CN214808398U

CN214808398U - Shape shifting robot

Info

Publication number: CN214808398U
Application number: CN202022307855.2U
Authority: CN
Inventors: 陈小森; 王旭东; 马永欣; 陈旭
Original assignee: Robosen Robot Shenzhen Co ltd
Current assignee: Robosen Robot Shenzhen Co ltd
Priority date: 2020-07-17
Filing date: 2020-10-16
Publication date: 2021-11-23
Anticipated expiration: 2030-10-16
Also published as: JP7419405B2; KR20220041822A; EP3974043B1; CN113941160A; US20220118374A1; EP3974043A4; JP2023512370A; EP3974043A1; WO2022012051A1

Abstract

The utility model provides a deformation robot, including installing arm structure, shank structure and the robot head on the thorax structure. The arm structure comprises a left arm and a right arm, and the leg structure comprises a left leg and a right leg; the thoracic cavity structure comprises a first steering engine arranged on the upper part of the second fixed frame, and a rotating output shaft of the first steering engine sequentially penetrates through the top wall of the second fixed frame and the first base plate to be connected with a first steering wheel fixedly arranged on the first rotating frame; the first rudder disc is provided with a circular arc-shaped limiting opening; the limiting column on the first base plate movably penetrates through the limiting opening; the rotation output shaft of first steering wheel rotates and drives first rotating frame and rotate. The deformation robot can realize the deformation from a human form to a vehicle form or the deformation from the vehicle form to the human form by controlling the steering engine on each joint of the robot through the controller. Under the car attitude state, accessible steering wheel realizes the motion of shape shifting robot. Under the human morphology state, the steering engine can be used for realizing the biped walking of the deformable robot.

Description

Shape shifting robot

Technical Field

The utility model relates to the technical field of robot, specifically relate to a deformation robot.

Background

The Chinese patent application with the patent number ZL201810007314.2 discloses a variable-structure robot, which comprises an upper body supporting part, a lower body supporting part and a lower body supporting part, wherein the upper body supporting part comprises a waist supporting frame, a left arm first joint internal steering engine, a right arm first joint internal steering engine, a left side crotch steering engine and a right side crotch steering engine; the front end movement part comprises a front drive steering engine mounting seat, a front drive steering engine, a front axle support frame, a front axle, a left small front wheel and a right small front wheel, wherein output shafts on two sides of the front drive steering engine are respectively connected with the front axle support frame; and the double-leg part comprises a left leg and a right leg which are symmetrical in structure, wherein the right leg comprises a right thigh, a right inner shank, a right outer shank, a right thigh driving steering engine, a right rear wheel steering engine, a right ankle joint driving steering engine, a right foot and a right foot steering engine. The variable structure robot can automatically switch between the upright walking state and the four-wheel drive state without external assistance. The variable structure robot can be transformed from a vehicle configuration to a human configuration. However, the posterior thoracic structure of the variable structure robot cannot be rotated in the human posture. In addition, the variable structure robot has no robot head structure.

Disclosure of Invention

For overcoming the defect and not enough among the above-mentioned prior art, the utility model provides a deformation robot. The transformable robot can transform from a human form state to a vehicle form state, and transform from the vehicle form state to a human form state. The thoracic cavity structure of the deformation robot can rotate so as to realize the deformation from the human form to the vehicle form or from the vehicle form to the human form. In addition, the head of the deformation robot is telescopically arranged in the chest structure of the robot. In the process of transforming the vehicle shape into the human shape, the head of the robot can automatically extend out of the chest structure of the robot; when the deformation robot is deformed from a human shape to a vehicle shape, the head of the robot can automatically retract into the chest structure of the robot.

In order to achieve the above purpose, the technical solution of the present invention is a deformation robot, comprising an arm structure, a leg structure and a robot head, wherein the arm structure, the leg structure and the robot head are fixedly installed on a thoracic cavity structure, the arm structure comprises a left arm and a right arm, and the leg structure comprises a left leg and a right leg; the left leg and the right leg are of mirror image structures and are symmetrically arranged on two sides of the lower part of the thoracic cavity structure; the left arm and the right arm are of mirror image structures and are symmetrically arranged on two sides of the upper part of the thoracic cavity structure, the thoracic cavity structure comprises a first steering engine fixedly arranged on the upper part of a second fixed frame, and a rotating output shaft of the first steering engine sequentially penetrates through the top wall of the second fixed frame and a first base plate to be fixedly connected with a first steering wheel fixedly arranged on the first rotating frame; the first rudder disc is provided with a circular arc-shaped limiting opening; the limiting column on the first base plate movably penetrates through the limiting opening; and a rotating output shaft of the first steering engine rotates to drive the first rotating frame to rotate.

Preferably, a first connecting frame is fixedly mounted on an upper portion of the first rotating frame, and a first fixing frame is fixedly mounted on an upper portion of the first connecting frame.

In any of the above schemes, preferably, a turning plate is hinged to the top of the rear end of the first fixing frame; the robot head is detachably and fixedly arranged on the turning plate.

In any of the above schemes, preferably, a second steering engine is fixedly installed at the bottom of the rear end of the first fixing frame, and a first driving connecting rod is fixedly sleeved on a rotation output shaft of the second steering engine; one end of the first driving connecting rod is fixedly connected with a rotating output shaft of the second steering engine, and the other end of the first driving connecting rod is hinged with a second driving connecting rod; one end of the second driving connecting rod is fixedly hinged with one end of the first driving connecting rod, and the other end of the second driving connecting rod is fixedly hinged with the bottom of the turning plate.

In any of the above schemes, preferably, a vertical plate is vertically and fixedly installed at the tail part of the turning plate; the vertical plate is movably buckled on the top opening of the first fixed frame along with the movement of the turning plate.

In any of the above aspects, preferably, an axial through hole is provided on the stopper post.

In any of the above schemes, preferably, a third steering engine is fixedly mounted at the bottom of the second fixing frame.

In any of the above schemes, preferably, the rotation output shaft of the third steering engine passes through any side of the second fixed frame and is fixedly connected with any side wall of the second connecting frame; and the support shaft of the third steering engine penetrates through the other side of the second fixing frame and is fixedly connected with the other side wall of the second connecting frame.

In any of the above schemes, preferably, one side of the second connecting frame is fixedly connected with any fourth steering engine in the leg structure, and the other side of the second connecting frame is fixedly connected with another fourth steering engine in the leg structure; and a third wheel is rotatably arranged on the fourth steering engine.

In any of the above schemes, preferably, a rotation output shaft of the fourth steering engine is fixedly connected with one end of the first connecting arm through a rudder disc, and a support shaft of the fourth steering engine is inserted into a connecting hole at one end of the second connecting arm; the other end of the first connecting arm is fixedly connected with the top of one side of the first connecting seat; the other end of the second connecting arm is fixedly connected with the top of the other side of the first connecting seat; the first connecting seat is provided with a double-fork arm structure; any inserting arm on the first connecting seat is fixedly connected with a rotating output shaft of a fifth steering engine through a steering wheel, and the other inserting arm is sleeved on a supporting shaft of the fifth steering engine.

In any of the above schemes, preferably, a sixth steering engine is fixedly connected to the bottom of the fifth steering engine; a rotating output shaft of the sixth steering engine is fixedly connected with any one side of one end of the second connecting frame through a steering wheel; a support shaft of the sixth steering engine is fixedly connected with the other side of one end of the second connecting frame through a rudder disc; the other end of the second connecting frame is fixedly connected with a seventh steering engine; and a rotating output shaft of the seventh steering engine is fixedly connected with any side of the other end of the second connecting frame through a steering wheel, and a support shaft of the seventh steering engine is fixedly connected with the other side of the other end of the second connecting frame through the steering wheel.

In any of the above schemes, preferably, an eighth steering engine is fixedly installed in the second connecting frame; a rotating output shaft of the eighth steering engine penetrates through the side wall of the second connecting frame to be fixedly connected with the motor teeth; the motor teeth are movably meshed with a second driven gear on the first wheel through a first driven gear on one hand, and movably meshed with a fourth driven gear on the second wheel through a third driven gear on the other hand, and the eighth steering engine drives the first wheel and the second wheel to rotate simultaneously.

In any of the above solutions, preferably, the first driven wheel is fixedly mounted on the side wall in a rotating manner through a first connecting rod; the third driven gear is rotationally and fixedly arranged on the side wall through a second connecting rod; the first wheel is rotatably and fixedly mounted on the side wall through a third connecting rod, and the second wheel is rotatably and fixedly mounted on the side wall through a fourth connecting rod.

In any of the above schemes, preferably, the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are arranged on the side wall of the second connecting frame at intervals; the third connecting rod and the fourth connecting rod are positioned on the same straight line.

In any of the above schemes, preferably, the eighth steering engine is fixedly installed in the installation groove of the second connecting frame through a support frame.

In any of the above schemes, preferably, a ninth steering engine is fixedly connected to the bottom of the seventh steering engine in a crisscross manner.

In any of the above schemes, preferably, the output shaft of the ninth steering engine is fixedly connected with the rib plates on either side of the second connecting seat through a rudder disc; and the support shaft of the ninth steering engine is fixedly connected with the rib plate on the other side of the second connecting seat through a rudder disc.

In any of the above aspects, preferably, a foot connection plate is detachably connected to a bottom of the first connection seat.

In any of the above schemes, preferably, the bottom of one end of the first connecting frame is fixedly connected with any tenth steering engine in the arm structure, and the bottom of the other end of the first connecting frame is fixedly connected with another tenth steering engine in the arm structure; and a sixteenth steering engine is fixedly connected to a rotation output shaft of each tenth steering engine through a steering wheel.

In any of the above schemes, preferably, the arm structure further includes a twelfth steering engine fixedly mounted on the first mounting seat, a rotation output shaft of the twelfth steering engine is fixedly connected with the first mounting plate at one end of the first mounting seat, and the twelfth steering engine is rotatably hinged to the first mounting plate through the rotation output shaft thereon; and a palm part is fixedly arranged on the shell of the twelfth steering engine.

In any of the above schemes, preferably, the other end of the first mounting seat is provided with a mounting groove; and a thirteenth steering engine is fixedly clamped in the mounting groove.

In any of the above schemes, preferably, a rotation output shaft of the thirteenth steering engine is fixedly connected with one end of any one third connecting arm through a rudder disc, and a support shaft of the thirteenth steering engine is fixedly connected with one end of another third connecting arm through the rudder disc; the other end of any one third connecting arm is fixedly connected with one side of the first connecting plate; the other end of the other third connecting arm is fixedly connected with the other side of the first connecting plate.

In any of the above schemes, preferably, a fourteenth steering engine is fixedly mounted on the first connecting plate; and a third fixing frame is fixedly arranged on a rotation output shaft of the fourteenth steering engine.

In any of the above schemes, preferably, a fifteenth steering engine is fixedly mounted on the third fixing frame.

In any of the above schemes, preferably, a third connecting frame is fixedly mounted on the rotation output shaft of the fifteenth steering engine.

In any of the above aspects, preferably, the third connecting frame has two fourth connecting arms arranged at intervals; and any one fourth connecting arm is fixedly connected with a rotating output shaft of the sixteenth steering engine, and the other fourth connecting arm is sleeved on a supporting column of the sixteenth steering engine.

In any of the above schemes, preferably, the steering engine further comprises a second mounting plate, one end of the second mounting plate is detachably buckled at the top of the mounting groove, and the other end of the second mounting plate is sleeved on the support shaft of the twelfth steering engine; the twelfth steering engine is arranged in a gap formed between the first mounting plate and the second mounting plate in a turnover manner through the rotating output shaft; the first mounting plate is parallel to the second mounting plate.

In any of the above schemes, preferably, two tenth steering engines are simultaneously located between the first connecting frame and the first rotating frame.

In any of the above schemes, preferably, a PCB circuit board is fixedly mounted on the top of the first rotating frame through a plurality of connecting posts, and a controller is mounted on the PCB circuit board.

In any of the above schemes, preferably, the first rudder disk is fixedly sleeved on the rotation output shaft of the first steering engine through a connecting hole on a connecting part of the first rudder disk.

In any of the above aspects, preferably, a first battery is fixedly mounted at the bottom of the rear end of the first fixing frame; and the first steering engine is fixedly provided with a horn through a connecting plate.

Compared with the prior art the utility model has the advantages of, the steering wheel realization on each joint of this deformation robot accessible controller control robot is from the deformation of people's form to car form or from the deformation of car form to people's form. Under the car attitude state, accessible steering wheel realizes the motion of shape shifting robot. Under the human morphology state, the steering engine can be used for realizing the biped walking of the deformable robot. In addition, the robot head of the deformation robot can automatically extend out of the chest structure of the robot or automatically retract into the chest structure of the robot.

Drawings

Fig. 1 is a schematic perspective view of a preferred embodiment of the shape-changing robot according to the present invention.

Fig. 2 is a schematic perspective view of the deformed embodiment of the deformation robot shown in fig. 1 according to the present invention.

Fig. 3 is a schematic perspective view of the deformation robot of the embodiment of fig. 1 without an external molding member according to the present invention.

Fig. 4 is a schematic perspective view of a preferred embodiment of the thoracic cavity structure of the deformable robot in the embodiment shown in fig. 1 according to the present invention.

Fig. 5 is a schematic perspective view of the deformed thoracic cavity structure of the deformation robot in the embodiment of fig. 4 according to the present invention.

Fig. 6 is a schematic perspective view of the deformation robot according to the present invention, without the external shape member, in the embodiment shown in fig. 4.

Fig. 7 is a schematic perspective view of the thoracic cavity structure of the transformable robot in the embodiment of fig. 4 without an external model according to the present invention, fig. 2.

Fig. 8 is a schematic diagram of the deformation state of the thoracic cavity structure according to the embodiment of the deformation robot shown in fig. 7.

Fig. 9 is a schematic front view of the thoracic cavity structure of the deformable robot in the embodiment shown in fig. 6 according to the present invention.

Fig. 10 is a schematic diagram of a rear view of the thoracic cavity structure of the deformable robot in the embodiment of fig. 6 according to the present invention.

Fig. 11 is a left side view of the thoracic cavity structure of the embodiment of the deformation robot shown in fig. 6 according to the present invention.

Fig. 12 is a right-view structural diagram of the thoracic cavity structure of the embodiment of the deformation robot shown in fig. 6 according to the present invention.

Fig. 13 is a schematic perspective view of the deformation robot of fig. 6 without the robot head and its driving mechanism in the chest structure according to the present invention, shown in fig. 1.

Fig. 14 is a schematic perspective view of the thoracic cavity structure with the first rotating frame and the first steering engine in the embodiment of the deformation robot shown in fig. 6 according to the present invention.

Fig. 15 is a schematic perspective view of a first steering engine with a first pad plate in a thoracic cavity structure in the implementation of the shape shifting robot shown in fig. 6 according to the present invention.

Fig. 16 is a schematic perspective view of the second fixing frame of the thoracic cavity structure in the embodiment of the deformable robot shown in fig. 6 according to the present invention.

Fig. 17 is a schematic perspective view of the first rudder plate of the thoracic cavity structure of the deformable robot in the embodiment of fig. 6 according to the present invention 1.

Fig. 18 is a schematic perspective view of the first rudder plate of the thoracic cavity structure of the deformable robot in the embodiment of fig. 6 according to the present invention, shown in fig. 2.

Fig. 19 is a schematic perspective view of the first fixing frame of thoracic cavity structure in the embodiment of the deformable robot shown in fig. 6 according to the present invention.

Fig. 20 is a schematic perspective view of the first connecting frame of the thoracic cavity structure according to the embodiment of the transformable robot shown in fig. 6.

Fig. 21 is a schematic perspective view of the first rotating frame of the thoracic cavity structure according to the embodiment of the deformation robot shown in fig. 6.

Fig. 22 is a schematic perspective view of a preferred embodiment of the leg structure of the deformable robot of fig. 1 according to the present invention.

Fig. 23 is a front view structural diagram of the leg structure in the embodiment of the transfer robot shown in fig. 22 according to the present invention.

Fig. 24 is a schematic perspective view of the leg structure of the deformation robot of the embodiment of fig. 22 according to the present invention.

Fig. 25 is a front view structural diagram of the leg structure in the embodiment of the transfer robot shown in fig. 24 according to the present invention.

Fig. 26 is a perspective assembly view of the leg structure of the embodiment of the transfer robot shown in fig. 22 according to the present invention.

Figure 27 is an assembly perspective view of the leg structure of the transfer robot of the embodiment of figure 26 without the external shape of the leg according to the present invention.

Fig. 28 is a perspective view of the connecting frame of the leg structure of the transformation robot in the embodiment of fig. 26 according to the present invention.

Fig. 29 is a perspective view of the second connecting frame of the leg structure of the embodiment of the transfer robot shown in fig. 26 according to the present invention.

Fig. 30 is a schematic perspective view of the second connecting arm of the leg structure of the transfer robot in the embodiment of fig. 26 according to the present invention.

Fig. 31 is a perspective view of the first connecting seat of the leg structure of the embodiment of the transfer robot shown in fig. 26 according to the present invention.

Fig. 32 is a schematic perspective view of the first wheel of the leg structure of the transfer robot in the embodiment of fig. 26 according to the present invention.

Fig. 33 is a schematic perspective view of a second wheel of the leg structure of the transfer robot in the embodiment of fig. 26 according to the present invention.

Fig. 34 is a schematic perspective view of a preferred embodiment of the arm structure of the deformation robot in the embodiment shown in fig. 1 according to the present invention.

Fig. 35 is a front view structural diagram of the arm structure in the embodiment of the transfer robot shown in fig. 34 according to the present invention.

Fig. 36 is a schematic rear view of the arm structure in the embodiment of the transfer robot shown in fig. 34 according to the present invention.

Fig. 37 is a perspective view of the arm structure without the molding member according to the embodiment of the present invention as shown in fig. 34 of the transfer robot.

Fig. 38 is a schematic perspective view of the deformable robot according to the present invention after the arm structure in the embodiment shown in fig. 34 is deformed.

Fig. 39 is a schematic perspective view of the deformed arm structure of the embodiment of the deforming robot shown in fig. 37 according to the present invention.

Fig. 40 is a perspective assembly view of the arm structure of the embodiment of the transfer robot shown in fig. 34 according to the present invention.

Fig. 41 is a perspective assembly view of the arm structure of the transfer robot in the embodiment shown in fig. 37 according to the present invention.

Fig. 42 is a schematic diagram of the deformation state of the deformation robot in the embodiment of the deformation robot shown in fig. 1 according to the present invention.

Fig. 43 is a schematic diagram of the deformation state of the deformation robot in the embodiment of fig. 3 according to the present invention.

Detailed Description

The preferred embodiments of the present invention will be further explained with reference to the accompanying drawings;

it should be understood that the terms "upper" and "lower" are used in the description of the present embodiment to indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, whereby a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

It should be noted that unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly and include, for example, fixed or removable connections or integral connections; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

Example 1:

as shown in fig. 1-43, a preferred embodiment of the present invention is disclosed. Fig. 1 shows a perspective view of the deformation robot with the external shape-forming member in the present embodiment. Fig. 2 shows a schematic perspective view of the deformed deformation robot of fig. 1. Fig. 3 shows a perspective view of the embodiment of fig. 1 without an external profile. The deformation robot comprises an arm structure, a leg structure and a robot head 1 which are fixedly arranged on a chest structure. The arm structure comprises a left arm 2 and a right arm 3. The left arm 2 and the right arm 3 are of mirror image structures and are symmetrically arranged on two sides of the upper part of the thoracic cavity structure. The leg structure comprises a left leg 4 and a right leg 5. The left leg part 4 and the right leg part 5 are mutually mirror-image structures and are symmetrically arranged on two sides of the lower part of the thoracic cavity structure. Fig. 4 shows a schematic perspective view of the thoracic structure of the transformable robot in this embodiment. The robot head 1 is arranged on top of the thorax structure. Fig. 5 shows a schematic perspective view of the deformed thoracic structure of the embodiment of fig. 4. Fig. 6 shows a perspective view 1 of the thoracic structure of the embodiment of fig. 4 without an external shaping member. Fig. 7 shows a perspective view 2 of the thoracic structure of the embodiment of fig. 4 without an external shaping member. In this embodiment, the thoracic cavity structure includes a first steering engine 7 fixedly mounted on the upper portion of the second fixing frame 6. A second battery 69 is fixedly attached to the second fixing frame 6. And a rotating output shaft of the first steering engine 7 sequentially penetrates through the top wall of the second fixing frame 6, the first base plate 8 and a first steering wheel 10 fixedly installed on the first rotating frame 9. In the present embodiment, a plurality of coupling bosses 71 are fixedly provided on the first rotating frame 9. The first rudder plate 10 is provided with sleeves corresponding to the connection bosses 71. The sleeve is fitted over the connection boss 71. The first rudder disk 10 has a circular-arc-shaped limiting opening 11. The limiting column 12 on the first base plate 8 movably passes through the limiting opening 11. The rotation output shaft of first steering wheel 7 rotates and drives first rotating frame 9 and rotate and realize driving whole then the thorax structure with install robot head 1, left arm 2 and the right arm 3 on the thorax structure rotate. An axial through hole 20 is provided in the stopper post 12. The arrangement of the axial through hole 20 is convenient for the connecting line of the first steering engine 7 to pass through.

A first link frame 13 is fixedly mounted on an upper portion of the first rotating frame 9. A first fixing frame 14 is fixedly mounted on an upper portion of the first connecting frame 13. The first link frame 13 has a horizontally protruding plate 72. A turning plate 15 is hinged at the top of the rear end of the first fixing frame 14. The turning plate 15 is hinged at the top position of the rear end of the first fixing frame 14 in a turnable way through a rotating shaft. The robot head 1 is detachably fixedly mounted on the flap 15. In the present embodiment, a second steering engine 16 is fixedly mounted to the bottom of the rear end of the first fixing frame 14. In the present embodiment, the tail portion of the first fixing frame 14 is provided with a protruding portion 70. The first fixing frame 14 and the protruding portion 70 are of a one-piece structure. The top of the second steering engine 16 is fixedly connected with the protruding part 70, and the bottom of the second steering engine 16 is fixedly connected with the protruding plate 72. A first driving connecting rod 17 is fixedly sleeved on a rotating output shaft of the second steering engine 16. One end of the first driving connecting rod 17 is fixedly connected with a rotating output shaft of the second steering engine 16, and the other end is hinged with a second driving connecting rod 18. One end of the second driving connecting rod 18 is fixedly hinged with one end of the first driving connecting rod 17, and the other end is fixedly hinged with the bottom of the turning plate 15. The rotation output shaft of the second steering engine 16 rotates to sequentially drive the first driving connecting rod 17 and the second driving connecting rod 18 to move so as to drive the turning plate 15 to turn along the rotating shaft, so that the head 1 of the robot extends out of or retracts into the first fixing frame 14. In the embodiment, a vertical plate 19 is vertically and fixedly installed at the tail part of the turning plate 15. The vertical plate 19 is movably buckled on the top opening of the first fixed frame 14 along with the movement of the turning plate 15.

And a third steering engine 21 is fixedly arranged at the bottom of the second fixed frame 6. The third steering gear 21 has a rotation output shaft and a support shaft provided on a housing of the third steering gear 21. And the support shaft of the third steering engine is superposed and symmetrically arranged with the axis of the rotating output shaft of the third steering engine. And a rotation output shaft of the third steering engine 21 passes through any one side of the second fixed frame 6 and is fixedly connected with any side wall of the second connecting frame 22. And a support shaft of the third steering engine 21 passes through the other side of the second fixed frame 6 and is fixedly connected with the other side wall of the second connecting frame 22. One side of the second connecting frame 22 is fixedly connected with any one fourth steering engine 23 in the leg structure, and the other side of the second connecting frame is fixedly connected with the other fourth steering engine 23 in the leg structure. A third wheel 24 is rotatably mounted on the fourth steering gear 23. And a third wheel 24 is rotatably fixed on the side wall of the fourth steering engine 23 through a connecting shaft. As another alternative, a connecting plate 76 is mounted on a side wall of the fourth steering engine 23. A connecting shaft 75 is fixedly attached to the connecting plate 76. A bearing 73 is rotatably fitted over the connecting shaft 75. The third wheel 24 is rotatably mounted on a connecting shaft 75 by said bearing 73.

The fourth steering gear 23 has a rotation output shaft and a support shaft. The rotation output shaft of the fourth steering engine 23 is fixedly connected with one end of the first connecting arm 68 through a rudder plate. The support shaft of the fourth steering gear 23 is inserted into the connecting hole on one end of the second connecting arm 25. The other end of the first connecting arm 68 is fixedly connected to the top of one side of the first connecting seat 26. The other end of the second connecting arm 25 is fixedly connected with the top of the other side of the first connecting seat 26. In the present embodiment, the first connecting seat 26 has a double-fork arm structure. Any inserting arm 27 on the first connecting seat 26 is fixedly connected with a rotating output shaft of the fifth steering engine 74 through a steering wheel, and the other inserting arm 27 is sleeved on a supporting shaft of the fifth steering engine 27. Similarly, the rotation output shaft of the fifth steering gear 74 and the axis of the support shaft of the fifth steering gear 74 are overlapped and symmetrically arranged. And a sixth steering engine 28 is fixedly connected to the bottom of the fifth steering engine 74. The sixth steering gear 28 has a rotation output shaft and a support shaft corresponding to the rotation output shaft. And a rotary output shaft of the sixth steering engine 28 is fixedly connected with any one side of one end of the second connecting frame 22 through a steering wheel. A support shaft of the sixth steering engine 28 is fixedly connected with the other side of one end of the second connecting frame 22 through a rudder plate. The other end of the second connecting frame 22 is fixedly connected with a seventh steering engine 29. Similarly, the rotation output shaft of the seventh steering gear 29 and the axis of the support shaft of the seventh steering gear 29 are overlapped and symmetrically arranged. And a rotary output shaft of the seventh steering engine 29 is fixedly connected with any side of the other end of the second connecting frame 22 through a steering wheel. A support shaft of the seventh steering engine 29 is fixedly connected with the other side of the other end of the second connecting frame 22 through a rudder plate.

An eighth steering engine 30 is fixedly mounted in the second connecting frame 22. Specifically, the eighth steering engine 30 is fixedly mounted in a mounting groove of the second connecting frame 22 through a support frame 42. The rotation output shaft of the eighth steering engine 30 passes through the side wall of any side of the second connecting frame 22 and is fixedly connected with the motor teeth 31. The motor teeth 31 are in active engagement, on the one hand, with a second driven gear 34 on a first wheel 33 via a first driven gear 32 and, on the other hand, with a fourth driven gear 37 on a second wheel 36 via a third driven gear 35. The eighth steering engine 30 simultaneously rotates the first wheel 33 and the second wheel 36. In this embodiment, the first wheel 33, the second wheel 36, and the third wheel 24 are on either side of the second link 22 at the same time. In other words, the first wheel 33, the second wheel 36, and the third wheel 24 are simultaneously on the left or right side of the second link frame 22. The first driven gear 32 is rotatably fixedly mounted to the side walls on either side of the second link frame 22 by a first connecting rod 38. The third driven gear 35 is fixedly mounted to the side wall by a second connecting rod 39 in rotation. The first wheel 33 is rotatably fixedly mounted on the side wall by a third connecting rod 40. The second wheel 36 is fixedly mounted rotatably on the side wall by means of a fourth connecting rod 41. The first connecting rod 38, the second connecting rod 39, the third connecting rod 40 and the fourth connecting rod 41 are arranged on the side wall of the second connecting frame 22 in a spaced and parallel manner. The third connecting rod 40 and the fourth connecting rod 41 are positioned on the same straight line.

A ninth steering engine 43 is fixedly connected to the bottom of the seventh steering engine 29 in a crisscross manner. The ninth steering gear 43 has a support shaft. And a rotary output shaft of the ninth steering engine 43 is fixedly connected with rib plates on either side of the second connecting seat 44 through a rudder disc. And a support shaft of the ninth steering engine 43 is fixedly connected with a rib plate at the other side of the second connecting seat 44 through a rudder disc. The second connecting base 44 can be rotated by the ninth steering gear 43. A foot connection plate 45 is detachably connected to the bottom of the second connection holder 44.

The bottom of one end of the first connecting frame 13 is fixedly connected with any tenth steering engine 46 of the left arm 2 in the arm structure, and the bottom of the other end of the first connecting frame is fixedly connected with another tenth steering engine 46 of the right arm 3 in the arm structure. Or the bottom of one end of the first connecting frame 13 is fixedly connected with any tenth steering engine 46 of the right arm 3 in the arm structure, and the bottom of the other end of the first connecting frame is fixedly connected with another tenth steering engine 46 of the left arm 2 in the arm structure. The left arm 2 and the right arm are identical in structure. Two tenth steering gears 46 are simultaneously positioned between the first connecting frame 13 and the first rotating frame 9. A PCB circuit board 63 is fixedly mounted on the top of the first rotating frame 9 through a plurality of connection posts 62. A controller is mounted on the PCB 63. The first rudder disk 10 is fixedly sleeved on the rotation output shaft of the first steering engine 7 through a connecting hole 65 on a connecting part 64. A first battery 66 is fixedly mounted to the rear end bottom of the first holder 14. A loudspeaker 67 is fixedly arranged on the first steering gear 7 of the first battery 66 through a connecting plate. A sixteenth steering gear 47 is fixedly connected to a rotation output shaft of each tenth steering gear 46 through a steering wheel. The arm structure further comprises a twelfth steering engine 49 fixedly mounted on the first mounting seat 48. And a rotary output shaft of the twelfth steering engine 49 is fixedly connected with a first mounting plate 50 on one end of the first mounting seat 48. The twelfth steering gear 49 is rotatably hinged to the first mounting plate 50 via a rotary output shaft thereon. A palm portion 51 is fixedly attached to the housing of the twelfth steering gear 49.

The other end of the first mounting seat 48 has a mounting groove 52. A thirteenth steering gear 53 is fixedly clamped in the mounting groove 52. The thirteenth steering engine has a support shaft. And a rotary output shaft of the thirteenth steering engine 53 is fixedly connected with one end of any third connecting arm 54 through a rudder disc. A supporting shaft of the thirteenth steering engine 53 is fixedly connected with one end of another third connecting arm 54 through a rudder plate. The other end of any one of the third connecting arms 54 is fixedly connected to one side of the first connecting plate 55, and the other end of the other one of the third connecting arms 54 is fixedly connected to the other side of the first connecting plate 55. A fourteenth steering gear 56 is fixedly attached to the first connecting plate 55. A third fixing frame 57 is fixedly mounted on a rotation output shaft of the fourteenth steering gear 56. A fifteenth steering engine 58 is fixedly mounted on the third fixed frame 57. A third connecting frame 59 is fixedly mounted on a rotation output shaft of the fifteenth steering engine 58. The third connecting bracket 59 has two spaced fourth connecting arms 60. Any one fourth connecting arm 60 is fixedly connected with a rotating output shaft of the sixteenth steering engine 47, and the other fourth connecting arm 60 is sleeved on a supporting column of the sixteenth steering engine 47. In this embodiment, a second mounting plate 61 is also included. The first mounting plate 50 is parallel to the second mounting plate 61. One end of the second mounting plate 61 is detachably buckled on the top of the mounting groove 52, and the other end is sleeved on the support shaft of the twelfth steering engine 49. The twelfth steering engine 49 is rotatably disposed in the gap formed between the first mounting plate 50 and the second mounting plate 61 through its own rotation output shaft to realize the turnover of the palm 51. Each steering engine passes through the circuit with controller electric connection. And the controller controls each steering engine to move.

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention in any form, and all the technical matters of the present invention are any simple modifications, equivalent changes and modifications made to the above embodiments, and still belong to the scope of the technical solution of the present invention.

After reading this specification, it will be apparent to those skilled in the art that the present invention is formed by a combination of prior art, and some of these prior art forming each part of the present invention are described in detail herein, and some are not described in detail for the sake of brevity of the specification, but will be known to those skilled in the art after reading this specification. Moreover, it will be appreciated by those skilled in the art that the combination of these prior art techniques to form the present invention is highly creative and is a crystal that has been analyzed theoretically and experimented for many years by the inventor. It will also be apparent to those skilled in the art from this disclosure that each of the embodiments disclosed herein, and any combination of features, can be incorporated into the present invention.

Claims

1. A deformation robot comprises an arm structure, a leg structure and a robot head which are fixedly arranged on a chest structure, wherein the arm structure comprises a left arm and a right arm, and the leg structure comprises a left leg and a right leg; the left leg and the right leg are of mirror image structures and are symmetrically arranged on two sides of the lower part of the thoracic cavity structure; the left arm with the right arm each other is mirror image structure and symmetrical the installation be in the upper portion both sides of thorax structure, its characterized in that: the thoracic cavity structure comprises a first steering engine fixedly arranged on the upper part of a second fixed frame, and a rotation output shaft of the first steering engine sequentially penetrates through the top wall of the second fixed frame and a first base plate to be fixedly connected with a first steering wheel fixedly arranged on a first rotating frame; the first rudder disc is provided with a circular arc-shaped limiting opening; the limiting column on the first base plate movably penetrates through the limiting opening; and a rotating output shaft of the first steering engine rotates to drive the first rotating frame to rotate.

2. The anamorphic robot of claim 1, wherein: and a first connecting frame is fixedly arranged on the upper part of the first rotating frame, and a first fixing frame is fixedly arranged on the upper part of the first connecting frame.

3. The anamorphic robot of claim 2, wherein: a turning plate is hinged to the top of the rear end of the first fixing frame; the robot head is detachably and fixedly arranged on the turning plate.

4. The anamorphic robot of claim 3, wherein: a second steering engine is fixedly installed at the bottom of the rear end of the first fixing frame, and a first driving connecting rod is fixedly sleeved on a rotating output shaft of the second steering engine; one end of the first driving connecting rod is fixedly connected with a rotating output shaft of the second steering engine, and the other end of the first driving connecting rod is hinged with a second driving connecting rod; one end of the second driving connecting rod is fixedly hinged with one end of the first driving connecting rod, and the other end of the second driving connecting rod is fixedly hinged with the bottom of the turning plate.

5. The anamorphic robot of claim 4, wherein: a vertical plate is vertically and fixedly arranged at the tail part of the turning plate; the vertical plate is movably buckled on the top opening of the first fixed frame along with the movement of the turning plate.

6. The anamorphic robot of claim 1, wherein: and an axial through hole is formed in the limiting column.

7. The anamorphic robot of claim 1, wherein: and a third steering engine is fixedly arranged at the bottom of the second fixing frame.

8. The anamorphic robot of claim 7, wherein: a rotating output shaft of the third steering engine penetrates through any side of the second fixed frame and is fixedly connected with any side wall of the second connecting frame; and the support shaft of the third steering engine penetrates through the other side of the second fixing frame and is fixedly connected with the other side wall of the second connecting frame.

9. The anamorphic robot of claim 8, wherein: one side of the second connecting frame is fixedly connected with any one fourth steering engine in the leg structure, and the other side of the second connecting frame is fixedly connected with the other fourth steering engine in the leg structure; and a third wheel is rotatably arranged on the fourth steering engine.

10. The anamorphic robot of claim 9, wherein: a rotating output shaft of the fourth steering engine is fixedly connected with one end of the first connecting arm through a rudder disc, and a support shaft of the fourth steering engine is inserted into a connecting hole in one end of the second connecting arm; the other end of the first connecting arm is fixedly connected with the top of one side of the first connecting seat; the other end of the second connecting arm is fixedly connected with the top of the other side of the first connecting seat; the first connecting seat is provided with a double-fork arm structure; any inserting arm on the first connecting seat is fixedly connected with a rotating output shaft of a fifth steering engine through a steering wheel, and the other inserting arm is sleeved on a supporting shaft of the fifth steering engine.

11. The anamorphic robot of claim 10, wherein: a sixth steering engine is fixedly connected to the bottom of the fifth steering engine; a rotating output shaft of the sixth steering engine is fixedly connected with any one side of one end of the second connecting frame through a steering wheel; a support shaft of the sixth steering engine is fixedly connected with the other side of one end of the second connecting frame through a rudder disc; the other end of the second connecting frame is fixedly connected with a seventh steering engine; and a rotating output shaft of the seventh steering engine is fixedly connected with any side of the other end of the second connecting frame through a steering wheel, and a support shaft of the seventh steering engine is fixedly connected with the other side of the other end of the second connecting frame through the steering wheel.

12. The anamorphic robot of claim 11, wherein: an eighth steering engine is fixedly arranged in the second connecting frame; a rotating output shaft of the eighth steering engine penetrates through the side wall of the second connecting frame to be fixedly connected with the motor teeth; the motor teeth are movably meshed with a second driven gear on the first wheel through a first driven gear on one hand, and movably meshed with a fourth driven gear on the second wheel through a third driven gear on the other hand, and the eighth steering engine drives the first wheel and the second wheel to rotate simultaneously.

13. The anamorphic robot of claim 12, wherein: the first driven wheel is rotationally and fixedly arranged on the side wall through a first connecting rod; the third driven gear is rotationally and fixedly arranged on the side wall through a second connecting rod; the first wheel is rotatably and fixedly mounted on the side wall through a third connecting rod, and the second wheel is rotatably and fixedly mounted on the side wall through a fourth connecting rod.

14. The anamorphic robot of claim 13, wherein: the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are arranged on the side wall of the second connecting frame at intervals; the third connecting rod and the fourth connecting rod are positioned on the same straight line.

15. The anamorphic robot of claim 12, wherein: and the eighth steering engine is fixedly arranged in the mounting groove of the second connecting frame through a support frame.

16. The anamorphic robot of claim 11, wherein: and a ninth steering engine is fixedly connected to the bottom of the seventh steering engine in a crossed manner.

17. The anamorphic robot of claim 16, wherein: an output shaft of the ninth steering engine is fixedly connected with rib plates on any side of the second connecting seat through a rudder disc; and the support shaft of the ninth steering engine is fixedly connected with the rib plate on the other side of the second connecting seat through a rudder disc.

18. The anamorphic robot of claim 17, wherein: the bottom of the first connecting seat is detachably connected with a foot connecting plate.

19. The anamorphic robot of claim 2, wherein: the bottom of one end of the first connecting frame is fixedly connected with any tenth steering engine in the arm structure, and the bottom of the other end of the first connecting frame is fixedly connected with the other tenth steering engine in the arm structure; and a sixteenth steering engine is fixedly connected to a rotation output shaft of each tenth steering engine through a steering wheel.

20. The anamorphic robot of claim 19, wherein: the arm structure further comprises a twelfth steering engine fixedly mounted on the first mounting seat, a rotating output shaft of the twelfth steering engine is fixedly connected with the first mounting plate at one end of the first mounting seat, and the twelfth steering engine is rotatably hinged to the first mounting plate through the rotating output shaft of the twelfth steering engine; and a palm part is fixedly arranged on the shell of the twelfth steering engine.

21. The anamorphic robot of claim 20, wherein: the other end of the first mounting seat is provided with a mounting groove; and a thirteenth steering engine is fixedly clamped in the mounting groove.

22. The anamorphic robot of claim 21, wherein: a rotating output shaft of the thirteenth steering engine is fixedly connected with one end of any one third connecting arm through a steering wheel, and a support shaft of the thirteenth steering engine is fixedly connected with one end of the other third connecting arm through the steering wheel; the other end of any one third connecting arm is fixedly connected with one side of the first connecting plate; the other end of the other third connecting arm is fixedly connected with the other side of the first connecting plate.

23. The anamorphic robot of claim 22, wherein: a fourteenth steering engine is fixedly mounted on the first connecting plate; and a third fixing frame is fixedly arranged on a rotation output shaft of the fourteenth steering engine.

24. The anamorphic robot of claim 23, wherein: and a fifteenth steering engine is fixedly arranged on the third fixed frame.

25. The anamorphic robot of claim 24, wherein: and a third connecting frame is fixedly arranged on a rotation output shaft of the fifteenth steering engine.

26. The anamorphic robot of claim 25, wherein: the third connecting frame is provided with two fourth connecting arms arranged at intervals; and any one fourth connecting arm is fixedly connected with a rotating output shaft of the sixteenth steering engine, and the other fourth connecting arm is sleeved on a supporting column of the sixteenth steering engine.

27. The anamorphic robot of claim 21, wherein: the steering engine is characterized by further comprising a second mounting plate, wherein one end of the second mounting plate is detachably buckled at the top of the mounting groove, and the other end of the second mounting plate is sleeved on a supporting shaft of the twelfth steering engine; the twelfth steering engine is arranged in a gap formed between the first mounting plate and the second mounting plate in a turnover manner through the rotating output shaft; the first mounting plate is parallel to the second mounting plate.

28. The anamorphic robot of claim 19, wherein: and the two tenth steering engines are simultaneously positioned between the first connecting frame and the first rotating frame.

29. The anamorphic robot of claim 1, wherein: the top of the first rotating frame is fixedly provided with a PCB circuit board through a plurality of connecting columns, and the PCB circuit board is provided with a controller.

30. The anamorphic robot of claim 1, wherein: the first steering wheel is fixedly sleeved on the rotating output shaft of the first steering wheel through a connecting hole in the connecting part of the first steering wheel.

31. The anamorphic robot of claim 2, wherein: a first battery is fixedly arranged at the bottom of the rear end of the first fixing frame; and the first steering engine is fixedly provided with a horn through a connecting plate.