CN110562377A

CN110562377A - Manned general deformation robot

Info

Publication number: CN110562377A
Application number: CN201910970934.0A
Authority: CN
Inventors: 廖伟华
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-10-12
Filing date: 2019-10-12
Publication date: 2019-12-13

Abstract

the invention provides a manned universal deformation robot which comprises a front wheel and two rear wheels, wherein a hub motor and an electromagnetic braking system are arranged in the front wheel and the rear wheels, and the manned universal deformation robot also comprises a telescopic front arm, a seat arm, a holding arm, a telescopic rear arm, a telescopic cross arm, a front wheel steering device, a front arm folding device, a rear arm and cross arm connecting device, a Mecanum wheel and cross arm connecting device, a seat arm and holding arm connecting piece, a power supply device and a vehicle control platform. The invention ensures that the universal robot with fuzzy positioning obtains accurate positioning in life. The universal robot provided by the invention has the advantages of simple and practical mechanical structure, small size and portability, and can be used in most scenes. The large wheels output more power, so that the traffic performance is excellent; meanwhile, the stair climbing device has a deformation function of form switching, and can climb steps, stairs and the like through compound motion. These basic features make it a platform-level product whose practicalization changes the people's daily life pattern.

Description

Manned general deformation robot

Technical Field

The invention relates to the technical field of robots, in particular to a manned universal deformation robot.

Background

the most important problem of the prior art in the daily life is that-the realization of the technology and the expectation of the public are at a great distance-the first is difficult to locate morphologically, most of the understanding of the robot by the public is thought of as humanoid, and the technical difficulty of the practical use of humanoid robot is great, so that the market for professional robots generally does not go to design humanoid robots, which are more as a platform for promoting the development of the technology and to locate it as advanced toys, and secondly is difficult to locate functionally for general robots, the key to the problem is that they are also technically very expensive.

The most important point of the robot, regardless of the form, is the movement. The motion function of the robot is just overlapped with the motion function of the vehicle, so the robot is obligated to become a manned vehicle on the basis of the existence of the robot. From the requirements of the public, the transportation means are needed by everyone in life, especially the diversified requirements of the transportation means, such as airplane and train at long distance, car and passenger car at middle range, electric bicycle at short distance and transportation means for riding instead of walk which are recently raised, and the aim of solving the connection switching among diversified transportation means is fulfilled; in addition, from the accuracy of technical implementation and the necessity of public requirements, the traffic movement function of the machine is easy to implement accurately, and the traffic movement capability of a person is insufficient due to the limited physical conditions, so that the person has a clear and necessary requirement for the traffic workers. The robot is insufficient in intelligence, functions developed by the robot based on intelligence have the problems of technical complexity and inaccurate results, and the deviation of the functions is good for people, such as: pouring water, sweeping, etc. . . The machines are troublesome to do, and the manual operation is easy to realize. The traffic function of the machine is irreplaceable for people and the intellectual behavior of the machine is substitutable for people.

Disclosure of Invention

The invention aims to provide a manned universal deformation robot, which takes a manned traffic function as a basic core function of the manned universal deformation robot and enables the robot to become a manned vehicle.

In order to achieve the purpose, the invention provides the following technical scheme: a manned general deformation robot comprises a front wheel and two rear wheels, wherein the front wheel and the rear wheel are internally provided with a hub motor and an electromagnetic braking system, and further comprises a telescopic front arm, a seat arm, a holding arm, a telescopic rear arm, a telescopic cross arm, a front wheel steering device, a front arm folding device, a rear arm and cross arm connecting device, a Mecanum wheel and cross arm connecting device, a seat arm and holding arm connecting piece, a power supply device and a vehicle control platform, wherein the front wheel and the front arm are connected through the front wheel steering device, the front arm and the rear arm are connected through the seat arm, the front arm and the rear arm can be folded through the front arm folding device and the rear arm folding device, the angle between the front arm and the rear arm is changed, the rear arm and the cross arm are connected with the cross arm connecting device through the rear arm, the rear arm and the cross arm connecting device can rotate in multiple axes, two ends of the cross arm are respectively connected with, the robot comprises a base arm, a support arm, a vehicle control platform, a power supply device and a robot control platform, wherein the base arm is connected with the support arm through a base arm, the support arm is connected with the vehicle control platform through a support arm connecting piece, the power supply device is connected with the robot control platform through a vehicle control platform, and the robot control platform is connected with the base arm through a vehicle control platform.

Preferably, the forearm includes that the forearm is responsible for and the flexible pipe of forearm, the flexible pipe embedding of forearm sets up in the forearm is responsible for to be responsible for with the forearm inner wall clearance fit, the inside that the forearm was responsible for is equipped with flexible motor and flexible lead screw, flexible motor is connected with flexible lead screw transmission, flexible lead screw runs through the setting at the inside ring flange of the flexible intraduct of forearm to with the inner wall threaded connection of ring flange.

preferably, front wheel steering gear includes front wheel steering gear, front wheel steering drive gear, front wheel support, the lantern ring and front wheel steering motor, the nested setting of front wheel support is in the shaft both sides of front wheel, the fixed lantern ring that is equipped with in top of front wheel support, the inside of the lantern ring is equipped with the bearing, the top of the lantern ring is equipped with front wheel steering gear, bearing and front wheel steering gear all inlay the cover and set up on the forearm to with the outer wall interference fit of forearm, one side meshing of front wheel steering gear is provided with front wheel steering drive gear, one side of the lantern ring is fixed and is equipped with front wheel steering motor, front wheel steering motor is connected with front wheel steering drive gear transmission.

Preferably, the front and rear arm folding device comprises a folding motor, a synchronous belt, a folding lead screw, a folding flange plate, a folding lifting seat, a folding push-pull arm, a shock absorber, a folding push-pull arm, a rear arm rotating shaft and a rear arm rotating shaft, the bottom of the seat arm is fixedly provided with the folding motor, one side of the folding motor is provided with the folding lead screw, the folding motor is connected with the folding lead screw through the synchronous belt transmission, the bottom end of the folding lead screw is provided with the folding lifting seat, one side of the folding lifting seat is an annular component, the annular component is embedded on the front arm, the top of the folding lifting seat is fixedly provided with the folding flange plate, the folding lead screw penetrates through the folding flange plate and the folding lifting seat and is in threaded connection with the inner wall of the folding flange plate, one side of the folding lifting seat is hinged with the folding push-pull arm, and the, the other end of the folding push-pull arm is hinged with the rear arm through the folding push-pull arm around a rear arm rotating shaft, and the rear arm is hinged with the seat arm through the rear arm around a seat arm rotating shaft.

Preferably, the trailing arm includes that the trailing arm is responsible for and the flexible pipe of trailing arm, the flexible pipe embedding of trailing arm sets up in the trailing arm is responsible for to be responsible for with the trailing arm inner wall clearance fit, the inside that the trailing arm was responsible for is equipped with flexible motor and flexible lead screw, flexible motor is connected with flexible lead screw transmission, flexible lead screw runs through the setting at the inside ring flange of trailing arm flexible pipe to with the inner wall threaded connection of ring flange.

preferably, the cross arm comprises a cross arm main pipe, a cross arm left telescopic pipe and a cross arm right telescopic pipe, the cross arm left telescopic pipe and the cross arm right telescopic pipe are embedded into the cross arm main pipe and are in clearance fit with the inner wall of the cross arm main pipe, two telescopic motors and two telescopic lead screws are arranged inside the cross arm main pipe, one telescopic motor is in transmission connection with one telescopic lead screw, the other telescopic motor is in transmission connection with the other telescopic lead screw, one telescopic lead screw penetrates through a flange plate arranged inside the cross arm left telescopic pipe and is in threaded connection with the inner wall of the flange plate, and the other telescopic lead screw penetrates through the flange plate arranged inside the cross arm right telescopic pipe and is in threaded connection with the inner wall of the flange plate.

Preferably, the rear arm and cross arm connecting device comprises a shaft A sleeve, a shaft A rotating motor, a shaft A rotating gear, a shaft A rotating transmission gear, a shaft C sleeve, a shaft C rotating rod, a connecting block C, a shaft B rotating rod and a connecting block B, a bearing is arranged inside the shaft A sleeve, the shaft A rotating gear is arranged on one side of the shaft A sleeve, the bearing and the shaft A rotating gear are both sleeved on the cross arm and are in interference fit with the outer wall of the cross arm, the shaft A rotating transmission gear is arranged on one side of the shaft A rotating gear in a meshed mode, the shaft A rotating motor is fixedly arranged on one side of the shaft A sleeve and is in transmission connection with the shaft A rotating transmission gear, a fixing block is fixedly arranged on one side of the shaft A sleeve, the shaft C sleeve is fixedly arranged on the side face of the fixing block, the shaft C rotating rod is arranged at the bottom of the shaft C sleeve, and the connecting block C is arranged at the, the top embedding of axle C rotary rod sets up in axle C sleeve pipe to with axle C sheathed tube inner wall clearance fit, bottom and connecting block C fixed connection, one side of connecting block C is equipped with axle B rotary rod, the one end of axle B rotary rod is equipped with connecting block B, the one end embedding of axle B rotary rod sets up in connecting block C to with connecting block C's inner wall clearance fit, the other end and connecting block B fixed connection, one side of connecting block B and the bottom fixed connection of back arm.

preferably, the device for connecting the mecanum wheel and the cross arm comprises a friction block, an elastic fixing part, barrier climbing rods and connecting rods, the number of the barrier climbing rods is four, the four barrier climbing rods are fixedly connected with the cross arm, the two barrier climbing rods are symmetrically distributed around the center of one rear wheel, the other two barrier climbing rods are symmetrically distributed around the center of the other rear wheel, a mecanum wheel is arranged between the rear wheel and the barrier climbing rod on one side, a sliding groove and an elastic fixing part are arranged on the side surface of the barrier climbing rod close to one side of the mecanum wheel, the connecting rod is arranged at the center of the mecanum wheel and is obliquely arranged, one end of the connecting rod penetrates through the barrier climbing rod far away from one side of the mecanum wheel, and the other end of the connecting rod is in sliding connection with the sliding groove on the side surface of the barrier climbing rod close to one side of the mecanum wheel, and the friction block is in transmission connection with the Mecanum wheel through a transmission pipe arranged at the center of the friction block, a bearing is arranged inside the transmission pipe, and the bearing is embedded on the connecting rod and is in interference fit with the outer wall of the connecting rod.

Preferably, the seat arm and arm supporting connecting piece comprises two arm supporting sleeves, the two arm supporting sleeves are fixedly arranged on one side of the seat arm and symmetrically distributed, the arm supporting penetrates through the arm supporting sleeves, the arm supporting and arm supporting sleeves are limited through limiting devices arranged on one sides of the arm supporting sleeves, and the top of the arm supporting is fixedly connected with the vehicle control platform.

Preferably, the seat arm is embedded and sleeved at the top of the forearm to form a seat space, the top of the seat arm is provided with a cushion, the cushion is in a shape that the front part is thick and the rear part is thin, the vehicle control platform comprises a handle, a display screen and a telescopic plate, the display screen is embedded and arranged at the top of the vehicle control platform, the number of the handles is two, the two handles are symmetrically and fixedly arranged at two sides of the vehicle control platform, the number of the telescopic plate is three, the three telescopic plate is embedded and arranged in three side surfaces of the vehicle control platform, the top of the cross arm is provided with two pedals which are symmetrically distributed, one side of each of the two rear wheels is provided with a mudguard, two sides of each mudguard are provided with a fixing frame, the fixing frames are fixedly connected with the cross arm, the power supply device comprises a storage battery and a storage battery seat, the storage battery is embedded and arranged in the storage battery seat, the storage battery seat is fixedly arranged on the rear arm.

Preferably, the robot further comprises a wire controller, and the wire controller is fixedly arranged on one side of the seat arm.

Preferably, a mechanical arm sliding rail is fixedly arranged on one side of the rear arm, a mechanical arm is arranged on one side of the mechanical arm sliding rail, the mechanical arm is embedded on the mechanical arm sliding rail and is in sliding connection with the mechanical arm sliding rail, and the mechanical arm sliding rail are limited through a limiting device arranged on one side of the mechanical arm.

Compared with the prior art, the invention has the beneficial effects that:

The invention enables the universal robot with fuzzy positioning to obtain accurate positioning in life by redefining the functional form of the robot, thereby enabling the robot to have the foundation of entering daily life. The universal robot provided by the invention has a simple and practical mechanical structure, is small and portable in size, and can be used in most scenes: it occupies little space indoors and outdoors, in vehicles and in airplanes. The large wheels output more power, so that the traffic performance is excellent; meanwhile, the stair climbing device has a deformation function of form switching, and can climb steps, stairs and the like through compound motion. The basic characteristics enable the novel multifunctional platform to become a platform-level product, and the practicability of the novel multifunctional platform can change the daily life mode of people and promote the civilization.

drawings

FIG. 1 is a schematic diagram of the minimum state of the present invention;

FIG. 2 is a schematic diagram of the maximum state of the present invention;

FIG. 3 is a schematic view of a front and rear arm folding apparatus according to the present invention;

FIG. 4 is a partial schematic view of the rear arm to cross arm connection of the present invention;

FIG. 5 is a schematic view of a portion of the pedal of the present invention;

FIG. 6 is a schematic view of a portion of a mecanum wheel and crossbar connection of the present invention;

FIG. 7 is a schematic view of a partial structure of the vehicle control platform according to the present invention;

FIG. 8 is a schematic view of a partial structure of the arm support limiting device of the present invention;

FIG. 9 is a schematic view of the rear arm to cross arm connection of the present invention showing three axes of rotation; (a) is a general rotation schematic diagram; (b) is a schematic view of the rotation of the A axis; (c) is a B-axis rotation schematic diagram; (d) is a schematic view of C-axis rotation;

FIG. 10 is a schematic view of the minimized state of the present invention;

FIG. 11 is a schematic view of the maximizing state of the present invention;

FIG. 12 is a schematic view of the present invention showing the state of the offset motion in each direction;

FIG. 13 is a schematic view of a two-wheel balancing maximum robot according to the present invention;

FIG. 14 is a schematic view of the climbing stairs of the present invention;

FIG. 15 is a schematic view of a seat according to the present invention;

FIG. 16 is a schematic view of a table and chair according to the present invention;

FIG. 17 is a schematic diagram of a two-wheeled self-balancing somatosensory driving configuration of the present invention;

FIG. 18 is a schematic view of a three-wheeled electric vehicle according to the present invention;

FIG. 19 is a schematic view of the three-wheel pedal of the present invention in a sliding configuration;

FIG. 20 is a schematic view of a drive-by-wire follow-up state of the present invention;

FIG. 21 is a schematic diagram of a dragging state according to the present invention.

Illustration of the drawings: 1-a vehicle control platform; 2-a rear arm; 3, a mechanical arm; 4-a power supply device; 5-a cross arm; 6-rear wheel; 7-Mecanum wheel and cross arm connecting device; 8-front and rear arm folding devices; 9-front wheels; 10-front wheel steering; 11-forearm; 12-a seat arm; 13-a rear arm and cross arm connecting device; 14-cushion; 15-supporting arms; 16-a line controller; 17-a seat arm and armrest arm connection; 18-mecanum wheels; 19-a pedal; 20-axis a sleeve; 21-axis a rotating motor; 22-axis C rotating rod; 23-crossbar main tube; 24-horizontal arm left telescoping tube; 25-horizontal arm right telescopic pipe; 26-axis B rotating rod; 27-a friction block; 28-a fender; 29-a resilient mount; 30-obstacle climbing poles; 31-a connector; 32-connecting block C; 33-a synchronous belt; 34-folding lead screw; 35-folding flange plate; 36-folding lifting seat; 37-folding the push-pull arm; 38-a shock absorber; 39-a folding motor; 40-the rear arm rotates around the sitting arm; 41-folding the push-pull arm around the rear arm rotation axis; 42-rear arm main tube; 43-rear arm telescoping tube; 44-front wheel steering motor; 45-display screen; 46-a retractable plate; 47-a handle; 48-connecting block B; 49-mechanical arm slide rail; 50-front wheel steering gear; 51-forearm main tube; 52-forearm extension tube; 53-front wheel support; 54-collar.

Detailed Description

The invention is further described with reference to the following figures and detailed description.

Referring to fig. 1-21, a manned universal deformation robot comprises a front wheel 9 and two rear wheels 6, wherein the front wheel 9 and the rear wheels 6 are respectively provided with an in-wheel motor and an electromagnetic braking system, the front wheel 9 and the rear wheels 6 are respectively controlled by the in-wheel motor and the electromagnetic braking system, the manned universal deformation robot further comprises a telescopic front arm 11, a seat arm 12, a holding arm 15, a telescopic rear arm 2, a telescopic cross arm 5, a front wheel steering device 10, a front and rear arm folding device 8, a rear arm and cross arm connecting device 13, a mecanum wheel 18, a mecanum wheel and cross arm connecting device 7, a seat arm and holding arm connecting piece 17, a power supply device 4 and a vehicle control platform 1, the front wheel 9 and the front arm 11 are connected through the front wheel steering device 10, the front arm 11 and the rear arm 2 are connected through the seat arm 12, the front arm 11 and the rear arm 2 can be folded through the front and rear arm folding device 8, the angle between the front arm 11 and the rear arm 2 is changed, the rear arm 2 and the cross arm 5 are connected with a cross arm connecting device 13 through the rear arm, the rear arm and the cross arm connecting device 13 can rotate in multiple axes, two ends of the cross arm 5 are respectively connected with two rear wheels 6, Mecanum wheels 18 and the cross arm 5 are connected with a cross arm connecting device 7 through Mecanum wheels, a seat arm 12 and a holding arm 15 are connected with a holding arm connecting piece 17 through a seat arm, the top end of the holding arm 15 is connected with a vehicle control platform 1, and a power supply device 4 provides electric energy for the robot.

In a preferred embodiment, forearm 11 includes that forearm is responsible for 51 and the flexible pipe 52 of forearm, the flexible pipe 52 embedding of forearm sets up in the forearm is responsible for 51 to be responsible for 51 inner wall clearance fit with the forearm, the forearm is responsible for 51 inside and is equipped with flexible motor and flexible lead screw, flexible motor is connected with flexible lead screw transmission, flexible lead screw runs through the ring flange that sets up in the flexible pipe 52 inside of forearm to with the inner wall threaded connection of ring flange, flexible motor work can drive flexible lead screw and rotate, thereby drive the flexible pipe 52 of forearm and be responsible for 51 movements in the forearm, realize the flexible of forearm 11.

In a preferred embodiment, the front wheel steering apparatus 10 includes a front wheel steering gear 50, a front wheel steering drive gear, a front wheel bracket 53, a collar 54, and a front wheel steering motor 44.

When the front wheel steering motor 44 is arranged outside the front arm 11, the front wheel steering gear 50 is an external gear, the front wheel support 53 is nested on two sides of the wheel shaft of the front wheel 9, the top of the front wheel support 53 is fixedly provided with a sleeve ring 54, a bearing is arranged inside the sleeve ring 54, the top of the sleeve ring 54 is provided with the front wheel steering gear 50, the bearing and the front wheel steering gear 50 are both nested on the front arm 11 and are in interference fit with the outer wall of the front arm 11, one side of the front wheel steering gear 50 is engaged with a front wheel steering transmission gear, one side of the sleeve ring 54 is fixedly provided with the front wheel steering motor 44, the front wheel steering motor 44 is in transmission connection with the front wheel steering transmission gear, the front wheel steering motor 44 can work to drive the front wheel steering transmission gear to rotate, so that the front wheel steering transmission gear rotates around the front wheel steering gear 50, and the front wheel steering motor 44 and the sleeve ring 54 rotate, thereby driving the front wheel bracket 53 to rotate and realizing the steering of the front wheel 9.

When the front wheel steering motor 44 is arranged in the front arm 11, the front wheel steering gear 50 is an internal gear, the sleeve ring 54 is replaced by a sleeve shaft, the front wheel support 53 is nested on two sides of the wheel shaft of the front wheel 9, the sleeve shaft is fixedly arranged on the top of the front wheel support 53, a bearing is nested on the side surface of the sleeve shaft, the front wheel steering gear 50 is arranged on the top of the bearing, the bearing and the front wheel steering gear 50 are both embedded in the front arm 11 and are in interference fit with the inner wall of the front arm 11, the front wheel steering gear 50 is meshed with a front wheel steering transmission gear on the inner side, the front wheel steering motor 44 is fixedly arranged on one side of the sleeve shaft, the front wheel steering motor 44 is in transmission connection with the front wheel steering transmission gear, the front wheel steering motor 44 can work to drive the front wheel steering transmission gear to rotate, so that the front wheel steering transmission gear rotates around the front, the front wheel steering motor 44 and the sleeve shaft rotate in the front arm 11, so that the front wheel bracket 53 is driven to rotate, and the steering of the front wheel 9 is realized.

In a preferred embodiment, the front and rear arm folding device 8 comprises a folding motor 39, a synchronous belt 33, a folding lead screw 34, a folding flange 35, a folding lifting seat 36, a folding push-pull arm 37, a shock absorber 38, a folding push-pull arm rotating shaft 41 around a rear arm and a rear arm rotating shaft 40 around a rear arm, the bottom of the seat arm 12 is fixedly provided with the folding motor 39, the folding motor 39 is fixedly connected with the seat arm 12 through a folding motor seat arranged at the bottom of the seat arm 12, one side of the folding motor 39 is provided with the folding lead screw 34, the top of the folding lead screw 34 is nested with a lead screw bearing, the lead screw bearing is fixedly connected with the seat arm 12 through a lead screw shaft seat arranged at the bottom of the seat arm 12, the folding motor 39 is in transmission connection with the folding lead screw 34 through the synchronous belt 33, the bottom end of the folding lead screw 34 is provided with the folding lifting seat 36, one side of the folding lifting seat, annular part cover sets up on forearm 11, the fixed folding ring flange 35 that is equipped with in top of folding lift seat 36, folding lead screw 34 runs through folding ring flange 35 and folding lift seat 36 to with the inner wall threaded connection of folding ring flange 35, one side of folding lift seat 36 articulates there is folding push-and-pull arm 37, the middle part of folding push-and-pull arm 37 is equipped with bumper shock absorber 38, folding push-and-pull arm 37's the other end is articulated around postbrachium rotation axis 41 and postbrachium 2 through folding push-and-pull arm, postbrachium 2 is articulated around postbrachium rotation axis 40 through the postbrachium with seat arm 12.

when the front arm 11 and the rear arm 2 are unfolded, the folding motor 39 drives the folding screw 34 to rotate through the synchronous belt 33, the folding screw 34 rotates to drive the folding flange 35 and the folding lifting seat 36 to ascend, in the ascending process, one end of the folding push-pull arm 37 ascends along with the folding lifting seat 36 and rotates on one side of the folding lifting seat 36, the other end of the folding push-pull arm applies thrust to the rear arm 2 and rotates on the rear arm 2 around the rear arm rotating shaft 41 around the folding push-pull arm, the rear arm 2 is pushed to rotate at the bottom of the seat arm 12 around the rear arm rotating shaft 40 around the seat arm, so that the angle between the front arm 11 and the rear arm 2 is increased, and the unfolding between the front arm 11 and the rear arm 2 is realized.

When the front arm 11 and the rear arm 2 are folded, the folding motor 39 drives the folding screw 34 to rotate through the synchronous belt 33, the folding screw 34 rotates to drive the folding flange 35 and the folding lifting seat 36 to descend, in the descending process, one end of the folding push-pull arm 37 descends along with the folding lifting seat 36 and rotates on one side of the folding lifting seat 36, the other end of the folding push-pull arm applies pulling force to the rear arm 2 and rotates on the rear arm 2 around the rear arm rotating shaft 41, the rear arm 2 is pulled to rotate around the rear arm rotating shaft 40 at the bottom of the seat arm 12, so that the angle between the front arm 11 and the rear arm 2 is reduced, and the folding between the front arm 11 and the rear arm 2 is realized.

In a preferred embodiment, the rear arm 2 includes the rear arm main pipe 42 and the rear arm extension pipe 43, the rear arm extension pipe 43 is embedded in the rear arm main pipe 42 and is in clearance fit with the inner wall of the rear arm main pipe 42, the rear arm main pipe 42 is provided with a telescopic motor and a telescopic lead screw inside, the telescopic motor is in transmission connection with the telescopic lead screw, the telescopic lead screw penetrates through a flange plate arranged inside the rear arm extension pipe 43 and is in threaded connection with the inner wall of the flange plate, the telescopic motor can drive the telescopic lead screw to rotate, so that the rear arm extension pipe 43 is driven to move in the rear arm main pipe 42, and the extension and retraction of the rear arm 2 are realized.

In a preferred embodiment, the cross arm 5 comprises a cross arm main pipe 23, a cross arm left telescopic pipe 24 and a cross arm right telescopic pipe 25, the cross arm left telescopic pipe 24 and the cross arm right telescopic pipe 25 are embedded in the cross arm main pipe 23 and are in clearance fit with the inner wall of the cross arm main pipe 23, two telescopic motors and two telescopic lead screws are arranged inside the cross arm main pipe 23, one telescopic motor is in transmission connection with one telescopic lead screw, the other telescopic motor is in transmission connection with the other telescopic lead screw, one telescopic lead screw penetrates through a flange arranged inside the cross arm left telescopic pipe 24 and is in threaded connection with the inner wall of the flange, the other telescopic lead screw penetrates through the flange arranged inside the cross arm right telescopic pipe 25 and is in threaded connection with the inner wall of the flange, the two telescopic motors can work simultaneously and respectively drive the two telescopic lead screws to rotate, one telescopic screw rod rotates to drive the transverse arm left telescopic pipe 24 to move in the transverse arm main pipe 23, and the other telescopic screw rod rotates to drive the transverse arm right telescopic pipe 25 to move in the transverse arm main pipe 23, so that the transverse arm 5 is stretched.

In a preferred embodiment, the rear arm and crossbar connecting device 13 comprises a shaft a sleeve 20, a shaft a rotating motor 21, a shaft a rotating gear, a shaft a rotating transmission gear, a shaft C sleeve, a shaft C rotating rod 22, a connecting block C32, a shaft B rotating rod 26 and a connecting block B48, wherein a bearing is arranged inside the shaft a sleeve 20, a shaft a rotating gear is arranged on one side of the shaft a sleeve 20, the bearing and the shaft a rotating gear are both embedded on the crossbar 5 and are in interference fit with the outer wall of the crossbar 5, a shaft a rotating transmission gear is meshed on one side of the shaft a rotating gear, a shaft a rotating motor 21 is fixedly arranged on one side of the shaft a sleeve 20, the shaft a rotating motor 21 is in transmission connection with the shaft a rotating transmission gear, a fixing block is fixedly arranged on one side of the shaft a sleeve 20, a shaft C sleeve is fixedly arranged on the side of the fixing block, the telescopic inside of axle C is equipped with the attenuator, the telescopic bottom of axle C is equipped with axle C rotary rod 22, axle C rotary rod 22's bottom is equipped with connecting block C32, the top embedding of axle C rotary rod 22 sets up in axle C sleeve to with the telescopic inner wall clearance fit of axle C, bottom and connecting block C32 fixed connection, the inside attenuator of axle C sleeve produces damping effect to the rotation of axle C rotary rod 22, the inside of connecting block C32 is equipped with the attenuator, one side of connecting block C32 is equipped with axle B rotary rod 26, the one end of axle B rotary rod 26 is equipped with connecting block B48, the shape of connecting block B48 and connecting block C32 is L shape, the one end embedding of axle B rotary rod 26 sets up in connecting block C32 to with the inner wall clearance fit of connecting block C32, the other end and connecting block B48 fixed connection, the inside attenuator of connecting block C32 produces damping effect to the rotation of axle B rotary rod 26, one side of the connecting block B48 is fixedly connected with the bottom of the rear arm 2.

As shown in fig. 9(a), the rear arm and crossbar connection 13 is rotatable in three axes. As shown in fig. 9(b), the shaft a rotation motor 21 is operated to rotate the shaft a rotation transmission gear, so as to rotate the shaft a rotation gear, so as to rotate the cross arm 5 integrally, and to realize the rotation of the cross arm 5 in the shaft a sleeve 20. As shown in fig. 9(d), the speed difference between the two rear wheels 6 (same principle as that of the two-wheel balance car) causes the shaft C rotating rod 22 to rotate in the shaft C sleeve, and the cross arm 5 can rotate through the shaft C rotating rod 22, so that the rear wheels 6 are steered. As shown in fig. 9(C), during operation of the robot, the shaft B rotating lever 26 may rotate in the connecting block C32, to effect the suspended roll of the rear arm 2, and the cross arm 5 may rotate by the shaft B rotating lever 26 when the rear wheel 6 rolls over an obstacle.

In a preferred embodiment, the mecanum wheel and crossbar connecting device 7 comprises a friction block 27, elastic fixing members 29, barrier climbing rods 30 and connecting rods 31, the number of the barrier climbing rods 30 is four, four barrier climbing rods 30 are fixedly connected with the crossbar 5, two barrier climbing rods 30 are symmetrically distributed around the center of one rear wheel 6, the other two barrier climbing rods 30 are symmetrically distributed around the center of the other rear wheel 6, the length of each barrier climbing rod 30 is greater than the radius of the rear wheel 6, a mecanum wheel 18 is arranged between the rear wheel 6 and one barrier climbing rod 30, a sliding groove and an elastic fixing member 29 are arranged on the side surface of the barrier climbing rod 30 close to one side of the mecanum wheel 18, the connecting rod 31 is arranged at the center of the mecanum wheel 18, the connecting rod 31 is obliquely arranged, one end of the connecting rod 31 penetrates through the obstacle climbing rod 30 far away from one side of the Mecanum wheel 18, the other end of the connecting rod is in sliding connection with a sliding groove on the side face of the obstacle climbing rod 30 close to one side of the Mecanum wheel 18 and is abutted to a notch of the elastic fixing piece 29, a friction block 27 is arranged on one side of the Mecanum wheel 18, the friction block 27 corresponds to the rear wheel 6 in position, the friction block 27 is in transmission connection with the Mecanum wheel 18 through a transmission pipe arranged at the center of the friction block 27, a bearing is arranged inside the transmission pipe, and the bearing is embedded and sleeved on the connecting rod 31 and is in interference fit with the outer wall of the connecting rod 31.

When the crossbar 5 rotates around the shaft A to enable the Mecanum wheel 18 to be located between the rear wheel 6 and the ground, the shaft A rotating motor 21 can be locked in the current state, the position of the Mecanum wheel 18 is fixed in the current state, at the moment, the weight of the robot acts on the Mecanum wheel 18, one end, close to the Mecanum wheel 18, of the connecting rod 31 is pressed to slide in the sliding groove and applies pressure to the elastic fixing piece 29, the connecting rod 31 is changed from the inclined state to the horizontal state, the friction block 27 is abutted to the rear wheel 6, the rear wheel 6 rotates to drive the friction block 27 to rotate, the friction block 27 drives the Mecanum wheel 18 to rotate on the connecting rod 31 through a transmission pipe in the center of the friction block 27, and the Mecanum wheel 18 is matched with the front wheel 9 to achieve movement.

When mecanum wheel 18 is located at another position, elastic fixing piece 29 exerts pressure on one end of connecting rod 31 close to mecanum wheel 18 due to elasticity of elastic fixing piece, so that connecting rod 31 slides in the sliding groove, connecting rod 31 changes from a horizontal state to an inclined state, friction block 27 has a gap with rear wheel 6, and friction block 27 does not influence rotation of rear wheel 9.

In a preferred embodiment, the seat arm and armrest connecting part 17 includes two armrest sleeves, the two armrest sleeves are fixedly disposed on one side of the seat arm 12 and symmetrically distributed, the armrest arm 15 penetrates through the armrest sleeve, the armrest arm 15 and the armrest sleeve are limited by a limiting device disposed on one side of the armrest sleeve, the limiting device may be a manual limiting device and an electric limiting device, and the top of the armrest arm 15 is fixedly connected to the vehicle control platform 1.

When the limiting device adopts a manual limiting device, the arm supporting 15 and the arm supporting sleeve are limited through a buckle arranged on one side of the arm supporting sleeve, the buckle is the same as the bicycle seat lifting buckle principle, the adjusting mode is that the buckle is pulled out to adjust the height of the arm supporting 15, and after the adjustment is completed, the buckle is locked to be limited and fixed.

When stop device adopted electronic stop device, the one side of holding up arm 15 was equipped with the rack, the sheathed tube one side of holding up the arm is equipped with the gear, gear and rack toothing, the fixed spacing motor that is equipped with in sheathed tube one side of holding up the arm, spacing motor is connected with gear drive, and the regulative mode is: the gear can be driven to rotate by the work of the limiting motor, the rack can be driven to lift by the gear rotation, the height of the supporting arm 15 is adjusted, and after the completion, the limiting motor stops working and can be limited and fixed.

In a preferred embodiment, the seat arm 12 is nested on the top of the front arm 11 and forms a seat space, the top of the seat arm 12 is provided with a cushion 14, the cushion 14 is thick in the front and thin in the rear, and the cushion 14 is convenient for a user to sit on.

Vehicle control platform 1 includes handle 47, display screen 45 and expansion plate 46, the embedding of display screen 45 sets up the top at vehicle control platform 1, the number that sets up of handle 47 is two, and two the fixed both sides that set up at vehicle control platform 1 of handle 47 symmetry, expansion plate 46 sets up the number for three, and three expansion plate 46 embedding sets up in vehicle control platform 1's three side, and handle 47 provides application of force for the user and supports and control robot's use, and expansion plate 46 contracts at ordinary times in vehicle control platform 1, can extract expansion plate 46 during the use to form a mesa that has practical area.

the top of the cross arm 5 is provided with two pedals 19 which are symmetrically distributed, so that a foot placing position is provided for a user. The pedal 19 may also be provided with a battery therein to provide power to the device.

Two one side of rear wheel 6 all is equipped with fender 28, the both sides of fender 28 all are equipped with the mount, the mount all with xarm 5 fixed connection, fender 28 can shelter from mud.

The power supply device 4 comprises a storage battery and a storage battery seat, the storage battery is embedded into the storage battery seat, the storage battery seat is fixedly arranged on the rear arm 2, and the power supply device 4 provides electric energy for the whole robot.

In a preferred embodiment, the robot further includes a wire controller 16, the wire controller 16 is fixedly disposed at one side of the seat arm 12, and the wire controller 16 is prior art and will not be described herein.

in a preferred embodiment, a mechanical arm sliding rail 49 is fixedly arranged on one side of the rear arm 2, a mechanical arm 3 is arranged on one side of the mechanical arm sliding rail 49, the mechanical arm 3 is embedded on the mechanical arm sliding rail 49 and is slidably connected with the mechanical arm sliding rail 49, the mechanical arm 3 and the mechanical arm sliding rail 49 are limited by a limiting device arranged on one side of the mechanical arm 3, and the limiting device can adopt a manual limiting device and an electric limiting device.

When the limiting device adopts a manual limiting device, the mechanical arm 3 and the mechanical arm sliding rail 49 are limited through a buckle arranged on one side of the mechanical arm 3, the adjusting mode is that the buckle is poked to slide the mechanical arm 3 on the mechanical arm sliding rail 49, the height of the mechanical arm 3 is adjusted, and after the adjustment is completed, the buckle is locked to be limited and fixed.

When the limiting device adopts an electric limiting device, a lifting motor can be fixedly arranged at the top of the mechanical arm sliding rail 49, a lifting screw is arranged at the bottom of the lifting motor and is in transmission connection with the lifting motor, the lifting screw penetrates through one side of the mechanical arm 3 and is in threaded connection with the inner wall of the mechanical arm 3, the lifting motor can drive the lifting screw to rotate during working, the lifting screw can drive the mechanical arm 3 to lift, the height of the mechanical arm 3 is adjusted, and after the lifting motor stops working, the limiting device can be limited and fixed.

The invention can be folded back and forth and stretched left and right, and the equipment can present different shapes in the folding and stretching process, thereby realizing different functions. The present invention has a number of states: the three-wheeled electric vehicle comprises a minimum folding state, a maximum three-wheeled electric vehicle running state, a three-wheeled pedal sliding state, a two-wheeled self-balancing body sensing running state, a traction following state and a seat state. The invention has multiple functions: the mechanical arm comprises a front wheel and a rear wheel dual-steering function, a front and rear two-way driving function, a function of shifting movement in all directions, a function of climbing obstacles, a function of physical tables and chairs and an expansion mechanical arm.

The present invention is in the form:

(1) Minimum folded state

As shown in fig. 10, the present invention can retract in the front arm main pipe 51 through the front arm extension pipe 52, retract in the rear arm main pipe 42 through the rear arm extension pipe 43, retract in the cross arm main pipe 23 through the cross arm left extension pipe 24 and the cross arm right extension pipe 25, fold the front arm 11 and the rear arm 2 through the front and rear arm folding device 8, adjust the armrest arm 15 to the lowest height through the seat arm and armrest arm connecting member 17, and adjust to the minimum folding state when the front wheel 9 is rotated to be perpendicular to the rear wheel 6 through the front wheel steering device 10, in which the volume of the device can be controlled to be 310mm long by 675mm thick 450mm, and the device has stable center of gravity and stable landing, and is not easy to tip over.

(2) Maximum three-wheeled electric vehicle running form

as shown in fig. 11, the present invention rotates the front wheel 9 to be parallel to the rear wheel 6 by the front wheel steering device 10, extends in the front arm main pipe 51 by the front arm extension pipe 52, extends in the rear arm main pipe 42 by the rear arm extension pipe 43, extends in the cross arm main pipe 23 by the cross arm left extension pipe 24 and the cross arm right extension pipe 25, extends the front arm 11 and the rear arm 2 by the front and rear arm folding device 8, adjusts the armrest arm 15 to the highest height by the seat arm and armrest arm connecting member 17, and can adjust to the maximum three-wheel electric vehicle form, which is powered by the storage battery, and can provide the safe and high-speed driving function for the user. As shown in fig. 18, the high-speed running state is assumed in this case.

(3) Three-wheel pedal sliding form

as shown in fig. 19, in the maximum three-wheeled electric vehicle mode, when the battery is dead, the device can be regarded as a scooter, and the user can run with both feet to provide power.

(4) Two-wheel self-balancing somatosensory driving form

As shown in fig. 17, in the minimum folding state of the present invention, the front wheel 9 is separated from the ground by extending the rear arm extension tube 43 in the rear arm main tube 42, and the user stands on the pedal 19 of the crossbar 5 and is powered by the two rear wheels 6, and at this time, the apparatus is in a two-wheel self-balancing body sensing running mode, and the principle is the same as that of a two-wheel balance car. As shown in fig. 13, in the state of the two-wheel balance maximum robot, the maximum operation height of the mechanical arm 3 can reach 97cm, and the minimum operation height can stick to the ground, and the height range can be suitable for most of the scenes in life. The front wheel 9 can be adjusted in the center of gravity according to the movement of the robot arm 3.

(5) Traction following state

As shown in fig. 20, in any form of the present invention, the front wheel 9 is rotated to be parallel to the rear wheel 6 by the front wheel steering device 10, and the user can control the operation of the device through the wire controller 16, which belongs to the prior art and is not described herein.

(6) Table and chair shape

as shown in fig. 15, the present invention is deformed to a proper state, a statically stable three-wheel structure and a proper height, so that the seat cushion 14 of the apparatus has a function of a seat. As shown in fig. 16, the telescopic plate 46 of the vehicle control platform 1 is pulled out to form a small table top, and the equipment becomes a table and chair shape when the equipment is adjusted by the support of the armrest 15 and forms a proper distance with the cushion 14.

The functions of the invention are as follows:

(1) Double steering function of front and rear wheels

The front wheels 9 of the present invention are steered by a front wheel steering device 10, and the rear wheels 6 are steered by a speed difference between the two wheels.

(2) Front and rear bidirectional driving function

The invention has the driving function in the front and back directions, and a driver can sit upright or sit back and can operate and control the equipment.

(3) function of shifting motion in all directions

A typical wheel can only move in one direction and therefore cannot make offset movements, such as traversing. As shown in fig. 12, the present invention has mecanum wheels 18 provided on both rear wheels 6, a crossbar 5 is rotated in a shaft a sleeve 20 by a shaft a rotation motor 21 provided, a barrier climbing rod 30 provided on the crossbar 5 rotates the mecanum wheels 18 around the rear wheels 6 via a connecting rod 31, the mecanum wheels 18 are rotated to the middle between the rear wheels 6 and the ground, the shaft a rotation motor 21 is locked in a current state, the position of the mecanum wheels 18 is fixed in the current state, the weight of the apparatus is pressed on the mecanum wheels 18 in this state, one end of the connecting rod 31 near the mecanum wheels 18 is pressed in the sliding groove to slide and apply pressure on an elastic fixing member 29, the connecting rod 31 is changed from a tilted state to a horizontal state, a friction block 27 abuts against the tread of the rear wheels 6, the rear wheels 6 are rotated to drive a friction block 27, the friction block 27 drives the mecanum wheels 18 via a transmission pipe at the center thereof to rotate on the connecting rod 31, the power of the rear wheels 6 is converted into the power of the Mecanum wheels 18, and the two Mecanum wheels 18 are matched with the front wheels 9 and the front wheel steering device 10 to realize the offset movement in all directions, so that the movement of the equipment has unparalleled flexibility. The arrangement of the mecanum wheels 18 also solves the cleaning problem, and the mecanum wheels 18 can isolate the two rear wheels 6 from direct contact with the ground, so that certain cleanness can be maintained.

(4) Function of climbing obstacle

according to the invention, the two sides of the two rear wheels 6 are respectively provided with the obstacle climbing rods 30, the motor 21 is rotated through the shaft A, the cross arm 5 can be driven to rotate in the shaft A sleeve 20 integrally, the length of each obstacle climbing rod 30 is larger than the radius of the rear wheel 6, so that when an obstacle is encountered, the rotated obstacle climbing rods 30 can press on the obstacle, the whole cross arm 5 is lifted by the obstacle climbing rods 30 under the driving of the rotation force of the cross arm 5, the height of the obstacle is exceeded, and the obstacle falls on the obstacle, and therefore, the function of climbing can be realized at the rear half part of the equipment. The front half part of the equipment can realize the climbing function under the pressure given by the rotation of the front wheel 9 and the rotation of the rear wheel 6, so that the equipment can realize the function of integral climbing. As shown in fig. 14, the device can climb obstacles such as stairs.

(5) physical desk and chair function

the invention can realize the functions of a set of table and chair in the form of table and chair, and can be used for sitting on equipment to use a computer, write, drink tea, eat and the like.

(6) extension arm

The robot arm 3 of the present invention is designed to extend the functionality of the machine and allow it to have hardware to do what it needs to do by hand. The robot arm 3 is mounted on the rear arm 2 of the apparatus, and it can slide up and down on the rear arm 2.

The foregoing merely represents preferred embodiments of the invention, which are described in some detail and detail, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes, modifications and substitutions can be made without departing from the spirit of the present invention, and these are all within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The utility model provides a manned general shape shifting robot, includes a front wheel (9) and two rear wheels (6), the inside of front wheel (9) and rear wheel (6) all is provided with in-wheel motor and electromagnetic braking system, its characterized in that: the bicycle front wheel steering device further comprises a telescopic front arm (11), a seat arm (12), a holding arm (15), a telescopic rear arm (2), a telescopic cross arm (5), a front wheel steering device (10), a front arm folding device (8), a rear arm and cross arm connecting device (13), a Mecanum wheel (18), a Mecanum wheel and cross arm connecting device (7), a seat arm and holding arm connecting piece (17), a power supply device (4) and a bicycle control platform (1), wherein the front wheel (9) and the front arm (11) are connected through the front wheel steering device (10), the front arm (11) and the rear arm (2) are connected through the seat arm (12), the front arm (11) and the rear arm (2) can be folded through the front arm folding device (8), the angle between the front arm (11) and the rear arm (2) is changed, the rear arm (2) and the cross arm (5) are connected with the cross arm connecting device (13) through the rear arm, the rear arm and cross arm connecting device (13) can rotate in a multi-axis mode, two ends of the cross arm (5) are connected with two rear wheels (6) respectively, the Mecanum wheels (18) and the cross arm (5) are connected with the cross arm connecting device (7) through the Mecanum wheels, the seat arm (12) and the holding arm (15) are connected with the holding arm connecting piece (17) through the seat arm, the top end of the holding arm (15) is connected with the vehicle control platform (1), and the power supply device (4) provides electric energy for the robot.

2. The manned universal deformation robot of claim 1, wherein: forearm (11) are responsible for (51) and the flexible pipe (52) of forearm including the forearm, the flexible pipe (52) embedding of forearm sets up in the forearm is responsible for (51) to be responsible for the inner wall clearance fit of (51) with the forearm, the forearm is responsible for the inside of (51) and is equipped with flexible motor and flexible lead screw, flexible motor is connected with flexible lead screw transmission, flexible lead screw runs through the setting at the flexible inside ring flange of pipe (52) of forearm to with the inner wall threaded connection of ring flange.

3. The manned universal deformation robot of claim 1, wherein: the front wheel steering device (10) comprises a front wheel steering gear (50), a front wheel steering transmission gear, a front wheel bracket (53), a sleeve ring (54) and a front wheel steering motor (44), the front wheel bracket (53) is nested at two sides of the wheel axle of the front wheel (9), the top of the front wheel bracket (53) is fixedly provided with a lantern ring (54), a bearing is arranged inside the lantern ring (54), a front wheel steering gear (50) is arranged at the top of the lantern ring (54), the bearing and the front wheel steering gear (50) are both embedded on the front arm (11), and is in interference fit with the outer wall of the front arm (11), one side of the front wheel steering gear (50) is engaged with a front wheel steering transmission gear, and a front wheel steering motor (44) is fixedly arranged on one side of the sleeve ring (54), and the front wheel steering motor (44) is in transmission connection with a front wheel steering transmission gear.

4. The manned universal deformation robot of claim 1, wherein: the front and rear arm folding device (8) comprises a folding motor (39), a synchronous belt (33), a folding lead screw (34), a folding flange (35), a folding lifting seat (36), a folding push-pull arm (37), a shock absorber (38), a folding push-pull arm, a rear arm rotating shaft (41) and a rear arm rotating shaft (40) are wound on the rear arm, the bottom of the seat arm (12) is fixedly provided with the folding motor (39), one side of the folding motor (39) is provided with the folding lead screw (34), the folding motor (39) is in transmission connection with the folding lead screw (34) through the synchronous belt (33), the bottom end of the folding lead screw (34) is provided with the folding lifting seat (36), one side of the folding lifting seat (36) is an annular component which is embedded on the front arm (11), the top of the folding lifting seat (36) is fixedly provided with the folding flange (35), the folding lead screw (34) penetrates through the folding flange plate (35) and the folding lifting seat (36) and is in threaded connection with the inner wall of the folding flange plate (35), a folding push-pull arm (37) is hinged to one side of the folding lifting seat (36), a shock absorber (38) is arranged in the middle of the folding push-pull arm (37), the other end of the folding push-pull arm (37) is hinged to the rear arm (2) through the folding push-pull arm around a rear arm rotating shaft (41), and the rear arm (2) is hinged to the seat arm (12) through the rear arm around a seat arm rotating shaft (40).

5. The manned universal deformation robot of claim 1, wherein: the trailing arm (2) are responsible for (42) and the flexible pipe (43) of trailing arm including the trailing arm, the flexible pipe (43) embedding of trailing arm sets up in the trailing arm is responsible for (42) to be responsible for the inner wall clearance fit of (42) with the trailing arm, the inside that the trailing arm is responsible for (42) is equipped with flexible motor and flexible lead screw, flexible motor is connected with flexible lead screw transmission, flexible lead screw runs through the setting and sets up the inside ring flange in the flexible pipe (43) of trailing arm to with the inner wall threaded connection of ring flange.

6. The manned universal deformation robot of claim 1, wherein: the cross arm (5) comprises a cross arm main pipe (23), a cross arm left telescopic pipe (24) and a cross arm right telescopic pipe (25), wherein the cross arm left telescopic pipe (24) and the cross arm right telescopic pipe (25) are embedded into the cross arm main pipe (23) and are in clearance fit with the inner wall of the cross arm main pipe (23), two telescopic motors and two telescopic lead screws are arranged inside the cross arm main pipe (23), one telescopic motor is in transmission connection with one telescopic lead screw, the other telescopic motor is in transmission connection with the other telescopic lead screw, one telescopic lead screw penetrates through a flange plate arranged inside the cross arm left telescopic pipe (24) and is in threaded connection with the inner wall of the flange plate, and the other telescopic lead screw penetrates through a flange plate arranged inside the cross arm right telescopic pipe (25) and is in threaded connection with the inner wall of the flange plate.

7. the manned universal deformation robot of claim 1, wherein: the rear arm and cross arm connecting device (13) comprises a shaft A sleeve (20), a shaft A rotating motor (21), a shaft A rotating gear, a shaft A rotating transmission gear, a shaft C sleeve, a shaft C rotating rod (22), a connecting block C (32), a shaft B rotating rod (26) and a connecting block B (48), wherein a bearing is arranged inside the shaft A sleeve (20), the shaft A rotating gear is arranged on one side of the shaft A sleeve (20), the bearing and the shaft A rotating gear are both embedded on the cross arm (5) and are in interference fit with the outer wall of the cross arm (5), the shaft A rotating transmission gear is meshed on one side of the shaft A rotating gear, the shaft A rotating motor (21) is fixedly arranged on one side of the shaft A sleeve (20), the shaft A rotating motor (21) is in transmission connection with the shaft A rotating transmission gear, a fixing block is fixedly arranged on one side of the shaft A sleeve (20), the fixed axle C sleeve pipe that is equipped with in side of fixed block, axle C sheathed tube bottom is equipped with axle C rotary rod (22), the bottom of axle C rotary rod (22) is equipped with connecting block C (32), the top embedding of axle C rotary rod (22) sets up in axle C sleeve pipe to with axle C sheathed tube inner wall clearance fit, bottom and connecting block C (32) fixed connection, one side of connecting block C (32) is equipped with axle B rotary rod (26), the one end of axle B rotary rod (26) is equipped with connecting block B (48), the one end embedding of axle B rotary rod (26) sets up in connecting block C (32) to with the inner wall clearance fit of connecting block C (32), the other end and connecting block B (48) fixed connection, the one side of connecting block B (48) and the bottom fixed connection of back arm (2).

8. The manned universal deformation robot of claim 1, wherein: the Mecanum wheel and cross arm connecting device (7) comprises friction blocks (27), elastic fixing parts (29), barrier climbing rods (30) and connecting rods (31), the number of the barrier climbing rods (30) is four, the four barrier climbing rods (30) are fixedly connected with a cross arm (5), two barrier climbing rods (30) are symmetrically distributed around the center of a rear wheel (6), the other two barrier climbing rods (30) are symmetrically distributed around the center of another rear wheel (6), Mecanum wheels (18) are arranged between the rear wheels (6) and the barrier climbing rods (30) on one side, sliding grooves and the elastic fixing parts (29) are arranged on the side faces, close to the barrier climbing rods (30) on one side of the Mecanum wheels (18), the connecting rods (31) are arranged at the central positions of the Mecanum wheels (18), and the connecting rods (31) are obliquely arranged, the one end of connecting rod (31) runs through obstacle climbing pole (30) of keeping away from mecanum wheel (18) one side, the other end and the spout sliding connection who is close to obstacle climbing pole (30) one side of mecanum wheel (18) to with the breach butt of elastic fixing spare (29), one side of mecanum wheel (18) is equipped with clutch blocks (27), clutch blocks (27) are corresponding with the position of rear wheel (6), clutch blocks (27) are connected through the driving tube transmission that sets up in clutch blocks (27) central point with mecanum wheel (18), the inside of driving tube is equipped with the bearing, the bearing intussuseption is set up on connecting rod (31) to with the outer wall interference fit of connecting rod (31).

9. the manned universal deformation robot of claim 1, wherein: the seat arm and arm supporting connecting piece (17) comprises two arm supporting sleeves, the two arm supporting sleeves are fixedly arranged on one side of the seat arm (12) and symmetrically distributed, the arm supporting sleeve (15) penetrates through the arm supporting sleeve, the arm supporting sleeve (15) and the arm supporting sleeve are limited through a limiting device arranged on one side of the arm supporting sleeve, and the top of the arm supporting sleeve (15) is fixedly connected with the vehicle control platform (1).

10. The manned universal deformation robot of any one of claims 1-9, wherein: the seat arm (12) is embedded and sleeved at the top of a front arm (11) to form a seat space, the top of the seat arm (12) is provided with a cushion (14), the cushion (14) is thick and thin in the front, the vehicle control platform (1) comprises a handle (47), a display screen (45) and a telescopic plate (46), the display screen (45) is embedded and arranged at the top of the vehicle control platform (1), the number of the handles (47) is two, the handles (47) are symmetrically and fixedly arranged at two sides of the vehicle control platform (1), the number of the telescopic plate (46) is three, the telescopic plate (46) is embedded and arranged in three sides of the vehicle control platform (1), the top of the cross arm (5) is provided with two pedals (19) which are symmetrically distributed, and one side of the rear wheel (6) is provided with a mudguard (28), the fender is characterized in that fixing frames are arranged on two sides of the fender (28) and fixedly connected with the cross arm (5), the power supply device (4) comprises a storage battery and a storage battery seat, the storage battery is embedded into the storage battery seat, and the storage battery seat is fixedly arranged on the rear arm (2).

11. The manned universal deformation robot of any one of claims 1-9, wherein: the robot further comprises a wire controller (16), and the wire controller (16) is fixedly arranged on one side of the seat arm (12).

12. The manned universal deformation robot of any one of claims 1-9, wherein: the mechanical arm is characterized in that a mechanical arm sliding rail (49) is fixedly arranged on one side of the rear arm (2), a mechanical arm (3) is arranged on one side of the mechanical arm sliding rail (49), the mechanical arm (3) is embedded on the mechanical arm sliding rail (49) and is in sliding connection with the mechanical arm sliding rail (49), and the mechanical arm (3) and the mechanical arm sliding rail (49) are limited through a limiting device arranged on one side of the mechanical arm (3).