201215440 六、發明說明： 【發明所屬之技術領域】 本發明是有關於一種活動機器人，尤指一種可方便組襄且 有效降低成本’並可利於教學模組化使用之活動機器人。 【先前技術】 機器人無論是在家用或休閒娛樂，甚或是工業上之使用等 等，均佔有莫大的重要性及商機，因此，機器人的研發技術在 各國電子、機械領域之發展上，一直佔有重要的地位。 當前各先進國家或開發中國家之機器人技術已日益成熟精 進，各種產業級或國防級機器人已大量成功開發並使用中，且 使用於家庭或學校的看護機器人以及教育型機器人也陸續地推 出實了預見機器人的潛在市場規模以及未來商機之龐大。 S知機器人之控制系統包含裝設於各軸關節處的致動器以 及用以驅動致動器之電路系統，除了產業級與國防級的機器人 之外大。卩为的致動器皆為非模組化的結構設計，模組化之結 構相較於賴組化來賴單，組裝上比較方便，且相對於非模 °構而D，在傳動噪音、摩擦係數，以及摩擦熱效應上均 •k低所以具有較南的輸出扭力。但這些產業級與國防級的模 、、且化致動器’並於該模組化致動輯組構之機狀製造成本十 分昂貴’所以不可能普及於一般家庭或是學校中，又且現今市 上之玩具公司也銷售有多種機器人但其機器人同樣是將各 部件模組化供使用者進行組裝，其製造成本也十分成本昂貴， 201215440 並無法達到教學用之功效；故習知技術具有下列缺點： I製造成本高； 2. 無法普及使用； 3. 無法達到教學之目的。 是以，要如何解決上述習用之問題與缺失，即為本案之發 明人與從事此行業之相關廠商所亟欲研究改善之方向所在者。 【發明内容】 • 爰此，為有效解決上述之問題，本發明之主要目的，係提 供一種方便組裝且降低成本之活動機器人。 本發明之另一目的，係提供一種利用各關節處之形體設計 方便組裝教學與教學模組化之活動機器人。 為達上述之目的’本發明係提供一種活動機器人，該活動 機器人包括有：一主體、一頭部、一第一上肢機構、一第二上 肢機構、一第一下肢機構及一第二下肢機構’該主體設有一主 # _器及-供電單元，並設有至少一上肢部飼服馬達及至少〆 下肢部伺服馬達；所述頭部係設置於所述主體頂部，且該頭部 位置處設置有一頭部伺服馬達； -第-上肢機構，設置敎體—側，且該第— 有—第-C形肩關節部並連接所述上肢伺服馬達，該第一〔形 肩關節部另-端依序組接有—第—臂部、—第臂關節 部、一第一腕部及一第一手部； -第二上肢機構，設置於主體另—側，且該第二上肢機構 201215440 且有一楚β 第二腕部及第二手部； 二「泌形肩關節部並連接所述另—上賴服馬達，該第 關節^關1部=端依序組接有—第二臂部、—第二门形臂 具有二I下肢機構，係設置於主體底部，且該第—下肢機構 嫩U形'11髖關節部並組接於續底部，該第—U形上 二部另_端依序組接有—第—门形下髖關節部、一第一腿 n —U形腿關節部、—第—门觀關節部及—第_足部； 下肢機構’係設置於主體底部，且該第二下肢機構 〜第-U形上髖卿部並組接於主體底部，該第二^形上 ，關郎。p另—端依序組接有—第二门形下髖關節部、一第二腿 和-第二U形腿關節部、一第二门形足關節部及一第二足部. 以令該活動機ϋ人各機構部件她錢構時具有錢組裝且降 低成本之功效’並_各_處之频設計_枝組裝教學 /、教予模組化之功效；故本發明具有下列優點： I方便組裝且降低成本； 2·方便組裝教學與教學模組化； 3.提升使用普及率。 —為了使f審查委員能更進-步瞭解本發明特徵及技術内 容’請參_下錢本發明之詳細說明與_，然而所附圖示 僅供參考與說明用，並非用來對本發明加以限制。 【實施方式】 本發明之上述目的及其結構與魏上的魏，將依據所附 201215440 -圖式之較佳實施例予以說明。 請參閱第1圖及第2圖所示’本發明係一種活動機器人10, 在本發明之較佳實施例中，係為本發明之立體分解圖及立體示 忍圖，該活動機器人10包括有一主體20、一頭部30、一第一 上肢機構40、一第二上肢機構5〇、一第一下肢機構6〇及一第 二下肢機構70，該主體20設置有一主控制器201、一供電單元 202 第一上肢部祠服馬達21、一第二上肢部伺服馬達22、 _ 第下肢部伺服馬達23及一第二下肢部伺服馬達24,且該主 體20於頂部設置有一頸部連接處25，該頸部連接處25係組接 所述頭部30，該頭部30位置處設置有一頭部飼服馬達3卜又 該主體20兩側邊分別設置有所述第一上肢機構4〇及第二上肢 機構50 ; ，該第一上肢機構4〇具有一第一匸形肩關節部41，該第一匚 • 21月關節—41係組裝連接至所述其一侧之第-上肢部伺服馬達 21二該第形肩關節部41另一端係組接有一第一臂部42 _端&第—臂部42另—端組接有—第—n形臂關節部43， 第—门形臂關節部43另-端依序組接有一第一腕部44及一 手。卩45’其中該第__臂部42位置處設置有—第—臂部飼服 部4421’該第—臂部词服馬達421係連接所述第一〔形肩關節 …該第腕部44位置處設置有—第—腕洲服馬達 亥第腕部伺服馬達441係連接所述第一门形臂關節部 201215440 該第一上肢機構5G具有—第二〔形肩關節部Η ,該第二亡 形肩關節部51餘裝連接至料—狀第二上肢部伺服聪 22 ’且該第二〔形肩關節部51另—端係組接有—第二臂部犯 之一端，該第二臂部52另一端組接有一第二门形臂關節㈣， 該第二门形臂關節部53另—端依序組接有—第二腕部％及第 二手部55,其中該第二料52位置處另設置有—第二臂部伺服 53 ； 馬達521，該第二臂部舰馬達521係連接所述第二〔形肩關節 部5卜且該第二腕部54位置處設置有—第二腕部飼服馬達 ⑷，該第二腕部伺服馬達541侍連接所述第二门形臂關節部 其中該主體20底料置有所述第—下肢機構6()及第二下 肢機構π)，該第-下肢機構6〇具有—第―u形上髖關節部61， 該第一 U形上麵節部61係組裝連接至所述其第一下肢部伺服 馬達23’且該第一 u形上髖關節部61另—端係組接有一第一门 形下麵節部62,該第-m彡下髖_部62另—端組接有一第 一腿部63’該第-腿部63另-端依序組接—第—u形腿關節部 64、-第-η形足關節部65及-第—足部66，且該第一腿部 63之上部及下部位置處分別設置有—第—上腿部词服馬達咖 及一第-下腿部錬馬it 632,該第-上腿部飼服科631係連 接所述第-门形下體關節部62，而該第—下腿部伺服馬達敝 係連接所述第-⑽麵節部64’·第—足部66位置處設置 有一第-足部錬馬達661，該第-足部飼服馬達661係連^所 201215440 述第一门形足關節部65 ; /亥第二孩機構7G具有—第二⑽上麵節部71，該第二 u形上體關節部71係组裝連 24，料接至所述第二下肢部伺服馬達 且該第-_上_節部71另_端係組接有—第二⑽下 體關節部72,該第二门形~p胃 _卽部72另-端組接有—第二腿201215440 VI. Description of the Invention: [Technical Field] The present invention relates to a mobile robot, and more particularly to an active robot that can be easily assembled and effectively reduced in cost and can be used for modular use of teaching. [Prior Art] Robots have great importance and business opportunities in home or leisure entertainment, or even in industrial use. Therefore, robotic R&D technology has always played an important role in the development of electronics and machinery in various countries. Status. At present, the robot technology in various advanced countries or developing countries has become more and more mature, and various industrial-grade or defense-grade robots have been successfully developed and used in large quantities, and nursing robots and educational robots used in homes or schools have also been launched. Foresee the potential market size of the robot and the huge business opportunities in the future. The control system of the S-Machine includes an actuator mounted at each joint of the shaft and a circuit system for driving the actuator, which is large in addition to industrial-grade and defense-grade robots. The actuators are all non-modular structural design. The modular structure is more convenient to assemble than the Lai group, and it is more convenient to assemble than the non-modular structure. The coefficient of friction, as well as the frictional heat effect, are both low and have a relatively low output torque. However, these industrial-grade and defense-grade modules and actuators are also very expensive to manufacture in the modular activation framework. Therefore, it is impossible to popularize them in general households or schools. Today's toy companies in the city also sell a variety of robots, but their robots also modularize the components for users to assemble, and the manufacturing cost is also very expensive. 201215440 can not achieve the effect of teaching; therefore, the conventional technology has The following shortcomings: I high manufacturing costs; 2. Unusable use; 3. Unable to achieve the purpose of teaching. Therefore, how to solve the above problems and shortcomings, that is, the inventors of this case and the relevant manufacturers engaged in this industry are eager to study the direction of improvement. SUMMARY OF THE INVENTION In order to effectively solve the above problems, the main object of the present invention is to provide an active robot that is easy to assemble and reduces cost. Another object of the present invention is to provide a mobile robot that utilizes the shape design of each joint to facilitate assembly of teaching and teaching modules. In order to achieve the above purpose, the present invention provides a mobile robot including: a main body, a head, a first upper limb mechanism, a second upper limb mechanism, a first lower limb mechanism, and a second lower limb mechanism. 'The main body is provided with a main device and a power supply unit, and is provided with at least one upper limb feeding motor and at least a lower limb servo motor; the head portion is disposed at the top of the main body, and the head position is a head servo motor is provided; a first-upper limb mechanism, a body-side is disposed, and the first-C-C-shoulder joint portion is connected to the upper limb servo motor, and the first [shaped shoulder joint portion is further The end is sequentially connected with a first arm portion, an arm joint portion, a first wrist portion and a first hand portion, and a second upper limb mechanism disposed on the other side of the main body, and the second upper limb mechanism 201215440 And there is a Chu second wrist and a second hand; two "collar shoulder joint and connect the other - upper motor, the first joint ^ off 1 = end sequentially connected - second arm Department, the second gantry arm has a second I lower limb mechanism, which is disposed on the main body And the first-lower limb mechanism is a U-shaped '11 hip joint portion and is connected to the bottom portion, and the first U-shaped upper part and the other end are sequentially connected with a first-shaped lower hip joint portion, one The first leg n - the U-shaped leg joint portion, the - the first door joint joint portion and the - the first foot portion; the lower limb mechanism ' is disposed at the bottom of the body, and the second lower limb mechanism ~ the - U-shaped upper hip portion and The group is connected to the bottom of the main body, and the second shape is connected to the lang. The other end is connected in sequence - the second gantry lower hip joint portion, the second second leg and the second U-shaped leg joint portion, The second portal is shaped like a foot joint and a second foot. In order to make the activity machine smash the various institutional components, the money has the effect of assembling money and reducing the cost. The invention has the following advantages: 1. The invention has the following advantages: 1. Facilitate assembly and reduce cost; 2. Convenient assembly teaching and teaching modularization; 3. Improve usage penetration rate - In order to make the review committee more - Steps to understand the features and technical contents of the present invention 'Please refer to the detailed description of the invention and _, however, the attached drawings are for reference and explanation only, It is not intended to limit the invention. [Embodiment] The above object and structure of the present invention and Wei Wei will be described in accordance with the preferred embodiment of the attached 201215440-FIG. The present invention is a mobile robot 10, which in the preferred embodiment of the present invention is an exploded perspective view and a stereoscopic diagram of the present invention. The mobile robot 10 includes a main body 20 and a head 30. a first upper limb mechanism 40, a second upper limb mechanism 5〇, a first lower limb mechanism 6〇, and a second lower limb mechanism 70. The main body 20 is provided with a main controller 201 and a power supply unit 202. a motor 21, a second upper limb servo motor 22, a lower limb servo motor 23, and a second lower limb servo motor 24, and the main body 20 is provided with a neck joint 25 at the top, and the neck joint 25 is The head 30 is assembled, and a head feeding motor 3 is disposed at a position of the head 30. The first upper limb mechanism 4〇 and the second upper limb mechanism 50 are respectively disposed on two sides of the main body 20; The first upper limb mechanism 4 has a first flaw The shoulder joint portion 41, the first 21•21月 joint-41 series is assembled to the one side of the first-limb servo motor 21, and the other end of the first shoulder joint portion 41 is coupled with a first arm portion 42 _ end & first arm portion 42 is connected at the other end to the -n-arm joint portion 43, the other end of the first-arm arm joint portion 43 is sequentially connected with a first wrist portion 44 and a hand.卩45' wherein the first arm portion 42 is provided with a -th arm feeding portion 4421'. The first arm portion motor 421 is coupled to the first [shoulder joint ... the position of the first arm portion 44 The first upper limb mechanism 5G is connected to the first portal arm joint portion 201215440. The first upper limb mechanism 5G has a second (shaped shoulder joint portion, the second death) The shoulder joint portion 51 is connected to the material-like second upper limb servo Cong 22 ' and the second [shaped shoulder joint portion 51 is connected to the other end portion - the second arm is committed to one end, the second arm The other end of the portion 52 is connected with a second portal arm joint (four), and the other end of the second portal arm joint portion 53 is sequentially connected with a second wrist portion % and a second hand portion 55, wherein the second material At the 52 position, a second arm servo 53 is further provided, and a motor 521 is connected to the second arm joint portion 5 and the second arm portion 54 is disposed at the position of the second arm portion 54. a second wrist feeding motor (4), the second wrist servo motor 541 is connected to the second portal arm joint portion, wherein the main body 20 is provided with the bottom material a lower limb mechanism 6 () and a second lower limb mechanism π) having a - u-shaped upper hip joint portion 61, the first U-shaped upper joint portion 61 being assembled to be connected thereto The first lower limb servo motor 23' and the first u-shaped upper hip joint portion 61 are further connected with a first gate-shaped lower joint portion 62, and the first-m彡 lower hip portion 62 is further connected to the other end. a first leg portion 63' is integrally joined to the other end of the first leg portion 63 - a first u-shaped leg joint portion 64, a -n-shaped foot joint portion 65 and a --foot portion 66, and the first portion The upper and lower positions of one leg portion 63 are respectively provided with a first-upper leg singular motor café and a first-lower leg hummer it 632, and the first-upper leg feeding service 631 is connected to the first a gate-shaped lower body joint portion 62, and the first-lower leg servo motor is connected to the first (10) nodal portion 64'·the first leg portion 66 at a position where a first-foot portion motor 661 is provided. - Foot feeding machine motor 661 series system 201215440 The first door shaped foot joint portion 65; /Hai second child mechanism 7G has - second (10) upper node portion 71, the second u-shaped upper body joint portion 71 Assembly assembly 24, connected to the first The second lower limb servo motor and the first-up upper-segment portion 71 are connected to the second (10) lower body joint portion 72, and the second portal-p stomach-squat portion 72 is connected at the other end. Second leg
料二腿部73另-端依序組接—第：鳴關節部74、 一第二门觀_部75及_第二移76，且該第：腿部μ 上部及下部位置處另設置有一第二上腿部伺服馬達731及一第 二下腿部伺服馬達732，該第二上腿部伺服馬達731係連接所述 第二Π形下體關節部72，而該第二下腿部伺服馬達观係連接 所述第二⑽腿關節部74’又該第二足部76位置處另設置有一 第二足部伺服馬達761，該第二足部伺服馬達761係連接所述第 二门形足關節部75 ; 又其中所述頭部伺服馬達31經由傳輸線⑽電性連接至主 控制器2(U，而所述第一、二臂部伺服馬達421、521及第一、 二腕部伺服馬達44卜541經由傳輪線80電性連接至第一、二 上肢部伺服馬達21、22並電性連接至主控制器2〇1，而其第一、 二上腿部伺服馬達63卜731及第-、二下腿部舰馬達咖、 732及第一、二足部伺服馬達661、mi經由傳輸線電性連接 至第一、二下肢部伺服馬達23、24並電性連接至主控制器2〇1， 且各部件經由主控制器201電性連接至供電單元2〇2,以維持其 活動機器人10之電力。 201215440 請同時參閱第2、3、4、5圖所示，係為本發明較佳實施例 之實施示相，其帽駐控加接收控物隨後，便由 主控制器2(U傳送控制訊號進行控制各部件動作，其中頭部飼 服馬達31受驅動時便可轉動於該頸部連接處25，使其頭部加 轉動於頸部連接處25，而該第—上肢機構4()與第二上肢機構 50同樣係經由主控制器201之驅動動作，而該相對於第一上肢 機構4〇之第-上肢部舰馬達21受主控制器2〇1驅動時便驅 動其第-〔形肩關節部41相對轉動於該主體2〇，並帶動其第一 上肢機構40擺動，又或該第一臂部42之第一臂部饲服馬達仞 受主控制器201驅動時便驅動其第一臂部42相對轉動於該第一 〔形肩關節部41，並帶動其第-门形臂關節部43、第一腕部44 及第一手部45，又或該第一腕部44之第一腕部飼服馬達441 受主控制器201驅動時便驅動纟第一腕部44相對轉動於 门形臂關節部43並帶動其第-手部45,叹成控制其第一上肢 機構40各部件相對之動作。 a另，所述相對於第二上肢麵50之第二上肢部祠服馬達Μ 受主控制器201驅動時便驅動其第二〔形肩關節部51相對轉動 於該主體20 ’並帶動其第二上肢機構5〇擺動，又或該第二臂部 5二之第二臂部飼服馬達521受主控制器2〇1驅動時便驅動其第 二臂部52相對轉動於該第二〔形肩關節部51，並帶動其第二门 形臂關節部53、第二腕部54及第二手部55，又或該第二腕部 54之第二腕部伺服馬達541受主控制器2〇1驅動時便驅動其第 201215440 -腕nP 54姆轉動於該第二η形臂關節部53並帶動其第二手 部55，以完成控制其第二上肢機構5〇各部件相對之動作。一 請同時參閱第6、7、8圖所示，係為本發明另—較佳實施 例之實施示意圖，其中所述主控制器20U請參閱第2圖所亍） 接收控制訊號後，便由主控制器2〇1傳送控制訊號進行控制各 部件動作’而該第-下肢機構6G與第二下肢機構7q __The second leg portion 73 is sequentially connected to the other end. The first: the joint portion 74, the second door portion 75 and the second portion 76, and the first leg portion has an upper portion and a lower portion. a second upper leg servo motor 731 and a second lower leg servo motor 732, the second upper leg servo motor 731 is coupled to the second lower leg joint portion 72, and the second lower leg servo motor The second (10) leg joint portion 74' is connected to the second foot portion 76, and a second foot servo motor 761 is further disposed at the second foot portion 76. The second foot servo motor 761 is connected to the second door shaped foot. The joint portion 75; wherein the head servo motor 31 is electrically connected to the main controller 2 (U through the transmission line (10), and the first and second arm servo motors 421, 521 and the first and second wrist servo motors 44 541 is electrically connected to the first and second upper limb servo motors 21, 22 via the transmission line 80 and electrically connected to the main controller 2〇1, and the first and second upper leg servo motors 63 731 and The first and second leg ship motor coffee, 732 and the first and second foot servo motors 661 and mi are electrically connected to the first and second via a transmission line. The limb servomotors 23, 24 are electrically connected to the main controller 2〇1, and the components are electrically connected to the power supply unit 2〇2 via the main controller 201 to maintain the power of the mobile robot 10. 201215440 Please also refer to 2, 3, 4, and 5 are diagrams showing the implementation of the preferred embodiment of the present invention. The cap is stationed and controlled to receive the control object, and then the main controller 2 (U transmits the control signal to control each component). The action, wherein the head feeding motor 31 is rotated to the neck joint 25 when the head feeding motor 31 is driven to rotate the head to the neck joint 25, and the first upper limb mechanism 4 () and the second upper limb mechanism 50 is also driven by the main controller 201, and the first-upper limb motor 21 with respect to the first upper limb mechanism 4 is driven by the main controller 2〇1 to drive the first-shoulder joint portion 41. Rotating relative to the main body 2〇 and driving the first upper limb mechanism 40 to swing, or the first arm feeding motor of the first arm portion 42 is driven by the main controller 201 to drive the first arm portion 42 Rotating relative to the first [shoulder joint portion 41 and driving the first portal arm joint portion 43 thereof The first wrist 44 and the first hand 45, or the first wrist feeding motor 441 of the first wrist 44 are driven by the main controller 201 to drive the first wrist 44 to rotate relative to the portal arm The joint portion 43 drives the first hand 45 to sigh to control the relative movement of the components of the first upper limb mechanism 40. In addition, the second upper limb relative to the second upper limb surface 50 is escaping the motor Μ acceptor When the controller 201 is driven, the second arm joint portion 51 is relatively rotated to the main body 20' and the second upper limb mechanism 5 is swung, or the second arm portion 5 is used for the second arm portion. When the motor 521 is driven by the main controller 2〇1, the second arm portion 52 is driven to rotate relative to the second [shoulder joint portion 51, and the second portal arm joint portion 53 and the second wrist portion 54 are driven. The second hand 55, or the second wrist servo motor 541 of the second wrist 54 is driven by the main controller 2〇1 to drive its 201215440-wrist nP 54 to rotate to the second n-arm joint The portion 53 drives the second hand 55 to complete the action of controlling the components of the second upper limb mechanism 5 thereof. Please also refer to the figures of Figures 6, 7, and 8 for the implementation of another preferred embodiment of the present invention, wherein the main controller 20U, as shown in Figure 2, receives the control signal, and then The main controller 2〇1 transmits a control signal to control the operation of each component' and the first-lower limb mechanism 6G and the second lower limb mechanism 7q__
由主控制器201之驅論作，而該相對於該第-下肢機構6〇之 第一下肢部伺服馬達23受主控制器2〇1驅動時便驅動其第1 形上體關節部61相對轉動於該主體2〇,並帶動其第一下肢 _動’又或該第-腿部63之第一上腿部飼服馬達631受主控 制器201驅動時便驅動其第一腿部63相對轉動於該第一门开^ 髖關節部62，並帶動其第一腿部63、第一u形腿關節部料〔 一门形足關節部65及第-足部66，又或該第—腿部63之第一 下腿部舰馬達632受主控制器2〇1驅動時其第一㈣腿關節 :相對轉動於該第一腿部63’並帶動其第，^ *及第-W6,又瓣—足㈣之第—足部伺服馬軸 文主控制謂驅動時其第—足部66崎觸於該第一门 關節部65，以完成控制其第—下肢機獅各部件相對之動;。 另，所述相對於該第二下肢機構7〇之第二下肢部飼服馬達 24受主控制謂驅動時便驅動其第二口形上_節部？！相對 轉動於該主體2G，並帶動其第二下肢機構7_，又或 腿部73之第二上腿部恤馬達731受主控制器观驅動時触 201215440 動其第二趣 其第二越部73第目對轉動於該第二门形下_節部72,並帶動 及第，，又二形腿關節部74、第二门形足關節部- 受主控制器2m/ 腿部73之第二下腿部伺服馬達732 二腿”，其第二嘛關節部74相對轉動於該第 或該第二足部關節部75及第二足部76，又 時其第二足部76相轉==761受主控制器201驅動 制其第二下肢機槿7(^ 足關節部75’以完成控 器人10各機構部件於組2相對之動作’並藉此達到該活動機 效，並利用各關斤 時具有方便組襄且降低成本之功 化之功效形體設計達到方便組裝教學與教學模組 制本Γ丨Γ月者以上所述僅為本案之較佳實施例，並非用以限 神Γ本創作之構想所作之改變，在不脫離本創作精 匕物-對於構形或佈置型態加以變換，對於 化，修飾與應用，所產峰黧灸 圍内，合侧。均應包含於本案之權利範 按’以上所述，僅為本發明的較佳具體實施例，惟本發明 的特徵並不舰於此，任何熟悉該項技藝者在本發明領域内， 可輕易思及的變化或修飾’皆應涵蓋在以下本發明的申請專利 範圍中。 201215440 . 【圖式簡單說明】 第1圖係本發明活動機器人之立體圖； 第2圖係本發明活動機器人之另一角度立體圖； 第3圖係本發明活動機器人之實施示意圖一； 第4圖係本發明活動機器人之實施示意圖二； 第5圖係本發明活動機器人之實施示意圖三； 第6圖係本發明活動機器人之實施示意圖四； 第7圖係本發明活動機器人之實施示意圖五； • 第8圖係本發明活動機器人之實施示意圖六； 【主要元件符號說明】 活動機器人10 主體20 主控制器201 供電單元202 第一上肢部伺服馬達21 第二上肢部伺服馬達22 第一下肢部伺服馬達23 第二下肢部伺服馬達24 頸部連接處25 頭部30 頭部伺服馬達31 第一上肢機構40 第一C形肩關節部41 第一臂部42 第一臂部伺服馬達421 第一门形臂關節部43 第一腕部44 第一腕部伺服馬達441 第一手部45 第二上肢機構50 第二匸形肩關節部51 第二臂部52 第二臂部伺服馬達521 第二门形臂關節部53 13 201215440 第二腕部54 第二腕部伺服馬達541 第二手部55 第一下肢機構60 第一u形上髖關節部61 第一门形下髖關節部62 第一腿部63 第一上腿部伺服馬達631 第一下腿部伺服馬達632 第一U形腿關節部64 第一门形足關節部65 第一足部66 第一足部伺服馬達661 第二下肢機構70 第二U形上髖關節部71 第二门形下髖關節部72 第二腿部73 第二上腿部伺服馬達731 第二下腿部伺服馬達732 第二U形腿關節部74 第二门形足關節部75 第二足部76 第二足部伺服馬達761 傳輸線80 14Driven by the main controller 201, the first lower limb servo motor 23 relative to the first lower limb mechanism 6 is driven by the main controller 2〇1 to drive the first upper body joint portion 61 relative thereto. The first leg portion 63 is driven to rotate relative to the main body 2〇 and to drive the first lower leg _moving or the first upper leg feeding motor 631 of the first leg portion 63 to be driven by the main controller 201 Rotating in the first door opening hip joint portion 62, and driving the first leg portion 63, the first u-shaped leg joint portion material (a portal-shaped foot joint portion 65 and the first-foot portion 66, or the first portion) When the first lower leg ship motor 632 of the leg portion 63 is driven by the main controller 2〇1, its first (four) leg joint: relatively rotates with the first leg portion 63' and drives its first, ^* and -W6, The first flap-foot (four)-the foot servo-axis main control is driven to drive the first foot 66 to touch the first joint joint portion 65 to complete the control of the relative movement of the first and lower limbs of the lion ; In addition, the second lower limb feeding motor 24 with respect to the second lower limb mechanism 7 is driven by the main control to drive the second upper jaw portion. ! Relatively rotating to the main body 2G and driving the second lower limb mechanism 7_, or the second upper leg tread motor 731 of the leg portion 73 is driven by the main controller to touch the 201215440 to move its second interesting portion. The first pair of eyes rotates to the second portal-shaped lower portion 72, and drives the second, second leg joint portion 74, the second portal-shaped joint portion - the second of the acceptor controller 2m / leg portion 73 The lower leg servo motor 732 has two legs", and the second joint portion 74 is relatively rotated to the second or the second foot joint portion 75 and the second foot portion 76, and the second foot portion 76 is rotated by the same == 761 is driven by the main controller 201 to manufacture its second lower limb 槿7 (^foot joint portion 75' to complete the relative movement of the controller 10 mechanism components in group 2) and thereby achieve the activity and utilize each When it is closed, it has the convenience of grouping and reducing the cost. The shape design is convenient for assembly teaching and teaching module system. The above is only the preferred embodiment of this case, not for limiting the gods. The changes made in the concept of this creation, without departing from the essence of this creation - for the transformation of the configuration or arrangement, for , modification and application, the production of peak moxibustion within the circumference, and the side. The rights to be included in the case are as described above, and are only preferred embodiments of the present invention, but the features of the present invention are not Therefore, any variation or modification that can be easily conceived within the scope of the present invention by those skilled in the art should be covered by the following claims. 201215440. [Simplified Schematic] FIG. 1 is the present invention 3 is a perspective view of the movable robot of the present invention; FIG. 3 is a schematic diagram 1 of the implementation of the active robot of the present invention; FIG. 4 is a schematic diagram 2 of the implementation of the active robot of the present invention; FIG. 6 is a schematic diagram of the implementation of the mobile robot of the present invention; FIG. 7 is a schematic diagram of the implementation of the mobile robot of the present invention; FIG. 8 is a schematic diagram of the implementation of the mobile robot of the present invention; Description of the component symbols] Mobile robot 10 Main body 20 Main controller 201 Power supply unit 202 First upper limb servo motor 21 Second upper limb servo motor 22 Lower limb servo motor 23 Second lower limb servo motor 24 Neck connection 25 Head 30 Head servo motor 31 First upper limb mechanism 40 First C-shaped shoulder joint 41 First arm 42 First arm servo motor 421 First portal arm joint portion 43 First wrist portion 44 First wrist servo motor 441 First hand portion 45 Second upper limb mechanism 50 Second jaw shoulder joint portion 51 Second arm portion 52 Second arm servo motor 521 second portal arm joint portion 53 13 201215440 second wrist portion 54 second wrist servo motor 541 second hand portion 55 first lower limb mechanism 60 first u-shaped upper hip joint portion 61 first portal-shaped lower hip joint portion 62 first leg portion 63 first upper leg servo motor 631 first lower leg servo motor 632 first U-shaped leg joint portion 64 first portal-shaped foot joint portion 65 first leg portion 66 first foot servo motor 661 Second lower limb mechanism 70 second U-shaped upper hip joint portion 71 second portal-shaped lower hip joint portion 72 second leg portion 73 second upper leg servo motor 731 second lower leg servo motor 732 second U-shaped leg joint Portion 74 second portal-shaped foot joint portion 75 second foot portion 76 second foot servo motor 761 transmission line 80 14