CN207950641U

CN207950641U - Programmable fully-automatic conversion anthropomorphic robot

Info

Publication number: CN207950641U
Application number: CN201820271621.7U
Authority: CN
Inventors: 陈小森
Original assignee: Shen Han Intelligent Technology (shenzhen) Co Ltd
Current assignee: Lesen Robot (Shenzhen) Co., Ltd.
Priority date: 2018-02-26
Filing date: 2018-02-26
Publication date: 2018-10-12
Anticipated expiration: 2028-02-26

Abstract

The utility model discloses a kind of programmable fully-automatic conversion anthropomorphic robots, it includes power supply unit, robot body, operation control system and steering gear system；Robot body includes head（1）, trunk（10）, left shoulder arm（2）, left hand（3）, right shoulder arm（4）, the right hand（5）, left leg（6）, right leg（8）, left foot（7）, right crus of diaphragm（9）And multiple joints for connecting above-mentioned each position, playing above-mentioned each position support and gearing；Each steering engine is connected with Transistor-Transistor Logic level multilayer connection type by shared bus in steering gear system, and each steering engine is all made of Special digital steering engine and detachable displacement.The programmable fully-automatic conversion anthropomorphic robot of the utility model, 21 steering engines i.e. 21 degree of freedom, realize the humanoid state and/or automobile form and full-automatic Deformation control of robot, robot uses 3D programing systems and cell phone application control system, and human-computer interaction is realized by the ends PC programming Control and the control of mobile phone terminal software.

Description

Programmable fully-automatic conversion anthropomorphic robot

Technical field

The utility model is related to fighter toy technical fields, and in particular to a kind of programmable fully-automatic conversion anthropomorphic robot.

Background technology

With the development of modern science and technology, set electromechanics, sensor, the technologies such as computer in one with swing, sounding, The humanoid transformable robot product for adjusting movement is rapidly developed.

A kind of deformation mechanical figure toy disclosed in the Chinese invention patent of Publication No. CN102698440A, have the body, Roof and holder for connecting the body and roof, whole body are arranged multiple rotation axis, can be converted between battlebus and robot.It is public The number of opening be CN202590353U Chinese utility model patent disclosed in a kind of deformation mechanical figure toy, including upper body, left arm, Right arm, the left leg that can be changed into left gun barrel housing unit, right leg, the trigger that can be changed into right gun barrel housing unit, can be humanoid Changed between gun-shaped.The modeling structure and mode of texturing of both robots are fairly simple.

The Chinese utility model patent of Publication No. CN202876340U discloses a kind of with head connector, thoracic cavity dress It sets, the left leg device equipped with U-shaped frame and right leg device, the left arm device equipped with left socle, the right arm equipped with right support fill It sets and the transformable robot of steering engine.The Chinese utility model patent of Publication No. CN204050955U, which discloses one kind, to be had Head, trunk, four limbs and connector transformable robot, wherein upper limb include can relatively movable upper arm and forearm, lower limb Including can relatively movable thigh and shank, trunk, upper limb, hand and lower limb the deformable formation headstock of leg portion, head In deformable package to headstock, the deformable formation vehicle body of the lower leg portion of lower limb and the foot.Publication number CN205549560U Chinese utility model patent disclose a kind of transformable robot toy car comprising tailstock portion, vehicle body shell, headstock portion, vehicle Door, body portion, arm part and head, the lower end in body portion are hinged on the front in tailstock portion, and body can be driven by being equipped in tailstock portion Portion is flipped up the switching mechanism of standing with respect to tailstock portion, and the lower end of vehicle body shell is hinged on the tail portion in tailstock portion, the tail in tailstock portion Portion both sides are equipped with trailing wheel, and the driving device that can drive rear wheel is equipped in tailstock portion, and the front bottom surface in tailstock portion is equipped with Steamboat is supported, drives body portion to be flipped up standing by switching mechanism or downwardly turns over accordingly automatic realize in toy car that lie low The change between robot.The Chinese utility model of Publication No. CN205434963U turns to disclose a kind of transformable automobile robot Toy, including the vehicle frame of formed automobile overall appearance structure, chassis, car door, the tailstock, front cover, vehicle warehouse lid and hinge member, vehicle Door is mounted in the first link both sides by connecting rod hinge respectively, is hinged with front vehicle wheel on car door, tailstock front passes through with chassis tail portion Axis is hinged, hinged by axis with vehicle frame rear portion in the middle part of the tailstock, and the front center of vehicle frame is equipped with link block, and front cover is cut with scissors by axis and filled On link block, the lower part on vehicle frame positioned at link block is fixedly connected with robot head, and tailstock both sides are separately connected by axis There is rear wheel, vehicle warehouse lid to be packed on vehicle frame, the deformation mechanism that product has can product carried out between automobile and robot Transformation.The structure of these types of robot is complex, and the deformation of humanoid state and automobile form is more flexible, but deformation degree of freedom, Controllability is inadequate.

In view of current prior art scenario, applicant has carried out robot original and different structure design：Novel machine Device people's product, whole body have 21 degree of freedom, under humanoid state can biped walk upright, under humanoid state and automobile form Mobile, matched handset APP and computer 3D high definition graphic programming systems, a key realize people to the Free Transform of automobile.

Utility model content

The utility model provides a kind of programmable fully-automatic conversion anthropomorphic robot, and robot whole body has 21 degree of freedom, can Biped walks upright under humanoid state, can be removable under humanoid state and automobile form, matched handset APP and computer 3D high People can be realized to the Free Transform of automobile in clear graphic programming system, a key.

To achieve the goals above, the utility model adopts the following technical solution.

The utility model discloses a kind of programmable fully-automatic conversion anthropomorphic robot, including power supply unit, robot body and Operation control system；The programmable fully-automatic conversion anthropomorphic robot of the utility model further includes steering gear system；

The power supply unit includes supply unit and undervoltage protection；

The robot body includes head, trunk, left shoulder arm, left hand, right shoulder arm, the right hand, left leg, right leg, left foot, the right side Foot further includes for connecting head, trunk, left shoulder arm, left hand, right shoulder arm, the right hand, left leg, right leg, left foot, right crus of diaphragm and rising To multiple joints of robot body's each position support and gearing；

The steering gear system includes shirtfront helm gear, left shoulder arm helm gear, left arm helm gear, left hip joint rudder Machine device, left leg helm gear, left foot helm gear, right shoulder arm helm gear, right arm helm gear, right hip joint steering engine dress It sets, right leg helm gear and right crus of diaphragm helm gear, the shirtfront helm gear, left hip joint helm gear, right hip joint steering engine Device is divided into the trunk of robot body, and the left shoulder arm helm gear and left arm helm gear are set to robot body Left shoulder arm and left hand, the right shoulder arm helm gear and right arm helm gear are set to right shoulder arm and the right side of robot body Hand, the left leg helm gear and left foot helm gear are respectively arranged at the left leg and left foot of robot body, the right leg rudder Machine device and right crus of diaphragm helm gear are respectively arranged at the right leg and right crus of diaphragm of robot body, and each helm gear is connected by shared bus It connects, realizes the humanoid state and/or automobile form and full-automatic Deformation control of robot；

The operation control system includes programing system and cell phone application control system, passes through the ends the PC programming to robot Control and the control of mobile phone terminal software, realize human-computer interaction.

Preferably, the joint of the robot body includes left shoulder shoulder joint, left hand shoulder joint, left hip joint, left leg Joint, left leg knee endoprosthesis, left foot joint, right shoulder arm joint, right hand shoulder joint, right hip joint, right leg joint, right leg knee close Section, right foot joint, the left shoulder shoulder joint, left hip joint, right shoulder arm joint, right hip joint are set to metastomium, the left side Arm joint, right hand shoulder joint are divided into left shoulder arm, right shoulder arm position, and the left leg joint, left leg knee endoprosthesis are set to a left side Leg position, the right leg joint, right leg knee endoprosthesis are set to right leg position, and the left foot joint, right foot joint are divided into a left side Foot, right crus of diaphragm position.

In any of the above-described technical solution preferably, the robot body further includes preceding cover, rear cover, outside left leg Shell, left foot shell, right leg shell, right crus of diaphragm shell, the preceding cover, rear cover are divided into metastomium, the left leg shell, a left side Foot shell is divided into left leg, left foot position, and the right leg shell, right crus of diaphragm shell are divided into right leg, right crus of diaphragm position.

In any of the above-described technical solution preferably, the shirtfront helm gear is installed on the shirtfront of the trunk of robot Position；The shirtfront helm gear includes shirtfront steering engine, steering wheel one and preceding cover, and steering wheel one connects shirtfront steering engine and preceding cover, Shirtfront steering engine for realizing precordial locations rotation and deformation.

In any of the above-described technical solution preferably, the left shoulder arm helm gear is installed on the left shoulder arm of robot and a left side Shoulder shoulder joint position；The left shoulder arm helm gear includes left arm steering engine, steering wheel two, left shoulder steering engine fixing piece, steering wheel three, a left side Shoulder steering engine and U-shaped part one, steering wheel two connect left arm steering engine, and steering wheel three connects left shoulder steering engine, and left shoulder steering engine fixing piece connects rudder Disk two connect left front driven wheel with steering wheel three and by U-shaped part one, and left arm steering engine realizes the left shoulder in left shoulder arm position with left shoulder steering engine The rotation and deformation of shoulder joint.

In any of the above-described technical solution preferably, the left arm helm gear is installed on the left shoulder arm of robot and a left side Arm joint position；The left arm helm gear includes left side upper arm steering engine, steering wheel four, left arm connector, steering wheel five, a left side Hand steering engine, the connection of steering wheel four left side upper arm steering engine, steering wheel five connect left hand steering engine, and left arm connector connects steering wheel four and steering wheel Five and left front driven wheel is connected by U-shaped part one, left hand steering engine realizes left shoulder arm position left hand shoulder joint with left side upper arm steering engine Rotation and deformation.

In any of the above-described technical solution preferably, the left hip joint helm gear is installed on robot trunk and a left side Hip joint position；The left hip joint helm gear includes left hip joint steering engine, left crotch's cross, and left hip joint steering engine passes through Left crotch's cross is fixedly connected on left hip joint position, realizes the rotation and deformation in the robot trunk position joints Zuo Kua.

In any of the above-described technical solution preferably, the left leg helm gear is installed on the left leg of robot and left leg closes Section, left leg knee endoprosthesis position；The left leg includes left thigh, left knee and left leg；The left leg helm gear includes a left side Leg steering engine, left leg steering engine fixing piece, left back driving wheel, left leg steering engine connection smallclothes, left side thigh steering engine, left side knee rudder Machine and left side shank steering engine；Left leg steering engine fixing piece connects left leg steering engine, left side thigh steering engine, left side knee steering engine and left side Shank steering engine, left leg steering engine connection smallclothes connect left back driving wheel, left leg steering engine and left side thigh steering engine, and left leg steering engine is also logical The left hip joint of Guo Zuo crotch cross connection metastomium；Left side thigh steering engine is set to left thigh, the setting of left side knee steering engine In left knee, left side shank steering engine is set to left leg, and left leg steering engine, left side thigh steering engine, left side knee steering engine and left side are small Leg steering engine and is matched with right leg helm gear for realizing the rotation and deformation of left leg position left leg joint, left leg knee endoprosthesis Share in controlling left back driving wheel and right rear drive sprocket under automobile form, with realize the advance of the robot under automobile form/ It retreats.

In any of the above-described technical solution preferably, the left foot helm gear is installed on robot left foot and left foot closes Section is set；The left foot helm gear includes left foot steering engine, left foot portion cross, and left foot steering engine is fixed by left foot portion cross Left foot position is connected to realize the rotation and deformation in left foot position left foot joint, left foot steering engine also by left foot portion cross with Left leg connection is to realize that left leg is deformed with the linkage of left foot position.

In any of the above-described technical solution preferably, the right shoulder arm helm gear is installed on robot right shoulder arm and the right side Shoulder shoulder joint position；The right shoulder arm helm gear includes right arm steering engine, steering wheel six, right shoulder steering engine fixing piece, steering wheel seven, the right side Shoulder steering engine and U-shaped part two, steering wheel six connect right arm steering engine, and steering wheel four connects right shoulder steering engine, and right shoulder steering engine fixing piece connects rudder Disk six connect right front driven wheel with steering wheel seven and by U-shaped part two, and right arm steering engine realizes the right shoulder in right shoulder arm position with right shoulder steering engine The rotation and deformation of shoulder joint.

In any of the above-described technical solution preferably, the right arm helm gear is installed on robot right shoulder arm and the right side Arm joint position；The right arm helm gear includes right side upper arm steering engine, steering wheel eight, right arm connector, steering wheel nine, the right side Hand steering engine, the connection of steering wheel eight right side upper arm steering engine, steering wheel nine connect right hand steering engine, and right arm connector connects steering wheel eight and steering wheel Nine and right front driven wheel is connected by U-shaped part two, right hand steering engine realizes right shoulder arm position right hand shoulder joint with right side upper arm steering engine Rotation and deformation.

In any of the above-described technical solution preferably, the right hip joint helm gear is installed on robot trunk and the right side Hip joint position；The right hip joint helm gear includes right hip joint steering engine, right crotch's cross, and right hip joint steering engine passes through Right crotch's cross is fixedly connected on right hip joint position, realizes the rotation and deformation in the robot trunk position joints You Kua.

In any of the above-described technical solution preferably, the right leg helm gear is installed on the right leg of robot and right leg closes Section, right leg knee endoprosthesis position；The right leg includes right thigh, right knee and right leg；The right leg helm gear includes the right side Leg steering engine, right leg steering engine fixing piece, right rear drive sprocket, right leg steering engine connection smallclothes, right lateral thigh steering engine, right side knee rudder Machine and right side shank steering engine, right leg steering engine fixing piece connect right leg steering engine, right lateral thigh steering engine, right side knee steering engine and right side Shank steering engine, right leg steering engine connection smallclothes connect right rear drive sprocket, right leg steering engine and right lateral thigh steering engine, and right leg steering engine is also logical The right hip joint of Guo You crotch cross connection metastomium；Right lateral thigh steering engine is set to right thigh, the setting of right side knee steering engine In right knee, right side shank steering engine is set to right leg, and right leg steering engine, right lateral thigh steering engine, right side knee steering engine and right side are small Leg steering engine and is matched with left leg helm gear for realizing the rotation and deformation of right leg position right leg joint, right leg knee endoprosthesis Share in controlling right rear drive sprocket and left back driving wheel under automobile form, with realize the advance of the robot under automobile form/ It retreats.

In any of the above-described technical solution preferably, the right crus of diaphragm helm gear is installed on robot right crus of diaphragm and right crus of diaphragm closes Section is set；The right crus of diaphragm helm gear includes right crus of diaphragm steering engine, right foot part cross, and right crus of diaphragm steering engine is fixed by right foot part cross Right crus of diaphragm position is connected to realize the rotation and deformation of right crus of diaphragm position right foot joint, right crus of diaphragm steering engine also by right foot part cross with Right leg connection is to realize that right leg is deformed with the linkage of right crus of diaphragm position.

In any of the above-described technical solution preferably, the shirtfront steering engine, left arm steering engine, left shoulder steering engine, left side upper arm Steering engine, left hand steering engine, left hip joint steering engine, left leg steering engine, left side thigh steering engine, left side knee steering engine, left side shank steering engine, a left side Foot steering engine, right arm steering engine, right shoulder steering engine, right side upper arm steering engine, right hand steering engine, right hip joint steering engine, right leg steering engine, right lateral thigh Steering engine, right side knee steering engine, right side shank steering engine, right crus of diaphragm steering engine are connected with Transistor-Transistor Logic level multilayer connection type by shared bus.

In any of the above-described technical solution preferably, the shirtfront steering engine, left arm steering engine, left shoulder steering engine, left side upper arm Steering engine, left hand steering engine, left hip joint steering engine, left leg steering engine, left side thigh steering engine, left side knee steering engine, left side shank steering engine, a left side Foot steering engine, right arm steering engine, right shoulder steering engine, right side upper arm steering engine, right hand steering engine, right hip joint steering engine, right leg steering engine, right lateral thigh Steering engine, right side knee steering engine, right side shank steering engine, right crus of diaphragm steering engine are all made of Special digital steering engine, and detachable displacement.

In any of the above-described technical solution preferably, the Special digital steering engine includes drive end bearing bracket, circuit board, current potential Device, motor, middle shell, gear set and tail end cover, each component are connected by removably.

In any of the above-described technical solution preferably, the Special digital steering engine uses UART serial interface communication modes, tool There are ID codings, and ID codings can be changed.

In any of the above-described technical solution preferably, the circuit board includes stall power down protection module and position feedback Alarm module.

In any of the above-described technical solution preferably, the position feedback alarm module includes detection circuit and control electricity Road and the main control module that steering gear system is connected by alarm module；Main control module transmits control instruction, control electricity to control circuit Road controls the Special digital steering engine according to instruction action after receiving instruction, detection circuit detect the Special digital steering engine whether according to Instruction action simultaneously will detect signal transmission to main control module；Detection circuit connects control circuit, when detection circuit detects this specially It is broken down with digital steering engine, the steering engine fault-signal of the Special digital steering engine is sent to control circuit and main control module；Control Circuit receives the steering engine fault-signal of the Special digital steering engine and closes its power supply；Main control module receives the steering engine fault-signal simultaneously The control circuit of other steering engines into steering gear system in addition to the Special digital steering engine sends halt instruction, while starting alarm Circuit sends out alarm.

In any of the above-described technical solution preferably, the supply unit include battery, charging interface, power switch, Power-off protection apparatus and remaining capacity voice prompt device.

In any of the above-described technical solution preferably, the battery, which uses, is not less than 12.6V-2000mAh-15C standards Rechargeable battery.

In any of the above-described technical solution preferably, the robot body further includes card reader arrangement, music storage Card device, data download port and communication interface.

Compared with prior art, the above-mentioned technical proposal of the utility model have flexible degree of freedom, can 3D programming, mobile phone The advantageous effects such as APP controls, the full-automatic deformation of a key：

(1) there are the robot whole body 21 degree of freedom, original and different modeling structure to design, it can be achieved that people arrives automobile Full-automatic key deformation：

There are robot whole body 21 freedom of motion, 21 steering engines to make the deformation of robot nimbly and freely；

Realize that a key dazzles cruel deformation by cell phone application；

Deformation process includes people to the deformation of automobile, the deformation of automobile to people, and double-form deformation, people, vehicle are removable；

The actions such as advance, retrogressing, push-up can be easily accomplished when humanoid state；

When automobile form can load-carrying 5KG, cross-country power is intrepid.

(2) have the function of programmable and APP On-line Controls：

Robot has communication interface, data download port, the versions such as matched handset or PAD APP and mating 3D high definitions Graphic programming system, synchronous manipulation robot by real-time operation APP or programing system.

(3) have the function of that data readback, record are used for custom action, the action that very also original subscriber edits：

Robot has communication interface, card reader arrangement, the overall process of deformation can be broken by recording user hand, automatically 100% playback robot deformation process, and 1,000,000 deformation processes can be stored；

The steering engine that steering gear system uses is Special digital steering engine, and Special digital steering engine detachably replaces and has position feedback Function can remember user and move the deformation process in each joint, and reproduce deformation process completely.

(4) cruel sound effect matching is dazzled, there is amusement function：

Robot has communication interface, music memory card device, carries mp3 play systems, oneself can store arbitrary sound It is happy；

21 freedom of motion of robot whole body, sing and dance festively, omnipotent.

Description of the drawings

In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only It is some embodiments of the utility model, for those of ordinary skill in the art, before not making the creative labor property It puts, other drawings may also be obtained based on these drawings.

Fig. 1 is to show according to the structure of one preferred embodiment of external form of the programmable fully-automatic conversion anthropomorphic robot of the utility model It is intended to；

Fig. 2 is the preferred embodiment according to the steering gear system of the programmable fully-automatic conversion anthropomorphic robot of the utility model Structural schematic diagram；

Fig. 3 is the preferred reality connected with trunk according to the head of the programmable fully-automatic conversion anthropomorphic robot of the utility model Apply the structural schematic diagram of example；

Fig. 4 is the preferred reality being connect with trunk according to the shoulder arm of the programmable fully-automatic conversion anthropomorphic robot of the utility model Apply the structural schematic diagram of example；

Fig. 5 is the preferred embodiment being connect with leg according to the hip of the programmable fully-automatic conversion anthropomorphic robot of the utility model Structural schematic diagram；

Fig. 6 is the preferred embodiment according to the left arm structure of the programmable fully-automatic conversion anthropomorphic robot of the utility model Enlarged diagram；

Fig. 7 is the preferred embodiment according to the left leg structure of the programmable fully-automatic conversion anthropomorphic robot of the utility model Enlarged diagram；

Fig. 8 be according to the utility model programmable fully-automatic conversion anthropomorphic robot humanoid state robot architecture one preferably The front view of embodiment；

Fig. 9 be according to the utility model programmable fully-automatic conversion anthropomorphic robot humanoid state robot architecture one preferably The rearview of embodiment；

Figure 10 be according to the programmable fully-automatic conversion anthropomorphic robot of the utility model humanoid state robot architecture it is one excellent Select the left view of embodiment；

Figure 11 be according to the programmable fully-automatic conversion anthropomorphic robot of the utility model humanoid state robot architecture it is one excellent Select the right view of embodiment；

Figure 12 is to be deformed into automobile form according to the humanoid state of the programmable fully-automatic conversion anthropomorphic robot of the utility model The schematic diagram of one preferred embodiment of deformation process；

Figure 13 is to be deformed into automobile form according to the humanoid state of the programmable fully-automatic conversion anthropomorphic robot of the utility model The schematic diagram for the preferred embodiment that deformation process is decomposed；

Figure 14 is according to the one of the automobile form robot architecture of the programmable fully-automatic conversion anthropomorphic robot of the utility model The front view of preferred embodiment；

Figure 15 is according to the one of the automobile form robot architecture of the programmable fully-automatic conversion anthropomorphic robot of the utility model The rearview of preferred embodiment；

Figure 16 is according to the one of the automobile form robot architecture of the programmable fully-automatic conversion anthropomorphic robot of the utility model The left view of preferred embodiment；

Figure 17 is according to the one of the automobile form robot architecture of the programmable fully-automatic conversion anthropomorphic robot of the utility model The right view of preferred embodiment；

Figure 18 is according to the one of the automobile form robot architecture of the programmable fully-automatic conversion anthropomorphic robot of the utility model The vertical view of preferred embodiment；

Figure 19 is according to the one of the automobile form robot architecture of the programmable fully-automatic conversion anthropomorphic robot of the utility model The upward view of preferred embodiment；

Figure 20 is to install carrier additional according to the automobile form robot of the programmable fully-automatic conversion anthropomorphic robot of the utility model A preferred embodiment structural schematic diagram；

Figure 21 is to install carrier additional according to the automobile form robot of the programmable fully-automatic conversion anthropomorphic robot of the utility model A preferred embodiment three-dimensional view；

Figure 22 is to present to dazzle extremely according to the programming Control machine people of the programmable fully-automatic conversion anthropomorphic robot of the utility model The three-dimensional view of one preferred embodiment of posture.

Reference numeral：

1, head, 2, left shoulder arm, 3, left hand, 4, right shoulder arm, 5, the right hand, 6, left leg, 7, left foot, 8, right leg, 9, right crus of diaphragm, 10, trunk, 11, music storage card, 12, power switch, 13, charging interface, 14, communication interface, 15, left arm steering engine, 16, left shoulder Steering engine, 17, left side upper arm steering engine, 18, left hand steering engine, 19, right arm steering engine, 20, right shoulder steering engine, 21, right side upper arm steering engine, 22, Right hand steering engine, 23, left hip joint steering engine, 24, left leg steering engine, 25, left side thigh steering engine, 26, left side knee steering engine, 27, left side Shank steering engine, 28, left foot steering engine, 29, right hip joint steering engine, 30, right leg steering engine, 31, right lateral thigh steering engine, 32, right side knee Steering engine, 33, right side shank steering engine, 34, right crus of diaphragm steering engine, 35, shirtfront steering engine, 36, left shoulder steering engine fixing piece, 37, U-shaped part one, 38, left front driven wheel, 39, left crotch's cross, 40, left thigh, 41, left back driving wheel, 42, left leg, 43, left foot portion ten Cabinet frame, 44, left foot shell, 45, left leg shell, 46, artillery, 47, machine gun, 48, right front driven wheel, 49, right rear drive sprocket.

Specific implementation mode

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work The every other embodiment obtained, shall fall within the protection scope of the present invention.

For the prior art scenario in transformable robot field, the utility model embodiment proposes a kind of may be programmed entirely certainly Dynamic deformation robot.There is original and different structure design, robot whole body to have 21 for the robot of the utility model embodiment A degree of freedom, under humanoid state can biped walk upright, it is removable under humanoid state and automobile form, matched handset APP and Computer 3D high definition graphic programming systems, a key realize people to the full-automatic Free Transform of automobile.

Embodiment 1

The present embodiment can independently form complete technical solution, can also be with other any embodiments of the utility model It carries out arranging/combine to form complete technical solution.

As shown in Figure 1, the programmable fully-automatic conversion anthropomorphic robot of the present embodiment includes power supply unit, robot body, behaviour Action control system and steering gear system.

Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, power supply unit include that supply unit and low-voltage are protected Protection unit.

Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, robot body include head 1, trunk 10, a left side Shoulder arm 2, left hand 3, right shoulder arm 4, the right hand 5, left leg 6, right leg 8, left foot 7, right crus of diaphragm 9 further include for connecting head 1, trunk 10, left shoulder arm 2, left hand 3, right shoulder arm 4, the right hand 5, left leg 6, right leg 8, left foot 7, right crus of diaphragm 9 and each portion of robot body is played Multiple joints of position support and gearing.The joint of robot body includes left shoulder shoulder joint, left hand shoulder joint, left hip pass Section, left leg joint, left leg knee endoprosthesis, left foot joint, right shoulder arm joint, right hand shoulder joint, right hip joint, right leg joint, the right side Leg knee endoprosthesis, right foot joint, left shoulder shoulder joint, left hip joint, right shoulder arm joint, right hip joint are set to 10 position of trunk, Left hand shoulder joint, right hand shoulder joint are divided into left shoulder arm 2,4 position of right shoulder arm, and left leg joint, left leg knee endoprosthesis are set to a left side 6 position of leg, right leg joint, right leg knee endoprosthesis are set to 8 position of right leg, and left foot joint, right foot joint are divided into left foot 7, the right side 9 position of foot.Multi-joint is arranged so that the performance of robot is very powerful, and general joint coordinates with steering gear system, can make up to ten thousand The action of kind apery class, such as：Forward-reverse, push-up, dancing, gun shooting, artillery are penetrated under the deformation of people's vehicle, the dual form of people's vehicle It hits.

Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, steering gear system include shirtfront helm gear, left shoulder Arm helm gear, left arm helm gear, left hip joint helm gear, left leg helm gear, left foot helm gear, right shoulder arm rudder Machine device, right arm helm gear, right hip joint helm gear, right leg helm gear and right crus of diaphragm helm gear, shirtfront steering engine dress Set, left hip joint helm gear, right hip joint helm gear are divided into the trunk 10 of robot body, left shoulder arm helm gear and Left arm helm gear is set to the left shoulder arm 2 and left hand 3, right shoulder arm helm gear and right arm helm gear of robot body It is set to the right shoulder arm 4 and the right hand 5 of robot body, left leg helm gear and left foot helm gear are respectively arranged at robot master The left leg 6 and left foot 7 of body, right leg helm gear and right crus of diaphragm helm gear are respectively arranged at the right leg 8 and right crus of diaphragm of robot body 9, each helm gear is connected by shared bus, realizes humanoid state and/or automobile form and the full-automatic deformation control of robot System.

Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, operation control system includes programing system and mobile phone APP control systems are controlled by the ends PC programming Control to robot and mobile phone terminal software, realize human-computer interaction.

Embodiment 2

The present embodiment can independently form complete technical solution, can also be combined to form complete skill with embodiment 1 Art scheme can also arrange/combine to form complete technical solution with other any embodiments of the utility model.

As shown in Fig. 1 to 7, the programmable fully-automatic conversion anthropomorphic robot of the present embodiment have power supply unit, robot body, Operation control system and steering gear system, steering gear system include shirtfront helm gear, left shoulder arm helm gear, left arm steering engine dress Set, left hip joint helm gear, left leg helm gear, left foot helm gear, right shoulder arm helm gear, right arm helm gear, Right hip joint helm gear, right leg helm gear and right crus of diaphragm helm gear, each helm gear are connected by shared bus, realize machine The humanoid state and/or automobile form and full-automatic Deformation control of device people：

Shirtfront helm gear is installed on the shirtfront position of the trunk 10 of robot；Shirtfront helm gear includes shirtfront steering engine 35, steering wheel one and preceding cover, steering wheel one connect shirtfront steering engine 35 and preceding cover, and shirtfront steering engine 35 turns for realizing precordial locations Dynamic and deformation.

Left shoulder arm helm gear is installed on the left shoulder arm 2 of robot and left shoulder shoulder joint position；Left shoulder arm helm gear includes Left arm steering engine 15, steering wheel two, left shoulder steering engine fixing piece 36, steering wheel three, left shoulder steering engine 16 and U-shaped part 1, steering wheel two connect Left arm steering engine 15, steering wheel three connect left shoulder steering engine 16, and left shoulder steering engine fixing piece 36 connects steering wheel two with steering wheel three and by U-shaped Part 1 connects left front driven wheel 38, and left arm steering engine 15 realizes the rotation of the left left shoulder shoulder joint in 2 position of shoulder arm with left shoulder steering engine 16 And deformation.

Left arm helm gear is installed on the left shoulder arm 2 of robot and left arm joint position；Left arm helm gear includes Left side upper arm steering engine 17, steering wheel four, left arm connector, steering wheel five, left hand steering engine 18, the connection of steering wheel four left side upper arm steering engine 17, steering wheel five connects left hand steering engine 18, left arm connector connect steering wheel four with steering wheel five and by U-shaped part one connect it is left front from Driving wheel 38, left hand steering engine 18 realize the rotation and deformation of 2 position left hand shoulder joint of left shoulder arm with left side upper arm steering engine 17.

Left hip joint helm gear is installed on robot trunk 10 and left hip joint position；Left hip joint helm gear includes Left hip joint steering engine 23, left crotch's cross 39, left hip joint steering engine 23 are fixedly connected on left hip by left crotch's cross 39 Joint position realizes the rotation and deformation in the 10 position joints Zuo Kua of robot trunk.

Left leg helm gear is installed on the left leg 6 of robot and left leg joint, left leg knee endoprosthesis position；Left leg 6 includes a left side Thigh 40, left knee and left leg 42；Left leg helm gear includes left leg steering engine 24, left leg steering engine fixing piece, left back driving Wheel 41, left leg steering engine connection smallclothes, left side thigh steering engine 25, left side knee steering engine 26 and left side shank steering engine 27；Left leg Steering engine fixing piece connects left leg steering engine 24, left side thigh steering engine 25, left side knee steering engine 26 and left side shank steering engine 27, left leg Steering engine connection smallclothes connect left back driving wheel 41, left leg steering engine 24 and left side thigh steering engine 25, left leg steering engine 24 and also pass through left hip Portion's cross 39 connects the 10 position joints Zuo Kua of trunk；Left side thigh steering engine 25 is set to left thigh 40, left side knee steering engine 26 It is set to left knee, left side shank steering engine 27 is set to left leg 42, left leg steering engine 24, left side thigh steering engine 25, left side knee Steering engine 26 and left side shank steering engine 27 for realizing left leg 6 position left leg joint, left leg knee endoprosthesis rotation and deformation, and Coordinate for controlling left back driving wheel 41 and right rear drive sprocket 49 under automobile form, to realize automobile-shaped with right leg helm gear Robot under state it is forward/backward.

Left foot helm gear is installed on robot left foot 7 and left foot joint position；Left foot helm gear includes left foot steering engine 28, left foot portion cross 43, left foot steering engine 28 are fixedly connected on 7 position of left foot to realize left foot 7 by left foot portion cross 43 The rotation and deformation in position left foot joint, left foot steering engine 28 are also connect with left leg 42 to realize a left side by left foot portion cross 43 Shank 42 is deformed with the linkage of 7 position of left foot.

Right shoulder arm helm gear is installed on robot right shoulder arm 4 and right shoulder arm joint position；Right shoulder arm helm gear includes Right arm steering engine 19, steering wheel six, right shoulder steering engine fixing piece, steering wheel seven, right shoulder steering engine 20 and U-shaped part two, steering wheel six connect right arm Steering engine 19, steering wheel four connect right shoulder steering engine 20, and right shoulder steering engine fixing piece connects steering wheel six with steering wheel seven and connected by U-shaped part two Right front driven wheel 48 is connect, right arm steering engine 19 realizes the rotation and deformation in 4 position right shoulder arm joint of right shoulder arm with right shoulder steering engine 20.

Right arm helm gear is installed on robot right shoulder arm 4 and right arm joint position；Right arm helm gear includes Right side upper arm steering engine 21, steering wheel eight, right arm connector, steering wheel nine, right hand steering engine 22, the connection of steering wheel eight right side upper arm steering engine 21, steering wheel nine connects right hand steering engine 22, right arm connector connect steering wheel eight with steering wheel nine and by U-shaped part two connect before the right side from Driving wheel 48, right hand steering engine 22 realize the rotation and deformation of 4 position right hand shoulder joint of right shoulder arm with right side upper arm steering engine 21.

Right hip joint helm gear is installed on robot trunk 10 and right hip joint position；Right hip joint helm gear includes Right hip joint steering engine 29, right crotch's cross, right hip joint steering engine 29 are fixedly connected on right hip joint by right crotch's cross The rotation and deformation in the 10 position joints You Kua of robot trunk are realized in position.

Right leg helm gear is installed on the right leg 8 of robot and right leg joint, right leg knee endoprosthesis position；Right leg 8 includes the right side Thigh, right knee and right leg；Right leg helm gear include right leg steering engine 30, right leg steering engine fixing piece, right rear drive sprocket 49, Right leg steering engine connection smallclothes, right lateral thigh steering engine 31, right side knee steering engine 32 and right side shank steering engine 33, right leg steering engine are solid Determine part and connect right leg steering engine 30, right lateral thigh steering engine 31, right side knee steering engine 32 and right side shank steering engine 33, right leg steering engine connects It connects the right rear drive sprocket 52 of smallclothes connection, right leg steering engine 30 and right lateral thigh steering engine 31, right leg steering engine 30 and also passes through right crotch's cross Frame connects the 10 position joints You Kua of trunk；Right lateral thigh steering engine 31 is set to right thigh, and right side knee steering engine 32 is set to right knee Lid, right side shank steering engine 33 are set to right leg, right leg steering engine 30, right lateral thigh steering engine 31, right side knee steering engine 32 and right side Shank steering engine 33 for realizing 8 position of right leg right leg joint, right leg knee endoprosthesis rotation and deformation, and with left leg steering engine fill Cooperation is set for controlling right rear drive sprocket 52 and left back driving wheel 41 under automobile form, to realize the robot under automobile form It is forward/backward.

Right crus of diaphragm helm gear is installed on robot right crus of diaphragm 8 and right foot joint position；Right crus of diaphragm helm gear includes right crus of diaphragm steering engine 34, right foot part cross, right crus of diaphragm steering engine 34 are fixedly connected on 9 position of right crus of diaphragm to realize 8 position of right crus of diaphragm by right foot part cross The rotation and deformation of right foot joint, right crus of diaphragm steering engine 34 are also connect by right foot part cross with right leg to realize right leg and the right side The linkage deformation of 8 position of foot.

Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, 21 steering engines i.e. 21 degree of freedom, realizes machine The humanoid state and/or automobile form of people and full-automatic Free Transform.

Embodiment 3

The present embodiment can independently form complete technical solution, can also be combined to have been formed with embodiment 1 and/or 2 Whole technical solution can also arrange/combine to form complete technical side with other any embodiments of the utility model Case.

The programmable fully-automatic conversion anthropomorphic robot of the present embodiment has power supply unit, robot body, operation control system And steering gear system, as shown in Fig. 2, steering gear system has 21 steering engines：Left arm steering engine 15, left shoulder steering engine 16, left side upper arm steering engine 17, left hand steering engine 18, left hip joint steering engine 23, left leg steering engine 24, left side thigh steering engine 25, left side knee steering engine 26, left side are small Leg steering engine 27, left foot steering engine 28, right arm steering engine 19, right shoulder steering engine 20, right side upper arm steering engine 21, right hand steering engine 22, right hip joint It is steering engine 29, right leg steering engine 30, right lateral thigh steering engine 31, right side knee steering engine 32, right side shank steering engine 33, right crus of diaphragm steering engine 34, preceding Chest steering engine 35, each steering engine are connected with Transistor-Transistor Logic level multilayer connection type by shared bus, realize robot humanoid state and/or Automobile form and full-automatic Deformation control.

Embodiment 4

The present embodiment can independently form complete technical solution, can also be combined with embodiment 1 and/or 2 and/or 3 Complete technical solution is formed, can also carry out arranging/combine to be formed completely with other any embodiments of the utility model Technical solution.

The programmable fully-automatic conversion anthropomorphic robot of the present embodiment has power supply unit, robot body, operation control system And steering gear system, as shown in Fig. 1 to 7,21 steering engines " left arm steering engine 15, left shoulder steering engine 16, left side upper arm rudder in steering gear system Machine 17, left hand steering engine 18, left hip joint steering engine 23, left leg steering engine 24, left side thigh steering engine 25, left side knee steering engine 26, left side Shank steering engine 27, left foot steering engine 28, right arm steering engine 19, right shoulder steering engine 20, right side upper arm steering engine 21, right hand steering engine 22, right hip close Save steering engine 29, right leg steering engine 30, right lateral thigh steering engine 31, right side knee steering engine 32, right side shank steering engine 33, right crus of diaphragm steering engine 34, Shirtfront steering engine 35 " is connected with Transistor-Transistor Logic level multilayer connection type by shared bus, realizes the humanoid state and/or automobile of robot Form and full-automatic Deformation control.21 steering engines are all made of Special digital steering engine, and detachable displacement.

Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, Special digital steering engine include drive end bearing bracket, circuit board, Potentiometer, motor, middle shell, gear set and tail end cover, each component are connected by removably.

Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, Special digital steering engine use UART serial communication moulds Formula has ID codings, and ID codings can be changed.

Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, the circuit board in Special digital steering engine includes stifled Turn power down protection module and position feedback alarm module.

Embodiment 5

The present embodiment can independently form complete technical solution, can also be combined to form complete skill with embodiment 4 Art scheme can also arrange/combine to form complete technical solution with other any embodiments of the utility model.

The programmable fully-automatic conversion anthropomorphic robot of the present embodiment has power supply unit, robot body, operation control system And steering gear system, as shown in Fig. 1 to 7,21 steering engines " left arm steering engine 15, left shoulder steering engine 16, left side upper arm rudder in steering gear system Machine 17, left hand steering engine 18, left hip joint steering engine 23, left leg steering engine 24, left side thigh steering engine 25, left side knee steering engine 26, left side Shank steering engine 27, left foot steering engine 28, right arm steering engine 19, right shoulder steering engine 20, right side upper arm steering engine 21, right hand steering engine 22, right hip close Save steering engine 29, right leg steering engine 30, right lateral thigh steering engine 31, right side knee steering engine 32, right side shank steering engine 33, right crus of diaphragm steering engine 34, Shirtfront steering engine 35 " be all made of the Special digital steering engine detachably replaced realize humanoid state and/or the automobile form of robot with And full-automatic Deformation control.

Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, Special digital steering engine include drive end bearing bracket, circuit board, Potentiometer, motor, middle shell, gear set and tail end cover, circuit board include stall power down protection module and position feedback alarm mould Block.Position feedback alarm module includes detection circuit and control circuit and connects the master control mould of steering gear system by alarm module Block；Main control module transmits control instruction to control circuit, and control circuit controls the Special digital steering engine according to finger after receiving instruction Order acts, detection circuit detect the Special digital steering engine whether according to instruction action and will detection signal transmission to main control module； Detection circuit connect control circuit, when detection circuit detect the Special digital steering engine break down, to control circuit and master control Module sends the steering engine fault-signal of the Special digital steering engine；Control circuit receives the steering engine fault-signal of the Special digital steering engine And close its power supply；Main control module receives the steering engine fault-signal and its into steering gear system in addition to the Special digital steering engine The control circuit of his steering engine sends halt instruction, while starting warning circuit and sending out alarm.

Embodiment 6

The programmable fully-automatic conversion anthropomorphic robot of the present embodiment has power supply unit, robot body, operation control system And steering gear system, wherein as shown in figure 17, supply unit includes battery, charging interface 13, power switch 12, power-off protection dress It sets and remaining capacity voice prompt device.

Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, battery, which uses, is not less than 12.6V-2000mAh- The rechargeable battery of 15C standards.

Such as forget to close power supply, battery capacity can slow consumption finish, since with power-off protection apparatus, battery can power off Protection, will not damage robot.

Embodiment 7

The programmable fully-automatic conversion anthropomorphic robot of the present embodiment has power supply unit, robot body, operation control system And steering gear system, wherein as shown in figure 17, robot body further includes under card reader arrangement, 11 device of music storage card, data Load port and communication interface 14.

Embodiment 8

As shown in Fig. 1 to 7, the programmable fully-automatic conversion anthropomorphic robot of the present embodiment have power supply unit, robot body, Operation control system and steering gear system, wherein robot body further includes preceding cover, rear cover, left leg shell 45, left foot shell 44, right leg shell, right crus of diaphragm shell.

Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, preceding cover, rear cover are divided into 10 position of trunk.

Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, as shown in figure 5, its left leg shell 45, left foot shell 44 are divided into left leg 6,7 position of left foot.

Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, right leg shell, right crus of diaphragm shell be divided into right leg 8, 9 position of right crus of diaphragm.

Embodiment 9

As shown in Figure 1, the programmable fully-automatic conversion anthropomorphic robot of the present embodiment has power supply unit, robot body, behaviour Action control system and steering gear system.Weight 2.2kg containing battery, the robot of steering gear system；Under humanoid state, robot Shape size is 390m*230*185mm, speed of travel 2m/min, and gait walking is walked upright mode using apery biped,； Under automobile-shaped state, the shape size of robot is 300*223*160mm, and travel speed when automobile form reaches 15m/min, Turning radius 1400mm.

Embodiment 10

As shown in Fig. 8 to 19, the programmable fully-automatic conversion anthropomorphic robot of the present embodiment has power supply unit, robot master Body, operation control system and steering gear system.Robot has double initial positions of humanoid state and automobile form, powers on booting When humanoid state or automobile form reverted to according to the current state automatic identification of robot.Cover before the steering engine of precordial locations is realized Rotation variation, the steering engine of left and right shoulder realizes that the deformation of both arms, the steering engine in the leg centre position of left and right leg are used for automobile-shaped Forward/backward driving under state.

Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, as shown in figure 8, the setting of humanoid state initial position： Sufficient spacing A is 10mm.When humanoid state, robot center of gravity is placed in the middle, stands steady, biped spacing 10mm, screw among 3 joint of leg In a line, robot body slightly leans forward, and in vertical in 20 degree, each section cover and shell of robot are in upper both arms The front bottom at its residing position and not with subject interference.

Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, the setting of automobile form initial position：Robot Two legs are seamless, and joint is in its institute without strength, upper both arms and body parallel, each section cover and shell of robot is suppressed Locate position rear portion and is closed with main body.

Embodiment 11

As shown in Fig. 1 to 19, the programmable fully-automatic conversion anthropomorphic robot of the present embodiment has power supply unit, robot master Body, operation control system and steering gear system, robot have double initial positions of humanoid state and automobile form, power on booting When humanoid state or automobile form reverted to according to the current state automatic identification of robot.Cover before the steering engine of precordial locations is realized Rotation variation, the steering engine of left and right shoulder realizes that the deformation of both arms, the steering engine in the leg centre position of left and right leg are used for automobile-shaped Forward/backward driving under state.

Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, can at automobile form (i.e. robot carrier state) With installation " arm store ", as shown in figs 20 and 21, automobile form robot installs artillery 46 and machine gun 47 in roof, increases machine The toy of device people is interesting.

Embodiment 12

As shown in Fig. 1 to 19, the programmable fully-automatic conversion anthropomorphic robot of the present embodiment has power supply unit, robot master Body, operation control system and steering gear system, operation control system include programing system and cell phone application control system.By to machine The ends the PC programming Control of device people and mobile phone terminal APP controls, realize the human-computer interaction of humanoid state and automobile form deformation, and can lead to It crosses the programming of the ends PC or mobile phone terminal APP controls robot makes and dazzles cruel posture, as shown in figure 22.

Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, by cell phone application control robot, cell phone application with Between robot body by communication interface using low-power consumption bluetooth 4.0 communicate, the bluetooth module support Android system with IOS systems, communication speed is fast, and data mutually pass in real time, and one-to-one link is noiseless.

Embodiment 13

As shown in Fig. 1 to 19, the programmable fully-automatic conversion anthropomorphic robot of the present embodiment has power supply unit, robot master Body, operation control system and steering gear system, operation control system include programing system and cell phone application control system.By to machine The ends the PC programming Control of device people and mobile phone terminal APP controls, realize the human-computer interaction of humanoid state and automobile form deformation, and can pass through The ends PC program or mobile phone terminal APP controls robot makes and dazzles cruel posture, as shown in figure 22.

Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment passes through the 3D high definition graphic programming system controls at the ends PC Robot processed can adjust robot by simply clicking on mouse mode using three dimensional virtual models interaction Examination programming.

Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, can download program and be input to machine by communication interface In device human agent, 21 steering engines realize 300 degree of controllable angle, take joint (rudders of this 250 degree of the intermediate 25-275 as robot Machine) angle is used, digital control by 0-250 this 250, the initial position of robot is arranged in 11 degree of Numerical Control, carries out The selection of action storage button, the operation of cycle frame, addition structure line, setting starting point, editor 3D actions, is given addition cycle frame Action association music, the preservation of three-dimensional motion program and opening, the download of three-dimensional motion program, the upload of three-dimensional motion program etc. System operatio, 3D high definition graphic programming systems realize that robot is exchanged with the direct of user.

Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, can also remember and repaired hand breaks action data, machine Device people's power interruption braking, then all joints can move, each joint is broken to desired position, read machine people's current location data Into 3D high definition graphic programming systems, current data generates an action module.Dragging of the mouse to each joint is not needed Operation, it is only necessary to suitable place is broken in each joint and reads data.

The above is only that preferred embodiments of the present invention are described, and is not the model to the utility model It encloses and is defined；The foregoing is merely specific embodiment of the present utility model, it is not used to limit the utility model Protection domain；Under the premise of not departing from the spirit of the design of the utility model, this field ordinary engineering and technical personnel is new to this practicality Any modification, equivalent substitution, improvement and etc. that the technical solution of type is made, the claims that should all fall into the utility model determine Protection domain in.

Claims

1. a kind of programmable fully-automatic conversion anthropomorphic robot, including power supply unit, robot body and operation control system, feature It is：It further includes steering gear system；

The power supply unit includes supply unit and undervoltage protection；

The robot body includes head（1）, trunk（10）, left shoulder arm（2）, left hand（3）, right shoulder arm（4）, the right hand（5）, it is left Leg（6）, right leg（8）, left foot（7）, right crus of diaphragm（9）, further include for connecting head（1）, trunk（10）, left shoulder arm（2）, left hand （3）, right shoulder arm（4）, the right hand（5）, left leg（6）, right leg（8）, left foot（7）, right crus of diaphragm（9）And play each position of robot body Multiple joints of support and gearing；

The steering gear system includes shirtfront helm gear, left shoulder arm helm gear, left arm helm gear, left hip joint steering engine dress Set, left leg helm gear, left foot helm gear, right shoulder arm helm gear, right arm helm gear, right hip joint helm gear, Right leg helm gear and right crus of diaphragm helm gear, the shirtfront helm gear, left hip joint helm gear, right hip joint helm gear It is divided into the trunk of robot body（10）, the left shoulder arm helm gear and left arm helm gear are set to robot body Left shoulder arm（2）And left hand（3）, the right shoulder arm helm gear and right arm helm gear are set to the right shoulder of robot body Arm（4）And the right hand（5）, the left leg helm gear and left foot helm gear are respectively arranged at the left leg of robot body（6）With Left foot（7）, the right leg helm gear and right crus of diaphragm helm gear are respectively arranged at the right leg of robot body（8）And right crus of diaphragm（9）, Each helm gear is connected by shared bus, realizes the humanoid state and/or automobile form and full-automatic Deformation control of robot；

The operation control system includes programing system and cell phone application control system, passes through the ends the PC programming Control to robot It is controlled with mobile phone terminal software, realizes human-computer interaction.

2. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The joint of the robot body Including left shoulder shoulder joint, left hand shoulder joint, left hip joint, left leg joint, left leg knee endoprosthesis, left foot joint, right shoulder arm joint, Right hand shoulder joint, right hip joint, right leg joint, right leg knee endoprosthesis, right foot joint, the left shoulder shoulder joint, left hip joint, the right side Shoulder shoulder joint, right hip joint are set to trunk（10）Position, the left hand shoulder joint, right hand shoulder joint are divided into left shoulder arm（2）、 Right shoulder arm（4）Position, the left leg joint, left leg knee endoprosthesis are set to left leg（6）Position, the right leg joint, right leg knee Lid joint is set to right leg（8）Position, the left foot joint, right foot joint are divided into left foot（7）, right crus of diaphragm（9）Position.

3. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The robot body further includes Preceding cover, rear cover, left leg shell（45）, left foot shell（44）, right leg shell, right crus of diaphragm shell, the preceding cover, rear cover point Set on trunk（10）Position, the left leg shell（45）, left foot shell（44）It is divided into left leg（6）, left foot（7）Position, it is described Right leg shell, right crus of diaphragm shell are divided into right leg（8）, right crus of diaphragm（9）Position.

4. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The shirtfront helm gear installation In the trunk of robot（10）Shirtfront position；The shirtfront helm gear includes shirtfront steering engine（35）, steering wheel one and preceding cover, Steering wheel one connects shirtfront steering engine（35）With preceding cover, shirtfront steering engine（35）For realizing the rotation and deformation of precordial locations.

5. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The left shoulder arm helm gear peace Loaded on the left shoulder arm of robot（2）And left shoulder shoulder joint position；The left shoulder arm helm gear includes left arm steering engine（15）, steering wheel Two, left shoulder steering engine fixing piece（36）, steering wheel three, left shoulder steering engine（16）With U-shaped part one（37）, the connection left arm steering engine of steering wheel two （15）, steering wheel three connects left shoulder steering engine（16）, left shoulder steering engine fixing piece（36）Connection steering wheel two and steering wheel three simultaneously pass through U-shaped part One（37）Connect left front driven wheel（38）, left arm steering engine（15）With left shoulder steering engine（16）Realize left shoulder arm（2）The left shoulder arm in position closes The rotation and deformation of section.

6. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The left arm helm gear peace Loaded on the left shoulder arm of robot（2）And left arm joint position；The left arm helm gear includes left side upper arm steering engine（17）, rudder Disk four, left arm connector, steering wheel five, left hand steering engine（18）, the connection of steering wheel four left side upper arm steering engine（17）, steering wheel five connects a left side Hand steering engine（18）, left arm connector connection steering wheel four connect left front driven wheel with steering wheel five and by U-shaped part one（38）, left hand Steering engine（18）With left side upper arm steering engine（17）Realize left shoulder arm（2）The rotation and deformation of position left hand shoulder joint.

7. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The left hip joint helm gear It is installed on robot trunk（10）And left hip joint position；The left hip joint helm gear includes left hip joint steering engine（23）、 Left crotch's cross（39）, left hip joint steering engine（23）Pass through left crotch's cross（39）It is fixedly connected on left hip joint position, Realize robot trunk（10）The rotation and deformation in the position joints Zuo Kua.

8. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The left leg helm gear installation In the left leg of robot（6）And left leg joint, left leg knee endoprosthesis position；The left leg（6）Including left thigh（40）, left knee and Left leg（42）；The left leg helm gear includes left leg steering engine（24）, left leg steering engine fixing piece, left back driving wheel（41）、 Left leg steering engine connection smallclothes, left side thigh steering engine（25）, left side knee steering engine（26）With left side shank steering engine（27）；Left leg Steering engine fixing piece connects left leg steering engine（24）, left side thigh steering engine（25）, left side knee steering engine（26）And left side shank steering engine （27）, the left back driving wheel of left leg steering engine connection smallclothes connection（41）, left leg steering engine（24）With left side thigh steering engine（25）, left leg Steering engine（24）Also pass through left crotch's cross（39）Connect trunk（10）The position joints Zuo Kua；Left side thigh steering engine（25）It is set to Left thigh（40）, left side knee steering engine（26）It is set to left knee, left side shank steering engine（27）It is set to left leg（42）, left leg Steering engine（24）, left side thigh steering engine（25）, left side knee steering engine（26）With left side shank steering engine（27）For realizing left leg（6）Portion The rotation and deformation of position left leg joint, left leg knee endoprosthesis, and coordinate for being controlled under automobile form with right leg helm gear Make left back driving wheel（41）With right rear drive sprocket（49）, to realize the forward/backward of the robot under automobile form.

9. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The left foot helm gear installation In robot left foot（7）And left foot joint position；The left foot helm gear includes left foot steering engine（28）, left foot portion cross （43）, left foot steering engine（28）Pass through left foot portion cross（43）It is fixedly connected on left foot（7）Position is to realize left foot（7）Position is left The rotation and deformation of foot joint, left foot steering engine（28）Also pass through left foot portion cross（43）With left leg（42）Connection is to realize a left side Shank（42）With left foot（7）Position linkage deformation.

10. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The right shoulder arm helm gear It is installed on robot right shoulder arm（4）And right shoulder arm joint position；The right shoulder arm helm gear includes right arm steering engine（19）, steering wheel Six, right shoulder steering engine fixing piece, steering wheel seven, right shoulder steering engine（20）With U-shaped part two, steering wheel six connects right arm steering engine（19）, steering wheel The four right shoulder steering engines of connection（20）, right shoulder steering engine fixing piece connect steering wheel six with steering wheel seven and by U-shaped part two connect before the right side from Driving wheel（48）, right arm steering engine（19）With right shoulder steering engine（20）Realize right shoulder arm（4）The rotation and deformation in position right shoulder arm joint.

11. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The right arm helm gear It is installed on robot right shoulder arm（4）And right arm joint position；The right arm helm gear includes right side upper arm steering engine（21）、 Steering wheel eight, right arm connector, steering wheel nine, right hand steering engine（22）, the connection of steering wheel eight right side upper arm steering engine（21）, the connection of steering wheel nine Right hand steering engine（22）, right arm connector connection steering wheel eight connect right front driven wheel with steering wheel nine and by U-shaped part two（48）, right Hand steering engine（22）With right side upper arm steering engine（21）Realize right shoulder arm（4）The rotation and deformation of position right hand shoulder joint.

12. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The right hip joint steering engine dress It sets and is installed on robot trunk（10）And right hip joint position；The right hip joint helm gear includes right hip joint steering engine （29）, right crotch's cross, right hip joint steering engine（29）It is fixedly connected on right hip joint position by right crotch's cross, is realized Robot trunk（10）The rotation and deformation in the position joints You Kua.

13. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The right leg helm gear peace Loaded on the right leg of robot（8）And right leg joint, right leg knee endoprosthesis position；The right leg（8）Including right thigh, right knee and the right side Shank；The right leg helm gear includes right leg steering engine（30）, right leg steering engine fixing piece, right rear drive sprocket（49）, right leg Steering engine connects smallclothes, right lateral thigh steering engine（31）, right side knee steering engine（32）With right side shank steering engine（33）, right leg steering engine is solid Determine part and connects right leg steering engine（30）, right lateral thigh steering engine（31）, right side knee steering engine（32）With right side shank steering engine（33）, right leg Portion's steering engine connection smallclothes connect right rear drive sprocket（52）, right leg steering engine（30）With right lateral thigh steering engine（31）, right leg steering engine（30） Trunk is also connected by right crotch's cross（10）The position joints You Kua；Right lateral thigh steering engine（31）It is set to right thigh, right side Knee steering engine（32）It is set to right knee, right side shank steering engine（33）It is set to right leg, right leg steering engine（30）, right lateral thigh rudder Machine（31）, right side knee steering engine（32）With right side shank steering engine（33）For realizing right leg（8）The right leg joint in position, right leg knee The rotation and deformation in joint, and coordinate for controlling right rear drive sprocket under automobile form with left leg helm gear（52）The left side and Rear drive sprocket（41）, to realize the forward/backward of the robot under automobile form.

14. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The right crus of diaphragm helm gear peace Loaded on robot right crus of diaphragm（8）And right foot joint position；The right crus of diaphragm helm gear includes right crus of diaphragm steering engine（34）, right foot part cross Frame, right crus of diaphragm steering engine（34）It is fixedly connected on right crus of diaphragm by right foot part cross（9）Position is to realize right crus of diaphragm（8）Position right foot joint Rotation and deformation, right crus of diaphragm steering engine（34）Also it is connect with right leg to realize right leg and right crus of diaphragm by right foot part cross（8） Position linkage deformation.

15. the programmable fully-automatic conversion anthropomorphic robot as described in any one of claim 4 to 14, it is characterised in that：Before described Chest steering engine（35）, left arm steering engine（15）, left shoulder steering engine（16）, left side upper arm steering engine（17）, left hand steering engine（18）, left hip joint rudder Machine（23）, left leg steering engine（24）, left side thigh steering engine（25）, left side knee steering engine（26）, left side shank steering engine（27）, left foot rudder Machine（28）, right arm steering engine（19）, right shoulder steering engine（20）, right side upper arm steering engine（21）, right hand steering engine（22）, right hip joint steering engine （29）, right leg steering engine（30）, right lateral thigh steering engine（31）, right side knee steering engine（32）, right side shank steering engine（33）, right crus of diaphragm steering engine （34）It is connected by shared bus with Transistor-Transistor Logic level multilayer connection type.

16. the programmable fully-automatic conversion anthropomorphic robot as described in any one of claim 4 to 14, it is characterised in that：Before described Chest steering engine（35）, left arm steering engine（15）, left shoulder steering engine（16）, left side upper arm steering engine（17）, left hand steering engine（18）, left hip joint rudder Machine（23）, left leg steering engine（24）, left side thigh steering engine（25）, left side knee steering engine（26）, left side shank steering engine（27）, left foot rudder Machine（28）, right arm steering engine（19）, right shoulder steering engine（20）, right side upper arm steering engine（21）, right hand steering engine（22）, right hip joint steering engine （29）, right leg steering engine（30）, right lateral thigh steering engine（31）, right side knee steering engine（32）, right side shank steering engine（33）, right crus of diaphragm steering engine （34）It is all made of Special digital steering engine, and detachable displacement.

17. programmable fully-automatic conversion anthropomorphic robot as claimed in claim 16, it is characterised in that：The Special digital steering engine packet Drive end bearing bracket, circuit board, potentiometer, motor, middle shell, gear set and tail end cover are included, each component is connected by removably.

18. programmable fully-automatic conversion anthropomorphic robot as claimed in claim 17, it is characterised in that：The Special digital steering engine is adopted With UART serial interface communication modes, there is ID codings, and ID codings can be changed.

19. programmable fully-automatic conversion anthropomorphic robot as claimed in claim 17, it is characterised in that：The circuit board includes stall Power down protection module and position feedback alarm module.

20. programmable fully-automatic conversion anthropomorphic robot as claimed in claim 19, it is characterised in that：The position feedback alarm mould Block includes detection circuit and control circuit and connects the main control module of steering gear system by alarm module；Main control module is electric to control Control instruction is transmitted on road, and control circuit controls the Special digital steering engine according to instruction action, detection circuit detection after receiving instruction The Special digital steering engine whether according to instruction action and will detection signal transmission to main control module；Detection circuit connection control electricity Road, when detection circuit detect the Special digital steering engine break down, send the Special digital to control circuit and main control module The steering engine fault-signal of steering engine；Control circuit receives the steering engine fault-signal of the Special digital steering engine and closes its power supply；Master control Module receives the control circuit of the steering engine fault-signal and other steering engines into steering gear system in addition to the Special digital steering engine Halt instruction is sent, while starting warning circuit and sending out alarm.

21. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The supply unit includes electricity Pond, charging interface（13）, power switch（12）, power-off protection apparatus and remaining capacity voice prompt device.

22. programmable fully-automatic conversion anthropomorphic robot as claimed in claim 21, it is characterised in that：The battery, which uses, to be not less than The rechargeable battery of 12.6V-2000mAh-15C standards.

23. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The robot body also wraps Include card reader arrangement, music storage card（11）Device, data download port and communication interface（14）.