CN108421263B

CN108421263B - Deformation robot, deformation method thereof and combined steering engine resetting method

Info

Publication number: CN108421263B
Application number: CN201810259218.7A
Authority: CN
Inventors: 陈小森
Original assignee: Robosen Robot Shenzhen Co ltd
Current assignee: Robosen Robot Shenzhen Co ltd
Priority date: 2018-02-11
Filing date: 2018-03-27
Publication date: 2023-06-23
Anticipated expiration: 2038-03-27
Also published as: CN108371820A; CN208081848U; CN108421263A; CN208340114U; CN108371820B

Abstract

The utility model provides a deformation robot which comprises a body, a head mechanism connected to the upper part of the body, arm mechanisms connected to two sides of the upper part of the body and leg mechanisms connected to two sides of the lower part of the body, wherein the body is connected with the leg mechanisms and the arm mechanisms through joints in a rotating manner; the outer side of the leg mechanism is provided with a rear wheel, and the outer side of the arm mechanism is provided with a front wheel; the robot is rotationally transformed into a human shape or a vehicle shape through a steering engine driving joint.

Description

Deformation robot, deformation method thereof and combined steering engine resetting method

Technical Field

The utility model relates to the field of robots, in particular to a deformation robot, a deformation method thereof and a combined steering engine resetting method.

Background

With the development of modern technology, the robot product with multiple degrees of freedom free motion and rapid deformation is rapidly developed. The deformation robots on the market at present are used for realizing the transformation of the robots and the shapes of automobiles or other structures. The Chinese patent with the application number of CN201210179130.7 discloses a technology disclosed in a deformation robot toy, which is as follows: the support is taken as the main central part of the whole chariot, the main central part plays a role of connecting all the components into a whole, the body shell is skillfully connected to the support through various mechanisms, the vehicle roof can be lifted and rotated on the support, the two arms can respectively rotate back and forth and deviate left and right on the support, and the two legs can respectively rotate and independently stretch and deform on the bottom end of the support. The supporting force of the deformation standing point of the deformation robot is completely in the leg, so that the stress is unbalanced during deformation, the deformation supporting force of the leg is large, a motor with larger power is required to drive, the deformation speed is low, and in view of the defects, the deformation robot and a deformation method thereof are needed to be designed.

The Chinese patent with the authorized bulletin number of CN202822784U discloses a deformation structure of a vehicle deformation robot, wherein a robot body is bent to one side of a chassis of the vehicle to enable the robot body to be folded, so that the robot is deformed into the vehicle and the robot is converted into a lying posture from a standing posture, the bent and folded body is unfolded, and the vehicle is deformed into the robot and the robot is converted into the standing posture from the lying posture. Wherein: the robot bends the body downwards by bending down; the robot bends the body downwards through bending legs; the robot bends the body downwards by rotating the waist-leg joint part; the robot bends the body downward by bending down and bending down simultaneously. The utility model realizes the development needs of low cost, simplicity, reliability, remote control of vehicle deformation robot products and automatic control of vehicle deformation robot products. However, although the robot deformation in this patent can simply realize the change of the appearance form, the fundamental structural frame is unchanged, the action behavior of the robot cannot be compatible with two forms, and after the robot is deformed into the form of an adult from the form of a vehicle, the robot cannot walk in a humanoid gait and still moves through the wheels of the vehicle type.

The patent application number CN201621056591.5 discloses a 17 degree of freedom bus steering engine humanoid robot, including fuselage, support, steering engine and control panel, the steering engine passes through steering engine connecting wire and establishes ties into 1-4 lines and connects to on the control panel. When the humanoid robot in the prior art is started, all steering engines are reset to an initial state in one step. Mutual interference among all joints cannot be avoided in the resetting process, mutual collision of all joints and other parts of the robot is easy to cause, damage is caused, and potential safety hazards are easy to cause.

Disclosure of Invention

In order to overcome the defects in at least one aspect of the prior art, the utility model provides the deformation robot and the deformation method thereof, wherein the robot is bilaterally symmetrical, has 21 degrees of freedom on the whole body, has high deformation speed, flexible action and reasonable structural design, can walk in gait after being deformed into a human form, does not depend on the movement of a vehicle-shaped wheel, can be applied to the field of civil robots or industrial robots, and has profound significance for the development of intelligent robots. Meanwhile, the combined steering engine resetting method is advanced, practical and intelligent, mutual interference among all joints of the robot in the resetting process can be avoided, the service lives of the steering engine and other parts of the robot are prolonged, and the service life of the robot applying the combined steering engine resetting method is further prolonged.

The technical scheme adopted by the utility model for solving the technical problems is as follows: the deformation robot comprises a body main body, a head mechanism connected to the upper part of the body main body, arm mechanisms connected to two sides of the upper part of the body main body and leg mechanisms connected to two sides of the lower part of the body main body, wherein the body main body is connected with the leg mechanisms and the arm mechanisms through joints in a rotating manner; the outer side of the leg mechanism is provided with a rear wheel, and the outer side of the arm mechanism is provided with a front wheel; the robot is rotationally transformed into a human shape or a vehicle shape through a steering engine driving joint.

Preferably, the leg mechanism includes a leg assembly coupled to the fuselage body and a standing support assembly coupled to the leg assembly; the rear wheel is arranged on the outer side of the leg component.

In any of the above-described aspects, preferably, the main body includes a frame, an arm-driven steering engine provided in the frame and having a shaft connected to the two arm mechanisms, and a leg-driven steering engine provided in the frame and having a shaft connected to the leg assembly.

In any of the above schemes, preferably, the axis of the rotating shaft of the arm driving steering engine is perpendicular to the axis of the leg driving steering engine.

In any of the above schemes, preferably, the two arm driving steering engines drive the two arm mechanisms to rotate, and the two leg driving steering engines drive the two leg mechanisms to open and close.

The leg assembly preferably comprises a first connecting arm connected with a leg driving steering engine rotating shaft, a first steering engine connected with the first connecting arm, a second connecting arm fixedly connected with the first steering engine, a second steering engine connected with the second connecting arm, a third connecting arm fixedly connected with the second steering engine, a third steering engine fixedly connected with the third connecting arm, and a rear wheel driving steering engine arranged at the front end of the second connecting arm, wherein the rear wheel is arranged on the rotating shaft of the rear wheel driving steering engine.

Preferably, in any of the above schemes, the joint of the first connecting arm and the leg driving steering engine forms a first joint, the joint of the first steering engine and the first connecting arm forms a second joint, and the joint of the second connecting arm and the second steering engine forms a third joint.

Preferably, the standing support assembly comprises a standing connecting arm connected with a rotating shaft of the third steering engine, a standing steering engine with the rotating shaft connected with the standing connecting arm, and a support plate arranged at the bottom of the standing steering engine.

In any of the above schemes, preferably, a joint of the third steering engine and the standing connecting arm forms a standing joint, and a joint of the standing steering engine and the standing connecting arm forms a supporting joint.

In any of the above schemes, preferably, the axis of the rotating shaft of the leg driving steering engine is perpendicular to the axis of the rotating shaft of the first steering engine, and the axis of the third steering engine is perpendicular to the axis of the rotating shaft of the standing steering engine; the distance from the axis of the rotating shaft of the second steering engine to the far end of the rotating shaft is smaller than the distance from the axis of the rotating shaft of the second steering engine to the near end of the first steering engine; one end of the third steering engine is attached to the front end of the second steering engine.

The arm mechanism preferably comprises a rotating connecting piece connected with a rotating shaft of the arm driving steering engine, a rotating steering engine fixedly connected with the rotating connecting piece, a rotating connecting arm connected with the rotating shaft of the rotating steering engine, a fourth steering engine connected with the rotating connecting arm, a fourth connecting arm fixedly connected with the fourth steering engine, a fifth steering engine connected with the rotating shaft and the fourth connecting arm, and a palm part connected at the end part of the fifth steering engine; the front wheel is connected to the outer side of the rotary connecting arm.

Preferably, in any of the above schemes, the joint of the arm driving steering engine and the rotating connecting piece forms a chest-shoulder joint, the joint of the rotating steering engine and the rotating connecting arm forms an external shoulder joint, the joint of the fourth steering engine and the rotating connecting arm forms a fourth joint, and the joint of the fifth steering engine and the fourth connecting arm forms a fifth joint.

In any of the above embodiments, preferably, the end of the fifth steering engine is further provided with a support member having a length longer than that of the palm member.

In any of the above schemes, preferably, the front ends of the third connecting arms of the two-leg mechanism are respectively provided with a half-side box structure, and when the leg driving steering engine drives the two-leg mechanism to retract, the two half-side box structures form a whole box.

The front end of the main body is provided with a turning steering engine; the rotating shaft of the overturning rudder is fixedly connected with an overturning connecting arm with an L-shaped structure; the end of the turnover connecting arm is provided with an automobile engine cover.

In any of the above schemes, it is preferable that the vehicle head is provided with a door and a roof cover which can be opened and closed, a control panel is arranged in the roof cover, a power switch, a USB interface and a charging interface weapon bracket groove are arranged on the control panel, and the robot external accessory is matched with the weapon bracket groove through the weapon bracket and is mounted on the vehicle roof.

In any of the above schemes, preferably, a control circuit board connected with each steering engine circuit is arranged in the automobile head, a communication module in butt joint with a mobile phone is arranged on the control circuit board, and the deformation robot is controlled to be freely switched with other structural forms through an APP program of a user side; the control circuit board is connected with the USB interface and is used for downloading programs to the control circuit board or connecting with a computer; the control circuit board is electrically connected with the MP3 module, the MP3 module controls two speakers connected with the MP3 module to play sound, and the speakers are arranged in the doors at two sides; the control circuit board is connected with the battery and the charging interface; the battery is a rechargeable battery.

In any of the above schemes, the steering engines are preferably connected in series or in parallel, the series connection is preferably connected through a common bus by using a TTL level multilayer connection mode, and other connection modes can be selected according to actual use conditions.

In any of the above schemes, preferably, the robot finger comprises a distal knuckle, a middle knuckle and a proximal knuckle respectively, and the knuckles are connected by a buckle; the thumb near-finger joints are connected with the palm part through ball hinges, and the other four-finger near-finger joints are connected with the palm part through buckles; each joint can rotate around the connecting point.

In any of the above-described aspects, it is preferable that the deformed robot is formed in any one shape of a van, jeep, super sports car, engineering car, war chariot, tank, fighter plane, airship, laser gun, machine insect, or machine dinosaur after being folded.

A deformation method of a deformation robot, wherein the robot is transformed into a human shape or a vehicle shape through joint rotation; when the robot is in a vehicle shape, the front wheels and the rear wheels of the vehicle are grounded, the arm mechanism and the body main body are positioned below the vehicle body, the leg mechanism is bent and positioned behind the vehicle body, and the sole position faces forward to the direction of the vehicle head; when the robot is changed into a human shape from a vehicle shape, the method comprises the following steps:

(1) The fourth steering engine drives the fourth joint to rotate, and the fifth steering engine drives the fifth joint to rotate, so that the fifth steering engine contacts the ground and is supported upwards;

(2) The first steering engine drives the first joint to arch upwards; the second steering engine drives the third joint to rotate and unfold, so that the end part of the supporting plate is supported on the ground;

(3) The fifth steering engine drives the fifth joint to straighten and support the main body of the main body to rotate upwards, so that the supporting surface of the supporting plate is attached to the supporting ground;

(4) The second steering engine and the third steering engine respectively drive the third joint and the standing joint to straighten, drag the arm mechanism to be supported on the ground and move backwards to support the main body of the robot body, and simultaneously the first steering engine drives the second joint to rotate so that the deformation robot stands;

(5) The two leg driving steering gears drive the two leg mechanisms to open, and the two hand arms drive the steering gears to drive the arm mechanisms to rotate and open towards two sides, so that the robot shape is formed.

A deformation method of a deformation robot, wherein the robot is transformed into a human shape or a vehicle shape through joint rotation; the robot is in a standing state of a person when in a human shape, the leg mechanisms are splayed, and the arm mechanisms are positioned at the left side and the right side of the main body of the robot body; when the robot is changed from a human shape to a vehicle shape, the method comprises the following steps:

(1) The leg driving steering engine drives the two leg mechanisms to retract, and the arm driving steering engine drives the arm mechanism to rotate to the front end of the main body of the machine body;

(2) The first steering engine drives the second joint to bend downwards, the third steering engine drives the standing joint to rotate, and the fourth steering engine drives the fourth joint to rotate outwards so that the arm mechanism is in contact with the ground;

(3) The second steering engine drives the third joint to rotate, so that the main body and the leg assembly of the machine body incline forwards, the second joint straightens, the fifth joint bends, and the rear wheel is supported on the ground;

(4) The fourth steering engine drives the fourth joint to rotate, so that the arm mechanism is contracted at the bottom of the main body of the machine body, and the front wheel is supported on the ground;

(5) The second steering wheel drive third joint is crooked to make the laminating of third steering wheel on first steering wheel, the terminal surface laminating of backup pad and fuselage main part realizes that the robot changes into the motorcycle type from the people simultaneously.

A method for resetting a combined steering engine of a deformation robot specifically comprises the following steps: a starting detection program and a steering engine resetting calculation program are preset in the control circuit board, and each steering engine is preset at an initial position; before the robot is started, each joint is in an arbitrary position state, after the robot is started, a starting detection program starts and reads the current positions of all steering engines of the robot, a steering engine reset calculation program decomposes reset actions into multiple steps according to the real-time positions of all steering engines, and the robot is reset in a mode of avoiding interference and mutual connection, so that the condition that interference among all joints does not occur in the resetting process is ensured.

The beneficial effects of the utility model are as follows: when the deformation robot is deformed into a robot, the arm mechanism supports the body downwards, the leg mechanism and the joint connected with the body are arched upwards and bent, the end part of the leg mechanism is turned over and supported on the ground, and the body winds around the joint at the joint of the leg mechanism to rotate upwards, so that the deformation robot stands. The arm mechanism plays a supporting role on the main body of the machine body when the machine body is changed, so that the driving force of the leg mechanism when standing can be reduced, and the stress balance during the deformation can be ensured, so that the quick deformation can be realized. The robot and the deformation method thereof can change the shape of a vehicle into the shape of a person by arranging flexible joints and driving the joints by the steering engine, can change the shape of the person into the shape of the vehicle, can realize various actions of the person, such as walking, waving hands, swinging arms, dancing and the like, and have profound significance for the development of intelligent robots. The resetting method of the combined steering engine is more advanced, more practical and more intelligent. The mutual interference among all joints of the robot in the resetting process can be avoided, the service lives of the steering engine and other parts of the robot are prolonged, and the service life of the robot applying the combined steering engine resetting method is further prolonged.

Drawings

FIG. 1 is a structural view of a preferred embodiment of the deformation robot of the present utility model;

FIG. 2 is a block diagram of a preferred embodiment of a leg mechanism of the present utility model;

FIG. 3 is a block diagram of a preferred embodiment of a deformed robotic arm mechanism of the present utility model;

FIG. 4 is a block diagram of a preferred embodiment of the body of the present utility model of a deformation robot;

FIG. 5 is a schematic view of a preferred embodiment of the present utility model in which a deformation robot is changed from a human to a vehicle type;

FIG. 6 is a schematic view of a preferred embodiment of the present utility model with a deformation robot changed from a human into a vaned truck;

FIG. 7 is a view of the original structure of the deformation robot of the present utility model deformed into a boxed wagon;

fig. 8 is a structural view of the deformation robot of the present utility model after being deformed into a boxed wagon.

Fig. 9 is a view showing the roof structure of the present utility model after the deformation robot is deformed into a vaned truck.

FIG. 10 is a structural view of a preferred embodiment of the present utility model variant robotic attachment machine gun.

Fig. 11 is a structural view of a preferred embodiment of the deformed robot attachment cannon of the present utility model.

Fig. 12 is a block diagram of a preferred embodiment of the control system of the deformation robot of the present utility model.

Fig. 13 is an exploded view of a hand of a preferred embodiment of the deformation robot of the present utility model.

Fig. 14 is a schematic view of a preferred embodiment of the combined steering engine resetting process of the deformation robot of the present utility model.

Illustration of:

1-a main body of a fuselage, 10-a frame body, 100-a bonnet, 11-an arm driving steering engine, 11 b-a chest-shoulder joint, 12-a leg driving steering engine, 2-a leg mechanism, 20-a leg assembly, 200-a first connecting arm, 200a first joint, 201-a first steering engine, 201a second joint, 202-second connecting arm, 202a third joint, 203-second steering engine, 204-third connecting arm, 204a standing joint, 205-third steering engine, 206-a rear wheel driving steering engine, 21-a standing support assembly, 210-a standing connecting arm, 210a supporting joint, 211-standing steering engine, 212-supporting plate, the device comprises a 3-arm mechanism, a 300-rotating connecting piece, a 30-rotating steering engine, a 30 b-shoulder outer joint, a 31-rotating connecting arm, a 31 b-fourth joint, a 32-fourth steering engine, a 32 b-fifth joint, a 33-fourth connecting arm, a 34-fifth steering engine, a 35-palm component, a 351-far finger joint, a 352-middle finger joint, a 353-near finger joint, a 354-thumb near finger joint, a 36-supporting piece, a 4-front wheel, a 5-rear wheel, a 6-box structure, a 7-head, a 71-weapon bracket groove, a 72-power switch, a 73-USB interface, a 74-charging interface, an 8-overturning steering engine and a 9-overturning connecting arm.

Detailed Description

For a further understanding of the present utility model, reference will now be made in detail to the present utility model, examples of which are illustrated in the accompanying drawings and are not intended to be limiting; any insubstantial modifications of the utility model as described above would be within the scope of the utility model.

Example 1

As shown in fig. 1, a deformation robot comprises a body 1, a head mechanism connected to the upper part of the body 1, arm mechanisms 3 connected to two sides of the upper part of the body 1, and leg mechanisms 2 connected to two sides of the lower part of the body 1, wherein the body 1 is connected with the leg mechanisms 2 and the arm mechanisms 3 through joints in a rotating manner; the outer side of the leg mechanism 2 is provided with a rear wheel 5, and the outer side of the arm mechanism 3 is provided with a front wheel 4; the robot is rotationally transformed into a human shape or a vehicle shape through a steering engine driving joint.

As shown in fig. 1, in the present embodiment, the leg mechanism 2 includes a leg assembly 20 connected to the body main body 1 and a standing support assembly 21 connected to the leg assembly 20; the rear wheel 5 is provided on the outside of the leg assembly 20. When the robot is deformed, the arm mechanism 3 supports the body main body 1, the joints connected with the leg assemblies 20 and the body main body 1 are arched upwards, meanwhile, the standing support assembly 21 is turned over, and the arm mechanism 3 continues to support, so that the support surface of the standing support assembly 21 is contacted with the ground, and then the joints connected with the body main body 1 by the leg assemblies 20 are supported upwards, so that the deformed robot stands.

As shown in fig. 4, in the present embodiment, the body 1 includes a frame 10, an arm-driven steering engine 11 provided in the frame 10 and having a rotation axis connected to the two-arm mechanism 3, and a leg-driven steering engine 12 provided in the frame 10 and having a rotation axis connected to the leg unit 20. The axle center of the rotating shaft of the arm driving steering engine 11 is mutually perpendicular to the axle center of the leg driving steering engine 12. The arm driving steering engine 11 drives the arm mechanism 3 to rotate, and the two leg driving steering engines 12 drive the two leg mechanisms 2 to open and close. When the deformation robot is deformed into a robot, the leg driving steering engine 12 drives the leg mechanism 2 to open and stand, and the arm driving steering engine 11 drives the arm mechanism 3 to rotate from the front end of the body main body 1 to two sides, so that the whole deformation of the robot is realized.

As shown in fig. 2, in the present embodiment, the leg assembly 20 includes a first connecting arm 200 connected to a rotation shaft of the leg driving steering engine 12, a first steering engine 201 connected to the rotation shaft of the first connecting arm 200, a second connecting arm 202 fixedly connected to the first steering engine 201, a second steering engine 203 connected to the second connecting arm 202, a third connecting arm 204 fixedly connected to the second steering engine 203, a third steering engine 205 fixedly connected to the third connecting arm 204, and a rear wheel 5 driving steering engine 206 provided at a front end of the second connecting arm 202, and the rear wheel 5 is provided on a rotation shaft of the rear wheel 5 driving steering engine 206. The joint of the first connecting arm 200 and the leg driving steering engine 12 forms a first joint 200a, the joint of the first steering engine 201 and the first connecting arm 200 forms a second joint 201a, and the joint of the second connecting arm 202 and the second steering engine 203 forms a third joint 202a. Wherein the first joint 200a corresponds to a hip joint where the robot becomes a robot; the third joint 202a corresponds to a knee joint after the deformation robot is deformed into a robot. The leg driving steering engine 12 and the first steering engine 201 have the same structure, first meshing teeth are arranged on rotating shafts of the leg driving steering engine 12 and the first steering engine 201, second meshing teeth are arranged at the joint of a first joint 200a between the leg driving steering engine 12 and the first steering engine 201 and the rotating shaft, and the first meshing teeth and the second meshing teeth are matched with each other so as to mesh the rotating shaft with the joint; the leg driving steering engine 12 drives the rotating shaft to rotate, so as to drive the first joint 200a and the first steering engine 201 to synchronously rotate. The joints of other steering engines and joints or connecting pieces are driven in a way that the first meshing teeth and the second meshing teeth are matched with each other.

In this embodiment, the standing support assembly 21 includes a standing connection arm 210 connected to a rotation shaft of the third steering engine 205, a standing steering engine 211 connected to the rotation shaft of the standing connection arm 210, and a support plate 212 provided at the bottom of the standing steering engine 211. The joint between the third steering engine 205 and the standing connecting arm 210 forms a standing joint 204a, and the joint between the standing steering engine 211 and the standing connecting arm 210 forms a supporting joint 210a. Wherein the support plate 212 corresponds to the sole of the robot. During deformation, firstly, the two arm mechanisms 3 are supported downwards, the elbows of the arm mechanisms 3 are supported on the ground, the second joints 201a arch forwards, the third joints 202a are straightened, the end parts of the supporting plates 212 are supported in contact with the ground, the elbow joints of the arm mechanisms 3 are straightened to continuously support the main body 1, and the third steering engine 205 drives the third joints 202a to bend, so that the supporting plates 212 are grounded, and the robot can stand.

As shown in fig. 1 and 2, in the present embodiment, the axis of the rotation shaft of the leg-driving steering engine 12 is perpendicular to the axis of the rotation shaft of the first steering engine 201, and the axis of the third steering engine 205 is perpendicular to the axis of the rotation shaft of the standing steering engine 211; the distance from the axis of the rotating shaft of the second steering engine 203 to the far end of the rotating shaft is smaller than the distance from the axis of the rotating shaft of the second steering engine to the near end of the first steering engine 201; one end of the third steering engine 205 is attached to the front end of the second steering engine 203. When the deformation robot is deformed into other structures, the second steering gear 203 is accommodated in the cavity of the second connecting arm 202, and the third steering gear 205 is superimposed on the first steering gear 201. The end of the support plate 212 is attached to the end surface of the main body 1. The first connecting arm 200 and the third connecting arm 204 are respectively and fixedly connected by cross superposition of two connecting plates with a [ -shaped structure. The connecting plates of the two-shaped structures are provided with two shaft holes fixedly connected with the rotating shaft, and the shaft holes of the connecting plates of the two-shaped structures are mutually perpendicular. Therefore, the steering engine rotating shaft which is mutually perpendicular to the two axes can be connected at the same time.

As shown in fig. 3, in the present embodiment, the arm mechanism 3 includes a rotation link 300 connected to a rotation shaft of the arm driving steering gear 11, a rotation steering gear 30 fixedly connected to the rotation link 300, a rotation link arm 31 connected to the rotation shaft of the rotation steering gear 30, a fourth steering gear 32 connected to the rotation link arm 31, a fourth link arm 33 fixedly connected to the fourth steering gear 32, a fifth steering gear 34 connected to the fourth link arm 33, and a palm member 35 connected to an end of the fifth steering gear 34; the joint of the arm driving steering engine 11 and the rotation connecting piece 300 forms a chest-shoulder joint 11b, the joint of the rotation steering engine 30 and the rotation connecting arm 31 forms an external shoulder joint 30b, and the joint of the fourth steering engine 32 and the rotation connecting arm 31 forms a fourth joint 31b, which is equivalent to the shoulder joint when the deformation robot is deformed into a robot. The joint between the fifth steering engine 34 and the fourth connecting arm 33 forms a fifth joint 32b, which corresponds to an elbow joint. The front wheel 4 is connected to the outside of the swivel connection arm 31. When the robot is deformed into a robot shape, the fourth steering engine 32 drives the fourth joint 31b to rotate, the fifth steering engine 34 drives the fifth joint 32b to rotate, one side of the fifth steering engine 34 is in contact with the ground, the purpose of supporting the main body 1 of the robot is achieved, the fifth steering engine 34 drives the fifth joint 32b to straighten, and therefore the third joint 202a is pushed to stand. After deformation, the arm driving steering engine 11 drives the arm mechanism 3 to rotate and open.

When the deformation robot is changed into other structures, the two front wheels 4 and the two rear wheels 5 are supported in contact with the ground, and the steering engine 206 is driven by the rear wheels 5 to drive the rear wheels 5 to rotate, so that the deformation mechanism of the deformation robot operates.

In this embodiment, the end of the fifth steering engine 34 is further provided with a support 36 having a length longer than the palm member 35. Therefore, when the arm mechanism 3 is deformed, the support 36 is contacted with the ground, and the support 36 is made of a metal piece or a wear-resistant material, so that the arm mechanism 3 can be prevented from being rubbed by contacting the ground when the arm mechanism 3 is supported.

In the deformation method of the deformation robot in the embodiment, the robot is transformed into a human shape or a vehicle shape through joint rotation; when the robot is in a vehicle shape, the front wheels 4 and the rear wheels 5 are grounded, the arm mechanism 3 and the body main body 1 are positioned below the vehicle body, the leg mechanism 2 is bent and positioned behind the vehicle body, and the sole position faces forward to the direction of the vehicle head 7; when the robot is changed into a human shape from a vehicle shape, the method comprises the following steps:

(1) The fourth steering engine 32 drives the fourth joint 31b to rotate, and the fifth steering engine 34 drives the fifth joint 32b to rotate, so that the fifth steering engine 34 contacts the ground and is supported upwards;

(2) The first steering engine 201 drives the first joint 200a to arch upwards; the second steering engine 203 drives the third joint 202a to rotate and unfold, so that the end part of the supporting plate 212 is supported on the ground;

(3) The fifth steering engine 34 drives the fifth joint 32b to straighten and support the main body 1 of the main body to rotate upwards, so that the supporting surface of the supporting plate 212 is attached to the supporting ground;

(4) The second steering engine 203 and the third steering engine 205 respectively drive the third joint 202a and the standing joint 204a to straighten, drag the arm mechanism 3 to be supported on the ground and move backwards, support the main body 1 of the robot body, and simultaneously drive the second joint 201a to rotate by the first steering engine 201, so that the deformation robot stands;

(5) The two leg driving steering engine 12 drives the two leg mechanisms 2 to open, and the two arm driving steering engine 11 drives the arm mechanism 3 to rotate and open towards two sides, so that the robot shape is formed.

As shown in fig. 5, in the deformation method of the deformation robot in the present embodiment, the robot is transformed into a human shape or a vehicle shape by joint rotation; the robot is in a standing state of a person when in a human shape, the leg mechanisms 2 are splayed, and the arm mechanisms 3 are positioned at the left side and the right side of the main body 1; when the robot is changed from a human shape to a vehicle shape, the method comprises the following steps:

(1) Leg driving steering gears 12 drive the two leg mechanisms 2 to fold, and arm driving steering gears 11 drive the arm mechanism 3 to rotate to the front end of the main body 1;

(2) The first steering engine 201 drives the second joint 201a to bend downwards, the third steering engine 205 drives the standing joint 204a to rotate, and the fourth steering engine 32 drives the fourth joint 31b to rotate outwards so that the arm mechanism 3 is in contact with the ground;

(3) The second steering engine 203 drives the third joint 202a to rotate, so that the body main body 1 and the leg assembly 20 incline forwards, the second joint 201a straightens, the fifth joint 32b bends, and the rear wheel 5 is supported on the ground;

(4) The fourth steering engine 32 drives the fourth joint 31b to rotate, so that the arm mechanism 3 is contracted at the bottom of the main body 1 of the machine body, and the front wheel 4 is supported on the ground;

(5) The second steering engine 203 drives the third joint 202a to bend, and the third steering engine 205 is attached to the first steering engine 201, and meanwhile, the supporting plate 212 is attached to the end face of the main body 1 of the robot, so that the robot is changed into a vehicle type from a human body.

Example 2

The deformed robot is folded to form any shape of a van, a jeep, a super sports car, an engineering car, a war chariot, a tank, a fighter plane, an airship, a laser gun, a machine insect or a machine dinosaur. And the different structural shapes are arranged on the main body 1 of the machine body, the leg mechanisms 2 and the standing support components 21 according to the required structures, so that the deformed robot is deformed to be combined into structures with different shapes such as a van, a jeep, a super sports car, an engineering car, a war chariot, a tank, a fighter plane, an airship, a laser gun, a machine insect or a machine dinosaur.

Example 2 is similar to example 1 except that the vehicle in example 2 is a vaned vehicle and the robot has 21 degrees of freedom.

As shown in fig. 7-8, in this embodiment, the front ends of the third connecting arms 204 of the two-leg mechanisms 2 are respectively provided with a half-side box structure 6, and when the leg driving steering engine 12 drives the two-leg mechanisms 2 to retract, the half-side box structures 6 form a whole box.

In the embodiment, an automobile head 7 is arranged on the back surface of a main body 1 of the machine body, and a turnover steering engine 8 is arranged at the front end of the main body 1 of the machine body; the rotating shaft of the overturning rudder is fixedly connected with an overturning connecting arm 9 with an L-shaped structure; the end of the flip connection arm 9 is provided with an automobile hood 100.

As shown in fig. 9, in this embodiment, the vehicle head 7 is provided with a door and a roof cover that can be opened and closed, a control panel is provided in the roof cover, and a power switch 72, a USB interface 73, and a charging interface 74 weapon support groove 71 are provided on the control panel.

As shown in fig. 12, in this embodiment, a control circuit board connected to each steering engine circuit is disposed in the vehicle head 7, a communication module for interfacing with a mobile phone is disposed on the control circuit board, and the deformation robot is controlled to freely switch with other structural forms by an APP program of a user side; the control circuit board is connected with the USB interface 73 and is used for downloading programs to the control circuit board or connecting with a computer; the control circuit board is electrically connected with the MP3 module, the MP3 module controls two speakers connected with the MP3 module to play sound, and the speakers are arranged in the doors at two sides; the control circuit board is connected to the battery and charging interface 74; the battery adopts a 12V lithium ion rechargeable battery.

In this embodiment, the steering engines are connected in series or parallel, and are connected through a common bus in a TTL level multilayer connection mode during the series connection.

The method for changing the van with the box into the robot comprises the following steps: the fourth steering engine 32 drives the fourth joint 31b to rotate, and the fifth steering engine 34 drives the fifth joint 32b to rotate, so that one surface of the fifth steering engine 34 contacts the ground and is supported upwards; the first steering engine 201 drives the first joint 200a to arch upwards; the second steering engine 203 drives the third joint 202a to rotate and unfold, so that the end part of the supporting plate 212 is supported on the ground; the fifth steering engine 34 drives the fifth joint 32b to straighten and support the main body 1 to rotate upwards, so that the supporting surface of the supporting plate 212 is attached to the supporting ground; the second steering engine 203 and the third steering engine 205 respectively drive the third joint 202a and the standing joint 204a to straighten, meanwhile drag the arm mechanism 3 to be supported on the ground and move backwards, support the main body 1 of the robot body, and simultaneously drive the second joint 201a to rotate by the first steering engine 201, so that the deformed robot stands. The overturning steering engine 8 drives the overturning connecting arm 9 to drive the engine cover 100 to overturn to the back of the main body 1 of the engine body to be combined with the head 7 of the automobile, and the arm driving steering engine 11 drives the arm mechanism 3 to rotate for 90 degrees outwards; the flip steering engine 8 drives the flip driving leg mechanism 2 to open, and the standing steering engine 211 drives the standing joint 204a to rotate, so that the support plate 212 is always in contact with the ground, thereby forming a robot shape.

As shown in fig. 6, the method of transforming the robot into a boxcar comprises: the leg driving steering engine 12 drives the leg mechanism 2 to be closed, the two half box body structures 6 form a rear box body of the automobile, and the standing steering engine 211 drives the standing joint 204a to rotate, so that the supporting plate 212 is always in contact with the ground; the overturning steering engine 8 drives the overturning connecting arm 9 to drive the engine cover 100 to overturn and lift; the arm driving steering engine 11 drives the arm mechanism 3 to rotate 90 degrees outwards to the front end of the main body 1; the overturning steering engine 8 drives the overturning connecting arm 9 to drive the engine cover 100 to overturn to the back of the main body 1 of the engine body and be combined with the head 7 of the automobile; the first steering engine 201 drives the second joint 201a to bend downwards, the second steering engine 203 drives the standing joint 204a to rotate, the fourth steering engine 32 drives the fourth joint 31b to rotate outwards so that the arm mechanism 3 is in contact with the ground, the second steering engine 203 drives the standing joint 204a to rotate so that the body main body 1 and the leg assembly 20 tilt forwards, the second joint 201a straightens, the fifth joint 32b bends, the rear wheel 5 is supported on the ground, the fourth steering engine 32 drives the fourth joint 31b to rotate so that the arm mechanism 3 is contracted at the bottom of the body main body 1, and the front wheel 4 is supported on the ground; the second steering engine 203 drives the third joint 202a to bend, and the third steering engine 205 is attached to the first steering engine 201, and meanwhile, the supporting plate 212 is attached to the end face of the main body 1 of the machine body, so that a box automobile structure is formed. And the two front wheels 4 and the two rear wheels 5 are contacted with the ground, and the steering engine 206 is driven by the rear wheels 5 to drive the boxcar to run.

Example 3

Embodiment 3 is similar to embodiment 2 except that embodiment 3 further includes a robotic attachment, as shown in fig. 10-11, for example, a variety of robotic attachments, such as a gun and cannon, mounted to the roof of an automobile by a weapon mount engaging a weapon mount recess 71.

Example 4

Embodiment 4 is similar to embodiment 2, except that embodiment 4 further includes a refined robot finger, as shown in fig. 13, in this embodiment, the robot finger includes distal knuckle 351, middle knuckle 352, and proximal knuckle 353, respectively, and the knuckles are connected by a snap connection; the thumb near-finger joint 354 is connected with the palm part through a ball hinge, and the other four-finger near-finger joints 353 are connected with the palm part through buckles; each joint can rotate around the connecting point.

Example 5

The present embodiment may form a complete technical solution alone, may form a complete technical solution in combination with embodiment 1, and may also form a complete technical solution by permutation/combination with any other embodiment of the present utility model.

A method for resetting a combined steering engine of a deformation robot specifically comprises the following steps: a starting detection program and a steering engine resetting calculation program are preset in the control circuit board, and each steering engine is preset at an initial position; before the robot is started, each joint is in an arbitrary position state, after the robot is started, a starting detection program starts and reads the current positions of all steering engines of the robot, a steering engine reset calculation program decomposes reset actions into multiple steps according to the real-time positions of all steering engines, and the robot is reset in a mode of avoiding interference and mutual connection, so that the condition that interference among all joints does not occur in the resetting process is ensured. If the angle of the arm mechanism 3 positioned on the side surface of the main body 1 is 225 degrees, the arm mechanism 3 is in any state before starting, and the steering engine drive on the arm mechanism 3 is restored to 225 degrees after starting.

As shown in fig. 14, the arm mechanism 3 is located at a position vertically upward and forward to the palm of the hand, after the machine is started, the machine is started and the current positions of all the steering gears of the robot are read by a machine starting detection program so as to avoid interference and mutually engage with a resetting principle, the resetting action of the steering gear resetting calculation program is decomposed into multiple steps according to the real-time positions of all the steering gears, the turning steering gear 30 is rotated by 90 degrees to enable the arm mechanism 3 to be converted into a state in the figure (2), then the turning steering gear 8 drives the turning connecting arm 9 to drive the engine cover 100 to turn upwards to the state in the figure (3), the fourth steering gear 32 drives the fourth joint 31b to rotate downwards so that the arm mechanism 3 reaches the position shown in the figure (4), and finally the turning steering gear 8 drives the turning connecting arm 9 to drive the engine cover 100 to turn downwards to the state in the figure (6) so as to achieve the originally set robot state. The mutual interference between all joints of the robot in the resetting process can be avoided, the service lives of the steering engine and other parts of the robot are prolonged, and the service life of the robot applying the combined steering engine resetting method is further prolonged.

While the utility model has been particularly shown and described with reference to a preferred embodiment thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the utility model as set forth in the appended claims. The foregoing description of specific embodiments of the utility model has been presented in a particular context, but is not intended to be a limitation upon the utility model. Any simple modification of the above embodiments according to the technical substance of the present utility model still falls within the scope of the technical solution of the present utility model.

Claims

1. The utility model provides a deformation robot, includes fuselage main part (1), connects in the head mechanism on fuselage main part (1) upper portion, connects in arm mechanism (3) of fuselage main part (1) upper portion both sides and connects in shank mechanism (2) of fuselage main part (1) lower part both sides, its characterized in that: the main body (1) of the machine body is rotationally connected with the leg mechanism (2) and the arm mechanism (3) through joints; the outer side of the leg mechanism (2) is provided with a rear wheel (5), and the outer side of the arm mechanism (3) is provided with a front wheel (4); the robot is rotationally transformed into a human shape or a vehicle shape through a steering engine driving joint.

2. The deformation robot of claim 1, wherein: the leg mechanism (2) comprises a leg assembly (20) connected with the main body (1) of the machine body and a standing support assembly (21) connected with the leg assembly (20); the rear wheel (5) is provided outside the leg assembly (20).

3. A deformation robot according to claim 2, characterized in that: the machine body main body (1) comprises a frame body (10), an arm driving steering engine (11) which is arranged in the frame body (10) and is connected with the two arm mechanisms (3) through a rotating shaft, and a leg driving steering engine (12) which is arranged in the frame body (10) and is connected with the leg assembly (20) through the rotating shaft.

4. A deformation robot according to claim 3, wherein: the axle center of the rotating shaft of the arm driving steering engine (11) is mutually perpendicular to the axle center of the leg driving steering engine (12).

5. The deformation robot of claim 4, wherein: the two arm driving steering engines (11) drive the two arm mechanisms (3) to rotate, and the two leg driving steering engines (12) drive the two leg mechanisms (2) to open and close.

6. The deformation robot of claim 5, wherein: the leg assembly (20) comprises a first connecting arm (200) connected with a leg driving steering engine (12) through a rotating shaft, a first steering engine (201) connected with the first connecting arm (200) through the rotating shaft, a second connecting arm (202) fixedly connected with the first steering engine (201), a second steering engine (203) fixedly connected with the second connecting arm (202) through the rotating shaft, a third connecting arm (204) fixedly connected with the second steering engine (203) and a third steering engine (205) fixedly connected with the third connecting arm (204), and a rear wheel (5) driving steering engine (206) arranged at the front end of the second connecting arm (202), wherein the rear wheel (5) is arranged on the rotating shaft of the rear wheel (5) driving steering engine (206).

7. The deformation robot of claim 6, wherein: the joint of the first connecting arm (200) and the leg driving steering engine (12) forms a first joint (200 a), the joint of the first steering engine (201) and the first connecting arm (200) forms a second joint (201 a), and the joint of the second connecting arm (202) and the second steering engine (203) forms a third joint (202 a).

8. The deformation robot of claim 7, wherein: the standing support assembly (21) comprises a standing connecting arm (210) connected with a rotating shaft of the third steering engine (205), a standing steering engine (211) connected with the rotating shaft of the third steering engine (205), and a support plate (212) arranged at the bottom of the standing steering engine (211); a standing joint (204 a) is formed at the joint of the third steering engine (205) and the standing connecting arm (210), and a supporting joint (210 a) is formed at the joint of the standing steering engine (211) and the standing connecting arm (210); the arm mechanism (3) comprises a rotating connecting piece (300) connected with a rotating shaft of the arm driving steering engine (11), a rotating steering engine (30) fixedly connected with the rotating connecting piece (300), a rotating connecting arm (31) connected with the rotating shaft of the rotating steering engine (30), a fourth steering engine (32) connected with the rotating connecting arm (31), a fourth connecting arm (33) fixedly connected with the fourth steering engine (32), a fifth steering engine (34) connected with the fourth connecting arm (33) and a palm part (35) connected to the end part of the fifth steering engine (34); the front wheel (4) is connected to the outer side of the rotary connecting arm (31); the joint of the arm driving steering engine (11) and the rotating connecting piece (300) forms a chest-shoulder joint (11 b), the joint of the rotating steering engine (30) and the rotating connecting arm (31) forms an external shoulder joint (30 b), the joint of the fourth steering engine (32) and the rotating connecting arm (31) forms a fourth joint (31 b), and the joint of the fifth steering engine (34) and the fourth connecting arm (33) forms a fifth joint (32 b).

9. The deforming method of a deforming robot according to claim 8, wherein: the robot is transformed into a human shape or a vehicle shape through joint rotation; when the robot is in a vehicle shape, the front wheels (4) and the rear wheels (5) of the robot are grounded, the arm mechanism (3) and the body main body (1) are positioned below the vehicle body, the leg mechanism (2) is bent and positioned behind the vehicle body, and the sole position faces forward to the direction of the vehicle head (7); when the robot is changed into a human shape from a vehicle shape, the method comprises the following steps:

(1) The fourth steering engine (32) drives the fourth joint (31 b) to rotate, and the fifth steering engine (34) drives the fifth joint (32 b) to rotate, so that the fifth steering engine (34) contacts the ground and is supported upwards;

(2) The first steering engine (201) drives the first joint (200 a) to arch upwards; the second steering engine (203) drives the third joint (202 a) to rotate and unfold, so that the end part of the supporting plate (212) is supported on the ground;

(3) The fifth steering engine (34) drives the fifth joint (32 b) to straighten and support the main body (1) of the machine body to rotate upwards, so that the supporting surface of the supporting plate (212) is attached to the supporting ground;

(4) The second steering engine (203) and the third steering engine (205) respectively drive the third joint (202 a) and the standing joint (204 a) to straighten, and drag the arm mechanism (3) to support on the ground and move backwards to support the main body (1) of the robot body, and meanwhile, the first steering engine (201) drives the second joint (201 a) to rotate, so that the deformation robot stands;

(5) The two leg driving steering engine (12) drives the two leg mechanisms (2) to open, and the two arm driving steering engine (11) drives the arm mechanism (3) to rotate and open towards two sides, so that the robot shape is formed.

10. The method for resetting the combined steering engine of the deformation robot according to any one of claims 1 to 8, wherein the method comprises the following steps: a starting detection program and a steering engine resetting calculation program are preset in the control circuit board, and each steering engine is preset at an initial position; before the robot is started, each joint is in an arbitrary position state, after the robot is started, a starting detection program starts and reads the current positions of all steering engines of the robot, a steering engine reset calculation program decomposes reset actions into multiple steps according to the real-time positions of all steering engines, and the robot is reset in a mode of avoiding interference and mutual connection, so that the condition that interference among all joints does not occur in the resetting process is ensured.