, and the pinion gears mesh with the main gear to form a gear transmission mechanism 17. The fixed plate 50 connected by the support rod 18 and the fixed battery 51, the battery is a lithium battery;

The telescopic assembly includes an upper swivel frame 21 and a lower swivel frame 22. Six telescopic rods are evenly arranged on the upper and lower swivel plates, and each telescopic rod is connected to the corresponding track through flange bearings. The upper and lower swivel frames, the upper , the lower telescopic rods are respectively connected by support rods 18, the main gear is connected with the upper swivel frame, the main steering gear 16 drives the circular steering gear disc 46 to rotate, and the upper telescopic rod 23 is driven to rotate by the gear transmission mechanism 17, so that the telescopic rod Telescopic movement along the track direction of the upper and lower guide rails;

The upper limb assembly includes a first steering gear 31, a first rotating shaft 32, a bracket 33, a second steering gear 34, a second rotating shaft 35 and an upper spherical shell 37, and the first steering gear is connected with the bracket through the first rotating shaft to form a first steering gear. Joint, the first steering gear drives the bracket to move up and down around the first rotation axis, the second steering gear connects with the upper spherical shell through the second rotation shaft to form a second joint, the second steering gear drives the upper spherical shell to rotate around the second rotation axis, In addition, the first steering gear is connected to the support platform 11 for fixing the upper limb assembly on the support frame, and an upper spherical connecting piece 36 is arranged between the second steering gear and the upper spherical shell, and the upper surface of the spherical connecting piece is arc-shaped. To be attached to the inner surface of the upper spherical shell;

The lower limb assembly includes a third steering gear 41, an oblique U-shaped bracket 42, a fourth steering gear 43, an arc rod 44 and a lower spherical shell 45. On the rod 23, its lower end is fixed on the lower telescopic rod 24, and one end of the oblique U-shaped support is fixed on the third steering gear, and the third steering gear, the oblique U-shaped bracket and the circular steering gear disc of the fourth steering gear constitute the third joint , the third steering gear and the inclined U-shaped bracket move around the circular steering gear plate of the third steering gear, and the other end of the oblique U-shaped bracket is connected with the fourth steering gear to form the fourth joint, and the fourth steering gear passes through the arc rod Connected with the lower spherical shell, the fourth steering gear drives the lower spherical shell to move up and down around the fourth rotation axis. The bottom end of the arc rod is provided with foot pads 47, which are used to contact the ground when the spherical robot walks on the ground. A lower spherical connecting piece 48 is arranged between the fourth steering gear and the lower spherical shell. The upper surface of the spherical connecting piece is arc-shaped, and is used for laminating with the inner surface of the lower spherical shell.

Fig. 2 is a bottom view of the walking state of the spherical metamorphic robot constructed according to the preferred embodiment of the present invention. As shown in Fig. 2, the symmetrical distribution of the cross-section of the robot can be shown, so that the center of gravity is on the central axis. The two lower spherical shells correspond to one upper spherical shell, which can be combined into one action group during rolling motion.

Fig. 3 is a schematic structural view of the rolling state of the spherical metamorphic robot built according to the preferred embodiment of the present invention. As shown in Fig. 3, the upper and lower spherical shells are opened 5° to the outside to ensure that there is a larger contact area with the ground. Easy to pour. The upper foot mechanism and the corresponding two lower foot mechanisms form a basic action group, and the actions of the three action groups are executed periodically to achieve a specific function. The main principle is to change the position of the center of gravity of the robot by pedaling alternately on the left and right sides. By controlling the sequence of pedaling, the center of gravity is tilted forward, backward, left and right. frequency to achieve acceleration and deceleration control.

Fig. 4 is a schematic structural view of the spherical metamorphic robot support frame and telescopic assembly constructed according to a preferred embodiment of the present invention. As shown in Fig. 4, the parallel gear drives the metamorphic gear to drive the metamorphic rotating frame so that the telescopic rod moves along the guide rail Motion, converting rotation into linear motion to realize metamorphosis. The end cover bearing at the moving pair can reduce friction and increase the service life of the robot.

Fig. 5 is a schematic diagram of the structure of the extended state of the telescopic assembly of the spherical metamorphic robot constructed according to the preferred embodiment of the present invention. As shown in Fig. 5, the retractable rod is driven to move along the guide rail to the farthest point, and the center of gravity of the robot is the lowest at this time. The triangle formed by the three lower feet is the largest and the most stable when standing.

Fig. 6 is a schematic structural diagram of the shrinkage state of the telescopic assembly of the spherical metamorphic robot constructed according to a preferred embodiment of the present invention. overall weight.

Fig. 7 is a schematic diagram of the internal structure of the spherical metamorphic robot support frame constructed according to the preferred embodiment of the present invention. As shown in Fig. 7, the symmetrical design is fully utilized, and all relatively static mechanisms are fixed together, increasing the institutional stability.

Fig. 8 is a front view of the supporting frame structure of the spherical metamorphic robot constructed according to the preferred embodiment of the present invention. As shown in Fig. 8, the space is also reduced as much as possible under the premise of ensuring the flexibility of movement in the vertical direction .

Fig. 9 is a schematic diagram of the structure of the lower limb assembly of the spherical metamorphic robot constructed according to the preferred embodiment of the present invention. As shown in Fig. 9, it imitates the leg structure design of a two-joint hexapod reptile, and can walk with a triangular gait . The arc-shaped structure of the arc-shaped rod ensures a close fit with the spherical surface, and the weight-reducing hole in the middle reduces the weight.

Fig. 10 is a schematic diagram of the structure of the upper limb assembly of the spherical metamorphic robot constructed according to the preferred embodiment of the present invention. As shown in Fig. 10, the three upper foot mechanisms are symmetrically installed on the upper foot support platform so that the center of gravity is located in the middle. The design of the connecting part of the supporting platform and the design of six weight-reducing holes ensure the strength of the structure while reducing the weight.

The utility model can be used for a flat road surface with a slope not greater than 30 degrees and a rugged road surface with an obstacle height less than 5 centimeters. Because the robot metamorphosis is stable, reliable, and light in weight, it can be used to carry out tasks that require a high success rate, and because of its simple structure and convenient control, it can be used as an entry-level research platform for spherical robot enthusiasts.

Those skilled in the art can easily understand that the above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements and modifications made within the spirit and principles of the present utility model Improvements and the like should all be included within the protection scope of the present utility model.

Claims (9)

1. A spherical metamorphic robot, the robot includes a support frame, telescopic components, a plurality of upper limb components and lower limb components, characterized in that, Described support frame comprises disc-shaped support platform (11), upper guide rail plate (14) and lower guide rail plate (15) from top to bottom, and this upper guide rail plate and lower guide rail plate are uniformly arranged on the circumferential direction A plurality of outwardly extending tracks, in addition, a plurality of main steering gears (16) are arranged between the upper guide rail plate and the lower guide rail plate, and the main steering gear is connected with the gear transmission mechanism (17); The telescopic assembly includes an upper swivel frame (21) and a lower swivel frame (22), which are respectively provided with a plurality of upper telescopic rods (23) and lower telescopic rods (24), each telescopic rod respectively connected with the respective corresponding tracks; The upper limb assembly includes a first steering gear (31), a first rotating shaft (32), a bracket (33), a second steering gear (34), a second rotating shaft (35) and an upper spherical shell (37), so The first steering gear (31) is connected with the bracket (33) through the first rotation shaft (32) to form a first joint, the first steering gear drives the bracket to move up and down around the first rotation shaft, and the second steering gear drives the bracket to move up and down around the first rotation shaft. The steering gear (34) is connected with the upper spherical shell (37) through the second rotating shaft (35) to form a second joint, and the second steering gear drives the upper spherical shell to rotate around the second rotating shaft. In addition, the The first steering gear (31) is connected to the support platform (11), and is used to fix the upper limb assembly on the support frame; The lower limb assembly includes a third steering gear (41), an oblique U-shaped bracket (42), a fourth steering gear (43), an arc rod (44) and a lower spherical shell (45), and the upper end of the third steering gear The steering wheel (46) of the steering gear is fixed on the upper telescopic rod (23), its lower end is fixed on the lower telescopic rod (24), and one end of the oblique U-shaped support (42) is fixed on the On the third steering gear (41), the third steering gear, the oblique U-shaped bracket and the steering gear disc (46) of the fourth steering gear constitute a third joint, and the third steering gear (41) and the oblique U-shaped bracket (42) moves around the steering gear disc (46) of the third steering gear, and the other end of the oblique U-shaped bracket (42) is connected with the fourth steering gear to form a fourth joint, The fourth steering gear is connected with the lower spherical shell (45) through the arc rod (44), and the fourth steering gear drives the lower spherical shell to move up and down around the fourth rotation axis. 2 . The spherical metamorphic robot according to claim 1 , wherein the number of upper limb components is preferably three, and the number of lower limb components is preferably six. 3 . 3. A kind of spherical metamorphic robot as claimed in claim 1 or 2, characterized in that, adopt a support rod (18) to connect between the support platform (11) and the upper guide rail plate (14), and the upper guide rail Adopt support plate (19) to connect between plate and lower guide rail plate. 4. A kind of spherical metamorphic robot as claimed in claim 1, characterized in that, the upper rotating frame (21) and the lower rotating frame (22), the upper telescopic rod (23) and the lower telescopic rod (24) They are respectively fixedly connected by support rods (18), so that the upper telescopic rod and the lower telescopic rod move synchronously. 5. A spherical metamorphic robot as claimed in claim 1, characterized in that, between the second steering gear and the upper spherical shell, between the fourth steering gear and the lower spherical shell are respectively provided with The arc-shaped upper spherical connecting piece (36) and the lower spherical connecting piece (48) are used for bonding the inner surfaces of the upper and lower spherical shells. 6. a kind of spherical metamorphic robot as claimed in claim 1, is characterized in that, the bottom end of described arc bar is provided with foot pad (47), and when spherical metamorphic robot walks on the ground, described foot pad uses in contact with the ground. 7. a kind of spherical metamorphic robot as claimed in claim 1, is characterized in that, described upper guide rail plate and lower guide rail plate inside are respectively provided with steering gear support frame (12), for placing described main steering gear ( 16), the steering gear support frame and the upper rail plate are connected by a support rod (18). 8 . The spherical metamorphic robot according to claim 1 , wherein the upper and lower rail plates and the upper and lower telescopic rods are respectively connected by flange bearings. 9 . The spherical metamorphic robot according to claim 1 , wherein a battery ( 51 ) fixed by a fixing plate ( 50 ) is further arranged under the lower rail plate. 10 .