EP3974043A1

EP3974043A1 - Deformation robot

Info

Publication number: EP3974043A1
Application number: EP21824457.2A
Authority: EP
Inventors: Xiaosen CHEN; Xudong Wang; Yongxin MA; Xu Chen
Original assignee: Robosen Robotics Shenzhen Co Ltd
Current assignee: Robosen Robotics Shenzhen Co Ltd
Priority date: 2020-07-17
Filing date: 2021-02-24
Publication date: 2022-03-30
Anticipated expiration: 2041-02-24
Also published as: CN214808398U; KR20220041822A; JP2023512370A; EP3974043A4; JP7419405B2; CN113941160A; US20220118374A1; EP3974043B1; WO2022012051A1

Abstract

The present invention provides a transformable robot, the transformable robot comprises an arm structure, a leg structure and a head of the robot which are fixed to a ribcage structure. The arm structure comprises a left arm and a right arm, the leg structure comprises a left leg and a right leg; the ribcage structure comprises a first steering gear fixed on an upper part of a second fixing frame, a rotating output shaft of the first steering gear successively passes through a top wall of the second fixing frame and a first backing plate to fixedly connected with a first steering wheel fixed on a first rotating frame; the first steering wheel is provided with an arc-shaped limited opening; a limited column on the first backing plate is movably passed through the limited opening; the rotating output shaft of the first steering gear rotates to drive the first rotating frame to rotate. The transformable robot may realize a transformation from a human form to a car form or from the car form to the human form by controlling the steering gears on each joint of the robot through a controller. In the car form, the transformable robot may realize a movement through the steering gears. In the human form, the robot may realize a biped walking through the steering gears.

Description

Technical Field

The present invention belongs to a technical field of robot, and relates to a transformable robot.

Background

A Chinese patent application with patent number ZL201810007314.2 discloses a variable structure robot which includes an upper body supporting part which includes a waist supporting frame, a left arm first joint, a steering gear of the left arm first joint, a right arm first joint, a steering gear of the right arm first joint, a steering gear of a left crotch part and a steering gear of a right crotch part; a front movement part which includes a front drive steering gear mounting seat, a front drive steering gear, a front axle supporting 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 gear are respectively connected with the front axle supporting frame; and two legs part which includes a left leg and a right leg which are symmetric in structure, wherein, the right leg comprises a right thigh, a right inner shank, a right outer shank, a drive steering gear of the right thigh, a right rear wheel, a steering gear of the right rear wheel, a right ankle joint, a drive steering gear of the right ankle, a right foot, and a steering gear of the right foot. The variable structure robot can automatically switch between an upright walking state and a four-wheel drive state without external assistance. The variable structure robot can transform from a car form to a human form. However, a ribcage structure of the variable structure robot in the human form cannot be rotated. In addition, the variable structure robot doesn't have a head structure.

Summary

The present invention provides a transformable robot to overcome the defects in the prior art. The transformable robot can transform from a car form to a human form and from the human form to the car form. A ribcage structure of the transformable robot can be rotated to realize a transformation from the human form to the car form or from the car form to the human form. In addition, a head part of the transformable robot is retractably set in the ribcage structure of the robot. The head part of the robot automatically extends out from the ribcage structure of the robot during the transformation of the robot from the car form to the human form. The head part of the robot automatically retracts into the ribcage structure of the robot during the transformation of the robot from the human form to the car form.
To realize the above purposes, a technical scheme of the invention is that a transformable robot comprises an arm structure, a leg structure and a head of the robot fixed to a ribcage structure, the arm structure comprises a left arm and a right arm, the leg structure comprises a left leg and a right leg; the left leg and the right leg are mutually mirror structure and symmetrically provided on both sides of a lower part of the ribcage structure; the left arm and the right arm are mirror structure and symmetrically provided on both sides of an upper part of the ribcage structure; the ribcage structure comprises a first steering gear fixed on an upper part of a second fixing frame, a rotating output shaft of the first steering gear successively passes through a top wall of the second fixing frame and a first backing plate to fixedly connected with a first steering wheel fixed on a first rotating frame; the first steering wheel is provided with an arc-shaped limited opening; a limited column on the first backing plate is movably passed through the limited opening; the rotating output shaft of the first steering gear rotates to drive the first rotating frame to rotate.
Preferably, a first connecting frame is fixed on an upper part of the first rotating frame, and a first fixing frame is fixed on an upper part of the first connecting frame.
In any of the above solutions, it is preferred that a top of a rear end of the first fixing frame is hinged with a turning plate; the head of the robot is detachably and fixed on the turning plate.
In any of the above solutions, it is preferred that a second steering gear is fixed at a bottom of the rear end of the first fixing frame, a rotating output shaft of the second steering gear is fixedly sleeved with a first driving connecting rod; one end of the first driving connecting rod is fixedly connected with the rotating output shaft of the second steering gear, and the other end 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 is fixedly hinged with a bottom of the turning plate.
In any of the above solutions, it is preferred that a vertical plate is vertically fixed on a tail of the turning plate; with a movement of the turning plate, the vertical plate is movably buckled on a top opening of the first fixing frame.
In any of the above solutions, it is preferred that the limited column is provided with an axial through hole.
In any of the above solutions, it is preferred that a third steering gear is fixed at a bottom of the second fixing frame.
In any of the above solutions, it is preferred that a rotating output shaft of the third steering gear passes through one side of the second fixing frame to fixedly connected with one side wall of a second connecting frame; a supporting shaft of the third steering gear passes through the other side of the second fixing frame to fixedly connected with the other side wall of the second connecting frame.
In any of the above solutions, it is preferred that one side of the second connecting frame is fixedly connected with either fourth steering gear in the leg structure, and the other side is fixedly connected with the other fourth steering gear in the leg structure, a third wheel is rotationally provided on the fourth steering gears.
In any of the above solutions, it is preferred that a rotating output shaft of the fourth steering gear is fixedly connected with one end of a first connecting arm through a steering wheel, and a supporting shaft of the fourth steering gear is inserted into a connecting hole at one end of a second connecting arm; the other end of the first connecting arm is fixedly connected with a top of one side of a first connecting seat; the other end of the second connecting arm is fixedly connected with a top of the other side of the first connecting seat; the first connecting seat is provided with a double inserting arm structure; one of the inserting arms of the first connecting seat is fixedly connected with a rotating output shaft of a fifth steering gear through a steering wheel, and the other inserting arm is sleeved on a supporting shaft of the fifth steering gear.
In any of the above solutions, it is preferred that, a sixth steering gear is fixedly connected with a bottom of the fifth steering gear; a rotating output shaft of the sixth steering gear is fixedly connected with one side of one end of the second connecting frame through a steering wheel; a supporting shaft of the sixth steering gear is fixedly connected with the other side of one end of the second connecting frame through a steering wheel; a seventh steering gear is fixedly connected with the other end of the second connecting frame; a rotating output shaft of the seventh steering gear is fixedly connected with one side of the other end of the second connecting frame through a steering wheel; a supporting shaft of the seventh steering gear is fixedly connected with the other side of the other end of the second connecting frame through a steering wheel.
In any of the above solutions, it is preferred that an eighth steering gear is fixed in the second connecting frame; a rotating output shaft of the eighth steering gear is fixedly connected with a motor gear through a side wall of the second connecting frame; on one hand, the motor gear is movably meshed with a second driven gear on a first wheel through a first driven gear, and on the other hand, the motor gear is movably meshed with a fourth driven gear on a second wheel through a third driven gear, the eighth steering gear drives the first wheel and the second wheel to rotate simultaneously.
In any of the above solutions, it is preferred that the first driven wheel is rotationally fixed on the side wall through a first connecting rod; the third driven gear is rotationally fixed on the side wall through a second connecting rod; the first wheel is rotationally fixed on the side wall through a third connecting rod, and the second wheel is rotationally fixed on the side wall through a fourth connecting rod.
In any of the above solutions, it is preferred that the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are arranged alternately on the side wall of the second connecting frame; the third connecting rod and the fourth connecting rod are located in a straight line.
In any of the above solutions, it is preferred that the eighth steering gear is fixed in a mounting groove of the second connecting frame through a supporting frame.
In any of the above solutions, it is preferred that a ninth steering gear is crosswise fixedly connected at a bottom of the seventh steering gear.
In any of the above solutions, it is preferred that an output shaft of the ninth steering gear is fixedly connected with a rib plat of one side of a second connecting seat through a steering wheel; a supporting shaft of the ninth steering gear is fixedly connected with a rib plat of the other side of the second connecting seat through the steering wheel.
In any of the above solutions, it is preferred that a bottom of the first connecting seat is detachably connected with a foot connecting plate.
In any of the above solutions, it is preferred that a bottom of one end of the first connecting frame is fixedly connected with one tenth steering gear in the arm structure, and a bottom of the other end is fixedly connected with the other tenth steering gear in the arm structure; a rotating output shaft of each of the tenth steering gears is fixedly connected with a sixteenth steering gear through a steering wheel.
In any of the above solutions, it is preferred that the arm structure also comprises a twelfth steering gear fixed on a first mounting seat; a rotating output shaft of the twelfth steering gear is fixedly connected with a first mounting plate on one end of the first mounting seat, the twelfth steering gear is rotationally hinged on the first mounting plate through the rotating output shaft thereof; a palm part is fixed on a shell of the twelfth steering gear.
In any of the above solutions, it is preferred that the other end of the first mounting seat is provided with a mounting groove; a thirteenth steering gear is fixedly clamped in the mounting groove.
In any of the above solutions, it is preferred that a rotating output shaft of the thirteenth steering gear is fixedly connected with one end of one third connecting arm through a steering wheel, and a supporting shaft of the thirteenth steering gear is fixedly connected with one end of the other third connecting arm through a steering wheel; the other end of 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 solutions, it is preferred that a fourteenth steering gear is fixed on the first connecting plate; a third fixing frame is fixedly connected on a rotating output shaft of the fourteenth steering gear.
In any of the above solutions, it is preferred that a fifteenth steering gear is fixed on the third fixing frame.
In any of the above solutions, it is preferred that a third connecting frame is fixed on a rotating output shaft of the fifteenth steering gear.
In any of the above solutions, it is preferred that the third connecting frame is provided with two fourth connecting arms arranged alternately; one fourth connecting arm is fixedly connected with a rotating output shaft of the sixteenth steering gear, and the other fourth connecting arm is sleeved on a supporting column of the sixteenth steering gear.
In any of the above solutions, it is preferred that the transformable robot also comprises a second mounting plate, one end of the second mounting plate is detachably buckled on a top of the mounting groove, and the other end of the second mounting plate is sleeved on a supporting shaft of the twelfth steering gear; the twelfth steering gear is reversibly provided in a clearance formed between the first mounting plate and the second mounting plate through the rotating output shaft thereof; the first mounting plate is parallel to the second mounting plate.
In any of the above solutions, it is preferred that two tenth steering gears are both between the first connecting frame and the first rotating frame simultaneously.
In any of the above solutions, it is preferred that a PCB circuit board is fixed on a top of the first rotating frame through connecting columns, and a controller is provided on the PCB circuit board.
In any of the above solutions, it is preferred that the first steering wheel is fixedly sleeved on the rotating output shaft of the first steering gear through a connecting hole on a connecting part thereof.
In any of the above solutions, it is preferred that a first battery is fixed on the bottom of the rear end of the first fixing frame, and a horn is fixed on the first steering gear through a connecting plate.
Compared with the prior art, the invention has an advantage that the transformable robot may realize the transformation from the human form to the car form or from the car form to the human form by controlling the steering gears on each joint of the robot through the controller. In the car form, the transformable robot may realize a movement through the steering gears. In the human form, the robot may realize a biped walking through the steering gears. In addition, the head part of the transformable robot may automatically extend out or retracted into the ribcage structure of the robot.

Brief Description of the Drawings

Fig.1 is a stereoscopic structure schematic diagram of a preferred embodiment according to a transformable robot of the present invention.
Fig.2 is a stereoscopic structure schematic diagram of the transformable robot after a transformation of the embodiment shown in Fig.1 according to the transformable robot of the present invention.
Fig.3 is a stereoscopic structure schematic diagram without exterior styling components of the embodiment shown in Fig.1 according to the transformable robot of the present invention.
Fig.4 is a stereoscopic structure schematic diagram of a preferred embodiment of a ribcage structure in the embodiment shown in Fig.1 according to the transformable robot of the present invention.
Fig.5 is a stereoscopic structure schematic diagram of the ribcage structure after a transformation in the embodiment shown in Fig.4 according to the transformable robot of the present invention.
Fig.6 is a first stereoscopic structure schematic diagram of the ribcage structure without exterior styling components in the embodiment shown in Fig.4 according to the transformable robot of the present invention.
Fig.7 is a second stereoscopic structure schematic diagram of the ribcage structure without exterior styling components in the embodiment shown in Fig.4 according to the transformable robot of the present invention.
Fig.8 is stereoscopic structure schematic diagram of a transformation state of the ribcage structure in the embodiment shown in Fig.7 according to the transformable robot of the present invention.
Fig.9 is a main view structure schematic diagram of the ribcage structure in the embodiment shown in Fig.6 according to the transformable robot of the present invention.
Fig. 10 is a rear view structure schematic diagram of the ribcage structure in the embodiment shown in Fig.6 according to the transformable robot of the present invention.
Fig.11 is a left view structure schematic diagram of the ribcage structure in the embodiment shown in Fig.6 according to the transformable robot of the present invention.
Fig. 12 is a right view structure schematic diagram of the ribcage structure in the embodiment shown in Fig.6 according to the transformable robot of the present invention.
Fig. 13 is a first stereoscopic structure schematic diagram of the ribcage structure without a head of the robot and driving mechanisms in the embodiment shown in Fig.6 according to the transformable robot of the present invention.
Fig. 14 is a stereoscopic structure schematic diagram of the ribcage structure with the first rotating frame and the first steering gear in the embodiment shown in Fig.6 according to the transformable robot of the present invention.
Fig. 15 is a stereoscopic structure schematic diagram of the first steering gear with a first backing plate of the ribcage structure in the embodiment shown in Fig.6 according to the transformable robot of the present invention.
Fig. 16 is a stereoscopic structure schematic diagram of a second fixing frame of the ribcage structure in the embodiment shown in Fig.6 according to the transformable robot of the present invention.
Fig. 17 is a first stereoscopic structure schematic diagram of a first steering wheel of the ribcage structure in the embodiment shown in Fig.6 according to the transformable robot of the present invention.
Fig. 18 is a second stereoscopic structure schematic diagram of a first steering wheel of the ribcage structure in the embodiment shown in Fig.6 according to the transformable robot of the present invention.
Fig. 19 is a stereoscopic structure schematic diagram of a first fixing frame of the ribcage structure in the embodiment shown in Fig.6 according to the transformable robot of the present invention.
Fig.20 is a stereoscopic structure schematic diagram of a first connecting frame of the ribcage structure in the embodiment shown in Fig.6 according to the transformable robot of the present invention.
Fig.21 is a stereoscopic structure schematic diagram of a first rotating frame of the ribcage structure in the embodiment shown in Fig.6 according to the transformable robot of the present invention.
Fig.22 is a stereoscopic structure schematic diagram of a preferred embodiment of a leg structure in the embodiment shown in Fig.1 according to the transformable robot of the present invention.
Fig.23 is a main view structure schematic diagram of the leg structure in the embodiment shown in Fig.22 according to the transformable robot of the present invention.
Fig.24 is a stereoscopic structure schematic diagram of the leg structure after a transformation in the embodiment shown in Fig.22 according to the transformable robot of the present invention.
Fig.25 is a main view structure schematic diagram of the leg structure in the embodiment shown in Fig.24 according to the transformable robot of the present invention.
Fig.26 is a stereoscopic assembly diagram of the leg structure in the embodiment shown in Fig.22 according to the transformable robot of the present invention.
Fig.27 is a stereoscopic assembly diagram of the leg structure without exterior styling components in the embodiment shown in Fig.26 according to the transformable robot of the present invention.
Fig.28 is a stereoscopic structure schematic diagram of a connecting frame of the leg structure in the embodiment shown in Fig.26 according to the transformable robot of the present invention.
Fig.29 is a stereoscopic structure schematic diagram of a second connecting frame of the leg structure in the embodiment shown in Fig.26 according to the transformable robot of the present invention.
Fig.30 is a stereoscopic structure schematic diagram of a second connecting arm of the leg structure in the embodiment shown in Fig.26 according to the transformable robot of the present invention.
Fig.31 is a stereoscopic structure schematic diagram of a first connecting seat of the leg structure in the embodiment shown in Fig.26 according to the transformable robot of the present invention.
Fig.32 is a stereoscopic structure schematic diagram of a first wheel of the leg structure in the embodiment shown in Fig.26 according to the transformable robot of the present invention.
Fig.33 is a stereoscopic structure schematic diagram of a second wheel of the leg structure in the embodiment shown in Fig.26 according to the transformable robot of the present invention.
Fig.34 is a stereoscopic structure schematic diagram of a preferred embodiment of an arm structure in the embodiment shown in Fig.1 according to the transformable robot of the present invention.
Fig.35 is a main view structure schematic diagram of the arm structure in the embodiment shown in Fig.34 according to the transformable robot of the present invention.
Fig.36 is a rear view structure schematic diagram of the arm structure in the embodiment shown in Fig.34 according to the transformable robot of the present invention.
Fig.37 is a stereoscopic structure schematic diagram of the arm structure without styling components in the embodiment shown in Fig.34 according to the transformable robot of the present invention.
Fig.38 is a stereoscopic structure schematic diagram of the arm structure after a transformation in the embodiment shown in Fig.34 according to the transformable robot of the present invention.
Fig.39 is a stereoscopic structure schematic diagram of the arm structure after a transformation in the embodiment shown in Fig.37 according to the transformable robot of the present invention.
Fig.40 is a stereoscopic assembly diagram of the arm structure in the embodiment shown in Fig.34 according to the transformable robot of the present invention.
Fig.41 is a stereoscopic assembly diagram of the arm structure in the embodiment shown in Fig.37 according to the transformable robot of the present invention.
Fig.42 is a first schematic diagram of a transformation state of the transformable robot in the embodiment shown in Fig.1 according to the transformable robot of the present invention.
Fig.43 is a second schematic diagram of a transformation state of the transformable robot in the embodiment shown in Fig.3 according to the transformable robot of the present invention.

Detailed Description of the Embodiments

The preferred embodiment of the present invention is further described in accordance with drawings.
It should be understood that in the description of the embodiment locational or positional relationships indicated by terms 'upper', 'lower', etc. are based on locational or positional relationships shown in the drawings, and are only convenient for describing the present invention and simplifying the description, rather than for indicating or implying that a device or element indicated must have a specific orientation or be constructed and operated in a specific orientation, thus they should not be understood as a limitation of the present invention. Furthermore, terms 'first', 'second', etc. are used only for descriptive purposes, and should not be understood for indicating or implying relative importance or implicitly indicating a number of a technical feature referred to, thus, the technical feature limited by 'first', 'second', etc. may explicitly or implicitly include one or more such technical features. In the description of the present invention, 'multiple' means two or more unless otherwise stated.
It should be noted that, unless otherwise expressly specified and qualified, terms 'install', 'connect' and 'connect with' should be understood in a broad sense, for example it may be a fixed connection, a detachable connection, an integrated connection, a direct connection, a indirect connection through an intermediary, or an internal connection of two components. For those skilled in the art, specific meanings of the above terms in the present invention may be understood through specific circumstances.

Embodiment 1

Shown in Figs. 1-43, a preferred embodiment of a transformable robot of the present invention is disclosed. Fig.1 shows a stereoscopic structure schematic diagram of the transformable robot with exterior styling components in the embodiment. Fig.2 shows a stereoscopic structure schematic diagram of the transformable robot after a transformation thereof shown in Fig.1. Fig.3 shows a stereoscopic structure schematic diagram of the embodiment shown in Fig.1 without exterior styling components. The transformable robot comprises an arm structure, a leg structure and a head 1of the robot fixed to a ribcage structure. The arm structure comprises a left arm 2 and a right arm 3. The left arm 2 and the right arm 3 are mutually mirror structure and symmetrically provided on both sides of an upper part of the ribcage structure. The leg structure comprises a left leg 4 and a right leg 5. The left leg 4 and the right leg 5 are mutually mirror structure and symmetrically provided on both sides of a lower part of the ribcage structure. Fig.4 shows a stereoscopic structure schematic diagram of the ribcage structure of the transformable robot in the embodiment. The head 1 of the robot is arranged on a top of the ribcage structure. Fig.5 shows a stereoscopic structure schematic diagram 1 of the ribcage structure after a transformation thereof in the embodiment shown in Fig.4. Fig.6 shows a first stereoscopic structure schematic diagram of the ribcage structure without exterior styling components in the embodiment shown in Fig.4. Fig.7 shows a second stereoscopic structure schematic diagram 2 of the ribcage structure without exterior styling components in the embodiment shown in Fig.4. In the embodiment, the ribcage structure comprises a first steering gear 7 fixed on an upper part of a second fixing frame 6. A second battery 69 is fixed on the second fixing frame 6. A rotating output shaft of the first steering gear 7 successively passes through a top wall of the second fixing frame 6 and a first backing plate 8 to fixedly connected with a first steering wheel 10 fixed on a first rotating frame 9. In the embodiment, multiple connecting bosses 71 are fixedly on the first rotating frame 9. Sleeves corresponding to the connecting bosses 71 are arranged on the first steering wheel 10. The sleeves are sleeved on the connecting bosses 71. The first steering wheel 10 is provided with an arc-shaped limited opening 11. A limited column 12 on the first backing plate 8 is movably passed through the limited opening 11. The rotating output shaft of the first steering gear 7 rotates to drive the first rotating frame 9 to rotate, thereby driving the ribcage structure and the head 1 of the robot, the left arm 2 and the right arm 3 provided on the ribcage structure to rotate. The limited column 12 is provided with an axial through hole 20. The axial through hole 20 is convenient for a connecting wire of the first steering gear 7 to pass through.
A first connecting frame 13 is fixed on an upper part of the first rotating frame 9, and a first fixing frame 14 is fixed on an upper part of the first connecting frame 13. The first connecting frame 13 is provided with a protruding plate 72 protruding horizontally. A top of a rear end of the first fixing frame 14 is hinged with a turning plate 15. The turning plate 15 is reversibly hinged on the top of the rear end of the first fixing frame 14 through a rotating shaft. The head 1 of the robot is detachably and fixed on the turning plate 15. In the embodiment, a second steering gear 16 is fixed at a bottom of the rear end of the first fixing frame 14. In the embodiment, the tail of the first fixing frame 14 is provided with a protruding part 70. The first fixing frame 14 and the protruding part 70 are an integrated structure. A top of the second steering gear 16 is fixedly connected with the protruding part 70, and a bottom of the second steering gear 16 is fixedly connected with the protruding plate 72. A rotating output shaft of the second steering gear 16 is fixedly sleeved with a first driving connecting rod 17. One end of the first driving connecting rod 17 is fixedly connected with the rotating output shaft of the second steering gear 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 a bottom of the turning plate 15. The rotating output shaft of the second steering gear 16 rotates to successively drive the first driving connecting rod 17, the second driving connecting rod 18 to move, thereby driving the turning plate 15 to turn over along the rotating shaft, such that the head 1 of the robot extends out or retracts into the first fixing frame 14. In the embodiment, a tail of the turning plate 15 is vertically and fixed with a vertical plate 19; with a movement of the turning plate 15, the vertical plate 19 is movably buckled on a top opening of the first fixing frame 14.
A third steering gear 21 is fixedly at a bottom of the second fixing frame 6. The third steering gear 21 has a rotating output shaft and a supporting shaft which is arranged on a shell of the third steering gear 21. The supporting shaft and the rotating output shaft of the third steering gear are coincident in axes and symmetrically arranged. The rotating output shaft of the third steering gear 21 passes through one side of the second fixing frame 6 and is fixedly connected with one side wall of a second connecting frame 22. The supporting shaft of the third steering gear 21 passes through the other side of the second fixing 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 one fourth steering gear 23 in the leg structure, and the other side is fixedly connected with another fourth steering gear 23 in the leg structure. A third wheel 24 are rotationally provided on the fourth steering gears 23. The third wheel 24 is rotationally fixed on a side wall of the fourth steering gear 23 through a connecting shaft. As an alternative, a connecting plate 76 is provided on the side wall of the fourth steering gear 23. A connecting shaft 75 is fixed on the connecting plate 76. A bearing 73 is rotationally provided on the connecting shaft 75. The third wheel 24 is rotationally provided on the connecting shaft 75 through the bearing 73.
The fourth steering gear 23 is provided with a rotating output shaft and a supporting shaft. The rotating output shaft of the fourth steering gear 23 is fixedly connected with one end of a first connecting arm 68 through a steering wheel. The supporting shaft of the fourth steering gear 23 is inserted into a connecting hole at one end of a second connecting arm 25. The other end of the first connecting arm 68 is fixedly connected with a top of one side of a first connecting seat 26. The other end of the second connecting arm 25 is fixedly connected with a top of the other side of the first connecting seat 26. In the embodiment, the first connecting seat 26 is provided with a double inserting arm structure. One inserting arm 27 of the first connecting seat 26 is fixedly connected with a rotating output shaft of a fifth steering gear 74 through a steering wheel, and the other inserting arm 27 is sleeved on a supporting shaft of the fifth steering gear 27. The supporting shaft and the rotating output shaft of the fifth steering gear 74 are also coincident in axes and symmetrically arranged. A sixth steering gear 28 is fixedly connected with a bottom of the fifth steering gear 74. The sixth steering gear 28 is provided with a rotating output shaft and a supporting shaft corresponding to the rotating output shaft. A rotating output shaft of the sixth steering gear 28 is fixedly connected with one side of one end of the second connecting frame 22 through a steering wheel. A supporting shaft of the sixth steering gear 28 is fixedly connected with the other side of one end of the second connecting frame 22 through a steering wheel. A seventh steering gear 29 is fixedly connected with the other end of the second connecting frame 22. The supporting shaft and the rotating output shaft of the seventh steering gear 29 are also coincident in axes and symmetrically arranged. A rotating output shaft of the seventh steering gear 29 is fixedly connected with one side of the other end of the second connecting frame 22 through a steering wheel. A supporting shaft of the seventh steering gear 29 is fixedly connected with the other side of the other end of the second connecting frame 22 through a steering wheel.
An eighth steering gear 30 is fixed inside the second connecting frame 22. Specifically the eighth steering gear 30 is fixed inside a mounting groove of the second connecting frame 22 through a supporting frame 42. A rotating output shaft of the eighth steering gear 30 is fixedly connected with a motor gear 31 through one side wall of the second connecting frame 22. On one hand, the motor gear 31 is movably meshed with a second driven gear 34 on a first wheel 33 through a first driven gear 32, and on the other hand, the motor gear 31 is movably meshed with a fourth driven gear 37 on a second wheel 36 through a third driven gear 35. The eighth steering gear 30 drives the first wheel 33 and the second wheel 36 to rotate simultaneously. In the embodiment, the first wheel 33, the second wheel 36 and the third wheel 24 are simultaneously on one side of the second connecting frame 22. In other words, the first wheel 33, the second wheel 36 and the third wheel 24 are simultaneously on the left side or the right side of the second connecting frame 22. The first driven wheel 32 is rotationally fixed on the side wall on one side of the second connecting frame 22 through a first connecting rod 38. The third driven gear 35 is rotationally fixed on the side wall through a second connecting rod 39. The first wheel 33 is rotationally fixed on the side wall through a third connecting rod 40. The second wheel 36 is rotationally fixed on the side wall through 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 alternately and in parallel on the side wall of the second connecting frame 22. The third connecting rod 40 and the fourth connecting rod 41 are in a straight line.
A ninth steering gear 43 is crosswise fixedly connected at a bottom of the seventh steering gear 29. The ninth steering gear 43 is provided with a supporting shaft. A rotating output shaft of the ninth steering gear 43 is fixedly connected with a rib plat of one side of a second connecting seat 44 through a steering wheel. The supporting shaft of the ninth steering gear 43 is fixedly connected with a rib plat of the other side of the second connecting seat 44 through a steering wheel. The second connecting seat 44 may rotates under actions of the ninth steering gear 43. A bottom of the second connecting seat 44 is detachably connected with a foot connecting plate 45.
A bottom of one end of the first connecting frame 13 is fixedly connected with one tenth steering gear 46 of the left arm 2 in the arm structure, and a bottom of the other end is fixedly connected with the other tenth steering gear 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 one tenth steering gear 46 of the right arm 3 in the arm structure, and the bottom of the other end is fixedly connected with the other tenth steering gear 46 of the left arm 2 in the arm structure. The left arm 2 and the right arm 3 are the same in structure. The two tenth steering gears 46 are both located between the first connecting frame 13 and the first rotating frame 9 simultaneously. A PCB circuit board 63 is fixed on a top of the first rotating frame 9 through multiple connecting columns 62, and a controller is provided on the PCB circuit board 63. The first steering wheel 10 is fixedly sleeved on the rotating output shaft of the first steering gear 7 through a connecting hole 65 on a connecting part 64 thereof. A first battery 66 is fixed on the bottom of the rear end of the first fixing frame 14. The first battery 66 a horn 67 is fixed on the first steering gear 7 through a connecting plate. A rotating output shaft of each of the tenth steering gear 46 is fixedly connected with a sixteenth steering gear 47 through a steering wheel. The arm structure also comprises a twelfth steering gear 49 fixed on a first mounting seat 48. A rotating output shaft of the twelfth steering gear 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 rotationally hinged on the first mounting plate 50 through the rotating output shaft thereof. A palm part 51 is fixed on a shell of the twelfth steering gear 49.
The other end of the first mounting seat 48 is provided with a mounting groove 52. A thirteenth steering gear 53 is fixedly clamped in the mounting groove 52. The thirteenth steering gear 53 is provided with a supporting shaft. A rotating output shaft of the thirteenth steering gear 53 is fixedly connected with one end of one third connecting arm 54 through a steering wheel. A supporting shaft of the thirteenth steering gear 53 is fixedly connected with one end of the other third connecting arm 54 through a steering wheel. The other end of one third connecting arm 54 is fixedly connected with one side of the first connecting plate 55, the other end of the other third connecting arm 54 is fixedly connected with the other side of the first connecting plate 55. A fourteenth steering gear 56 is fixed on the first connecting plate 55. A third fixing frame 57 is fixed on a rotating output shaft of the fourteenth steering gear 56. A fifteenth steering gear 58 is fixed on the third fixing frame 57. A third connecting frame 59 is fixed on a rotating output shaft of the fifteenth steering gear 58. The third connecting frame 59 is provided with two fourth connecting arms 60 arranged alternately. One fourth connecting arm 60 is fixedly connected with a rotating output shaft of the sixteenth steering gear 47, and the other fourth connecting arm 60 is sleeved on a supporting column of the sixteenth steering gear 47. In the embodiment, the transformable robot also comprises a second mounting plate 61. 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 a top of the mounting groove 52, and the other end is sleeved on a supporting shaft of the twelfth steering gear 49. The twelfth steering gear 49 is reversibly set in a clearance formed between the first mounting plate 50 and the second mounting plate 61 through the rotating output shaft thereof to realize a turnover of a palm part 51. Each steering gear is electrically connected with the controller through a circuit. The controller controls the movement of each steering gear.
The above description is only the preferred embodiment of the present invention, but does not limit the present invention in any form. Any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention still falls within the scope of the technical scheme of the present invention.
After reading the specification, it is not difficult for those skilled in the art to understand that the present invention is composed of the combination of prior art. Some prior arts forming various parts of the utility model are described in detail, some are not described in detail for sake of simplifying the description, but those skilled in the art should know what is said after reading the description. Moreover, it is not difficult for those skilled in the art to understand that the combination of these prior art for a purpose of forming the present invention is full of a lot of creative labor, and is a crystallization of many years of theoretical analysis and a large number of experiments of the inventor. It can also be seen from the description for those skilled in the art that each technical scheme and any combination of each feature disclosed herein are part of the present invention.

Claims

A transformable robot, comprising an arm structure, a leg structure and a head of the robot fixed to a ribcage structure, the arm structure comprising a left arm and a right arm, the leg structure comprising a left leg and a right leg; the left leg and the right leg being mutually mirror structure and symmetrically provided on both sides of a lower part of the ribcage structure; the left arm and the right arm being mirror structure and symmetrically provided on both sides of an upper part of the ribcage structure; characterized in that: the ribcage structure comprises a first steering gear fixed on an upper part of a second fixing frame, a rotating output shaft of the first steering gear successively passes through a top wall of the second fixing frame and a first backing plate to fixedly connected with a first steering wheel fixed on a first rotating frame; the first steering wheel is provided with an arc-shaped limited opening; a limited column on the first backing plate is movably passed through the limited opening; the rotating output shaft of the first steering gear rotates to drive the first rotating frame to rotate.
The transformable robot according to the claim 1, characterized in that: a first connecting frame is fixed on an upper part of the first rotating frame, and a first fixing frame is fixed on an upper part of the first connecting frame.
The transformable robot according to the claim 2, characterized in that: a top of a rear end of the first fixing frame is hinged with a turning plate; the head of the robot is detachably fixed on the turning plate.
The transformable robot according to the claim 2, characterized in that: a second steering gear is fixed at a bottom of the rear end of the first fixing frame, a rotating output shaft of the second steering gear is fixedly sleeved with a first driving connecting rod; one end of the first driving connecting rod is fixedly connected with the rotating output shaft of the second steering gear, and the other end 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 is fixedly hinged with a bottom of the turning plate.
The transformable robot according to the claim 4, characterized in that: a vertical plate is vertically fixed on a tail of the turning plate; with a movement of the turning plate, the vertical plate is movably buckled on a top opening of the first fixing frame.
The transformable robot according to the claim 1, characterized in that: the limited column is provided with an axial through hole.
The transformable robot according to the claim 1, characterized in that: a third steering gear is fixed at a bottom of the second fixing frame.
The transformable robot according to the claim 7, characterized in that: a rotating output shaft of the third steering gear passes through one side of the second fixing frame to fixedly connected with one side wall of a second connecting frame; a supporting shaft of the third steering gear passes through the other side of the second fixing frame to fixedly connected with the other side wall of the second connecting frame.
The transformable robot according to the claim 8, characterized in that: one side of the second connecting frame is fixedly connected with one fourth steering gear in the leg structure, and the other side is fixedly connected with the other fourth steering gear in the leg structure, a third wheel is rotationally provided on the fourth steering gear.
The transformable robot according to the claim 9, characterized in that: a rotating output shaft of the fourth steering gear is fixedly connected with one end of a first connecting arm through a steering wheel, and a supporting shaft of the fourth steering gear is inserted into a connecting hole at one end of a second connecting arm; the other end of the first connecting arm is fixedly connected with a top of one side of a first connecting seat; the other end of the second connecting arm is fixedly connected with a top of the other side of the first connecting seat; the first connecting seat is provided with a double inserting arm structure; one inserting arm of the first connecting seat is fixedly connected with a rotating output shaft of a fifth steering gear through a steering wheel, and the other inserting arm is sleeved on a supporting shaft of the fifth steering gear.
The transformable robot according to the claim 10, characterized in that: a sixth steering gear is fixedly connected with a bottom of the fifth steering gear; a rotating output shaft of the sixth steering gear is fixedly connected with one side of one end of the second connecting frame through a steering wheel; a supporting shaft of the sixth steering gear is fixedly connected with the other side of one end of the second connecting frame through a steering wheel; a seventh steering gear is fixedly connected with the other end of the second connecting frame; a rotating output shaft of the seventh steering gear is fixedly connected with one side of the other end of the second connecting frame through a steering wheel; a supporting shaft of the seventh steering gear is fixedly connected with the other side of the other end of the second connecting frame through a steering wheel.
The transformable robot according to the claim 11, characterized in that: an eighth steering gear is fixed in the second connecting frame; a rotating output shaft of the eighth steering gear is fixedly connected with a motor gear through a side wall of the second connecting frame; on one hand, the motor gear is movably meshed with a second driven gear on a first wheel through a first driven gear, and on the other hand, the motor gear is movably meshed with a fourth driven gear on a second wheel through a third driven gear, the eighth steering gear drives the first wheel and the second wheel to rotate simultaneously.
The transformable robot according to the claim 12, characterized in that: the first driven wheel is rotationally fixed on the side wall through a first connecting rod; the third driven gear is rotationally fixed on the side wall through a second connecting rod; the first wheel is rotationally fixed on the side wall through a third connecting rod, and the second wheel is rotationally fixed on the side wall through a fourth connecting rod.
The transformable robot according to the claim 13, characterized in that: the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are arranged alternately on the side wall of the second connecting frame; the third connecting rod and the fourth connecting rod are located in a straight line.
The transformable robot according to the claim 12, characterized in that: the eighth steering gear is fixed in a mounting groove of the second connecting frame through a supporting frame.
The transformable robot according to the claim 11, characterized in that: a ninth steering gear is crosswise fixedly connected at a bottom of the seventh steering gear.
The transformable robot according to the claim 16, characterized in that: an output shaft of the ninth steering gear is fixedly connected with a rib plat of one side of a second connecting seat through a steering wheel; a supporting shaft of the ninth steering gear is fixedly connected with a rib plat of the other side of the first connecting seat through the steering wheel.
The transformable robot according to the claim 17, characterized in that: a bottom of the first connecting seat is detachably connected with a foot connecting plate.
The transformable robot according to the claim 2, characterized in that: a bottom of one end of the first connecting frame is fixedly connected with one tenth steering gear in the arm structure, and a bottom of the other end is fixedly connected with the other tenth steering gear in the arm structure; a rotating output shaft of each of the tenth steering gears is fixedly connected with a sixteenth steering gear through a steering wheel.
The transformable robot according to the claim 19, characterized in that: the arm structure also comprises a twelfth steering gear fixed on a first mounting seat; a rotating output shaft of the twelfth steering gear is fixedly connected with a first mounting plate on one end of the first mounting seat, the twelfth steering gear is rotationally hinged on the first mounting plate through the rotating output shaft thereof; a palm part is fixed on a shell of the twelfth steering gear.
The transformable robot according to the claim 20, characterized in that: the other end of the first mounting seat is provided with a mounting groove; a thirteenth steering gear is fixedly clamped in the mounting groove.
The transformable robot according to the claim 21, characterized in that: a rotating output shaft of the thirteenth steering gear is fixedly connected with one end of one third connecting arm through a steering wheel, and a supporting shaft of the thirteenth steering gear is fixedly connected with one end of the other third connecting arm through a steering wheel; the other end of 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.
The transformable robot according to the claim 22, characterized in that: a fourteenth steering gear is fixed on the first connecting plate; a third fixing frame is fixed on a rotating output shaft of the fourteenth steering gear.
The transformable robot according to the claim 23, characterized in that: a fifteenth steering gear is fixed on the third fixing frame.
The transformable robot according to the claim 24, characterized in that: a third connecting frame is fixed on a rotating output shaft of the fifteenth steering gear.
The transformable robot according to the claim 25, characterized in that: the third connecting frame is provided with two fourth connecting arms arranged alternately; one fourth connecting arm is fixedly connected with a rotating output shaft of the sixteenth steering gear, and the other fourth connecting arm is sleeved on a supporting column of the sixteenth steering gear.
The transformable robot according to the claim 21, characterized in that: the transformable robot also comprises a second mounting plate, one end of the second mounting plate is detachably buckled on a top of the mounting groove, and the other end of the second mounting plate is sleeved on a supporting shaft of the twelfth steering gear; the twelfth steering gear is reversibly provided in a clearance formed between the first mounting plate and the second mounting plate through the rotating output shaft thereof; the first mounting plate is parallel to the second mounting plate.
The transformable robot according to the claim 19, characterized in that: two tenth steering gears are both located between the first connecting frame and the first rotating frame simultaneously.
The transformable robot according to the claim 1, characterized in that: a PCB circuit board is fixed on a top of the first rotating frame through connecting columns, and a controller is provided on the PCB circuit board.
The transformable robot according to the claim 1, characterized in that: the first steering wheel is fixedly sleeved on the rotating output shaft of the first steering gear through a connecting hole on a connecting part thereof.
The transformable robot according to the claim 1, characterized in that: a first battery is fixed on the bottom of the rear end of the first fixing frame, and a horn is fixed on the first steering gear through a connecting plate.