WO2020173011A1 - 一种变形机器人 - Google Patents
一种变形机器人 Download PDFInfo
- Publication number
- WO2020173011A1 WO2020173011A1 PCT/CN2019/089426 CN2019089426W WO2020173011A1 WO 2020173011 A1 WO2020173011 A1 WO 2020173011A1 CN 2019089426 W CN2019089426 W CN 2019089426W WO 2020173011 A1 WO2020173011 A1 WO 2020173011A1
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- leg
- arm
- steering gear
- shaped piece
- elbow
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H33/00—Other toys
- A63H33/003—Convertible toys, e.g. robots convertible into rockets or vehicles convertible into planes
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/002—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor made of parts to be assembled
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/16—Dolls made of parts that can be put together
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/36—Details; Accessories
- A63H3/46—Connections for limbs
Definitions
- the invention relates to a deformable robot.
- the Chinese invention patent with the patent number ZL201810259246.9 discloses a deforming robot and its deforming method and an automatic reset method of a combined steering gear.
- the deforming robot includes a fuselage body, a standing component and a supporting component, and the standing component is set on the machine.
- the supporting components are arranged on both sides of the upper part of the main body of the fuselage, and the standing components and the supporting components are respectively rotatably connected with the main body of the fuselage.
- the present invention has the beneficial effects that the deformation of the engineering vehicle is realized by the work execution component, and the support component can support the fuselage body when deformed by the support component, which greatly reduces the standing component
- the driving force when standing up ensures the balance of forces during deformation and realizes rapid deformation.
- the invention can also realize the automatic reset of the combined steering gear of the deforming robot.
- the front and rear parts of the fuselage body of the present invention are not provided with a front and a carriage respectively, and the deformation process of the body part with the front and the carriage cannot be realized. It is only suitable for engineering vehicle-type deforming robots, so further improvement is still needed.
- the technical solution adopted by the deformable robot of the present invention is as follows.
- a transforming robot includes a vehicle body, a right leg and a left leg are arranged side by side on the lower part of the vehicle body, a right arm and a left arm are respectively arranged on both sides of the upper part of the vehicle body, a front part of the vehicle body is installed, and the rear part of the vehicle body A carriage is installed, the top of the vehicle body is equipped with a head, and the right leg, the left leg, the right arm and the left arm are respectively rotatably connected with the vehicle body.
- the head includes the back of the head, eyes, face, front of the head, neck, and head support, the eyes are set inside the face, and the face passes through the first round head.
- the tapping screw is sleeved on the inner side of the back of the head, the front part of the head is sleeved on the outer side of the face, the neck is installed on the bottom of the head, and the head support is sleeved on the shaft through the shaft.
- the torsion springs on the rotating shaft are installed together at the lower part of the neck, and the upper part of the neck is equipped with a PCB.
- the fifth steering gear is installed between the lower sheet metal part of the nose steering gear and the upper sheet metal part of the nose steering gear, and the front sheet metal part of the car body is opposite to the back sheet metal part of the car body
- the bottom of the head, the underarm, the first steering gear of the body, the second steering gear of the body, the third steering gear of the body, the fourth steering gear, and the fifth waist are installed between the sides.
- the first steering gear of the body, The second steering gear of the vehicle body is horizontally arranged side by side on the upper part of the vehicle body, the third steering gear of the vehicle body and the fourth steering gear of the vehicle body are horizontally arranged side by side in the lower part of the vehicle body. ⁇
- the control panel is installed between the lower sheet metal part of the nose steering gear and the upper sheet metal part of the nose steering gear, and the front sheet metal part of the car body is opposite to the back sheet metal part of the car body
- the carriage includes a roof, a horn, a sound cavity, a right rear exhaust pipe, a battery box, two batteries, a battery box cover, a right front exhaust pipe, a microphone board, a switch board, Charging port, buttons, small bracket, USB port, microphone box, microphone, microphone box cover, rubber sleeve, left front exhaust pipe, car window, right torsion spring of car window, exhaust pipe torsion spring, first axle of car, car window
- the right rear row is installed on both sides of the roof.
- the left arm includes a left arm top steering gear, a left arm middle steering gear, a left front tire, a left front wheel, a left front wheel fixing frame, a left front wheel bracket, a second circlip, Left front wheel frame, fifth spring, left front wheel axle, left arm suspension bracket, second left arm cover, left upper arm axle, sixth spring, left arm spring mount, first left arm cover, left arm barrel, second Left shoulder U-shaped piece, first left shoulder U-shaped piece, left arm elbow steering gear positive support, left arm metal tooth steering gear, left arm elbow steering gear reverse support, third left elbow, first left elbow, second left hand Elbow, left palm, left wrist, left hand back, left arm wiring card, left arm ladder, left elbow, left arm decoration, the left arm suspension bracket is connected with the left front wheel frame, the left front The wheel frame is connected with the left front wheel bracket, the left front wheel fixing frame is installed on the left front wheel bracket, and the left front tire and the left front wheel are sequentially installed on the left front wheel fixing frame
- the second left arm cover is equipped with the first left arm cover, the left arm barrel, the second left shoulder U-shaped piece, the first left shoulder U-shaped piece, the left upper arm shaft, the sixth spring, and the left arm spring mounting part.
- the left arm metal tooth servo is installed between the left arm elbow steering gear positive support and the left arm elbow steering gear reverse support, and the third left elbow, the first left elbow, and the second left elbow are assembled in Together and its upper part is connected with the left elbow, its lower part is connected with the left wrist, the left wrist is connected with the left palm, and the left arm top servo is installed on the top of the left arm,
- the middle left arm steering gear is installed in the middle of the left arm.
- the technical solution adopted by the deformation method of the deforming robot of the present invention is as follows:
- Step 4 The left arm and right arm continue to open until they are perpendicular to the ground, and the left leg and right leg continue to open;
- FIG. 20 is a schematic diagram of step 4 of the deformation method of the deforming robot of the present invention.
- Figure 24 is a schematic diagram of the eighth step of the deforming method of the deforming robot of the present invention.
- Head structure 9 first round head self-tapping screws; 10 back of the head; 11 PCB; 12 eyes; 13 face; 14 front of the head; 15 head support; 16 torsion spring; 17 shaft; 18 neck.
- Right leg structure 187 first cross round head tapping screw; 188 right foot sole; 189 right foot; 190 right foot surface; 191 right foot first support; 192 right foot second support; 193 right leg first steering gear; 194th Two cross round head tapping screws; 195 right leg fourth fixing plate; 196 right knee trim; 197 right knee first U-shaped piece; 198 right knee; 199 right knee; 200 right leg torsion spring; 201 right leg torsion spring Shaft; 202 right knee upper cover; 203 right leg trim; 204 third cross round head tapping screw; 205 first cross round head flange bolt; 206 right leg fourth U-shaped piece; 207 right leg inner side; 208 Right leg first U-shaped piece; 209 fourth cross round head tapping screw; 210 right leg second U-shaped piece; 211 right leg sixth U-shaped piece; 212 right leg outer side; 213 right leg third U-shaped piece; 214 fifth U-shaped piece of right leg; 215 second U-shaped piece of right knee; 216 third fixed plate of right leg; 217 second
- the left front head 34 is provided with a left front light 36 and a right front 32
- the inner side is provided with a right headlight 28, the left front 34 and the right front 32 are both equipped with a front light PCB 26, and the left front 34 and the right front 32 are equipped with a first front suspension 19, two metal gear steering gears 21, and a second
- the front suspension 22 is equipped with a left nose cover 37 at the rear of the left front part 34, and a right nose cover 23 is installed at the rear part of the right front part 32.
- Compartment 6 includes roof 68, horn 71, sound chamber 72, right rear exhaust pipe 74, battery box 75, two batteries 76, battery box cover 77, right front exhaust pipe 79, microphone board 80, switch board 83, charging Interface 84, button 86, small bracket 87, USB interface 88, microphone box 90, microphone 91, microphone box cover 92, rubber sleeve 93, left front exhaust pipe 94, window 95, window right torsion spring 96, exhaust pipe Torsion spring 97, car first shaft 98, window left torsion spring 99, car second shaft 100, roof lamp cover 101, roof lamp frame 102, roof lamp PCB board 103, roof lamp 104, left rear exhaust pipe 105, Exhaust tail pipe 106, both sides of the roof 68 are equipped with right rear exhaust pipe 74, right front exhaust pipe 79, left front exhaust pipe 94, left rear exhaust pipe 105, exhaust tail pipe 106, roof 68 rear
- the roof lamp frame 102 is installed on the roof lamp frame 102, and the roof lamp PC
- the lower part of the roof 68 passes through the first shaft 98 of the car body and the left window of the car
- the torsion spring 99 and the window right torsion spring 96 are connected with the window 95.
- the front part of the roof 68 is equipped with a speaker 71, a sound cavity 72, a battery box 75, two batteries 76, a battery box cover 77, a microphone board 80,
- the switch board 83, the charging interface 84, the buttons 86, the small bracket 87, the USB interface 88, the microphone box 90, the bottom of the roof 68 is equipped with a microphone box 90, a microphone 91, a microphone box cover 92, and a rubber sleeve 93.
- the arm suspension bracket 164 is connected with the left front wheel bracket 157
- the left front wheel bracket 157 is connected with the left front wheel bracket 159
- the left front wheel bracket 159 is equipped with a left front wheel fixing frame 160
- the left front wheel fixing frame 160 is sequentially installed
- left front wheel 161 is equipped with first left arm cover 149, left arm barrel 147, second left shoulder U-shaped piece 186, first left shoulder U-shaped piece 185, left upper arm shaft 150.
- the circlip 225, the first fixing plate 226 of the right leg, the bottom of the right foot 189 is equipped with a right foot sole 188, the top
- the top of the right knee 199 is twisted by the right leg
- the spring 200 and the right leg torsion spring shaft 201 are connected to the right knee upper cover 202, the right knee 199 is equipped with a right knee 198 in the front part, the right knee 199 is equipped with a right leg inner 207, and the right leg inner 207 is equipped with a right leg at the upper part
- the fourth U-shaped piece 206, the inner side 207 of the right leg and the outer side 212 of the right leg are arranged opposite to each other.
- the fourth steering gear of the right leg and the fifth steering gear of the right leg are installed side by side between the inner right leg 207 and the outer right leg 212.
- the outer part of the outer leg 212 is equipped with a third U-shaped piece 213 for the right leg, and the third U-shaped piece 213 of the right leg is equipped with a fifth U-shaped piece 214 for the right leg.
- the inner side of the right leg 207 and the rear of the outer right leg 212 The first U-shaped piece 208 for the right leg and the second U-shaped piece 210 for the right leg are installed. Knee second U-shaped piece 215, right leg third fixing plate 216, right leg second steering gear 217, right rear wheel 218, and right rear tire 219.
- the left leg 8 includes a left foot sole 228, a left foot 229, a left foot surface 230, a left foot first support 231, a left foot second support 232, a left leg first steering gear 233, a left leg fourth fixing plate 235, and a left knee trim 236.
- the top of the left knee 239 is twisted by the left leg torsion spring 240 and the left leg
- the spring shaft 241 is connected with the left knee upper cover 242, the left knee 239 is equipped with a left knee 238, the left knee 239 is equipped with a left leg inner 247, and the left leg inner 247 is equipped with a left leg fourth U-shaped piece 246 ,
- the left leg inner side 247 and the left leg outer side 252 are arranged opposite to each other.
- the left leg fourth steering gear and the left leg fifth steering gear are installed side by side between the left leg inner side 247 and the left leg outer side 252, and the outer part of the left leg outer side 252 Equipped with the third U-shaped piece 253 for the left leg, the third U-shaped piece 253 for the left leg is equipped with a fifth U-shaped piece 254 for the left leg on the outer side, and the first left leg is installed on the back of the inner side 247 of the left leg and the outer side 252 of the left leg.
- the PCB Printed Circuit Board
- Printed Circuit Board whose Chinese name is a printed circuit board, is also called a printed circuit board. It is an important electronic component, a support for electronic components, and a carrier for electrical connection of electronic components. Because it is made by electronic printing, it is called a "printed" circuit board. After electronic equipment adopts printed boards, due to the consistency of similar printed boards, manual wiring errors can be avoided, and electronic components can be automatically inserted or mounted, automatic soldering, and automatic detection, ensuring the quality of electronic equipment , Improve labor productivity, reduce costs, and facilitate maintenance.
- a method for deforming a deforming robot includes a method for deforming a car into a human shape and a method for transforming a human into a car shape.
- the deforming robot implementing the two deformation methods includes the deforming robot of any one of the above embodiments, Among them, the method of transforming a car shape into a human shape includes the following steps:
- Step 4 Continue to open the left arm 7 and right arm 3 until they are perpendicular to the ground, and continue to open the left leg 8 and right leg 1;
- Step 6 Partially open body 4, front 2 and compartment 6, left leg 8 and right leg 1 fully open, left arm 7 and right arm 3 fully open;
- Step 8 The left leg 8 and the right leg 1 are rotated to the respective outer directions, and the left leg 229 and the right foot 189 are respectively rotated to the respective outer directions, so that the left leg 8 and the left foot 229, the right leg 1 and the right foot 189 are simultaneously Separate at a certain angle to the outside and form a stable standing state. At this time, the deformation process from the car form to the human form is completed;
- the transformation process of the human form being transformed into the car form is the reverse process of the aforementioned transformation process of the vehicle form being transformed into the human form.
- This embodiment is only a preferred technical solution, and the various component parts and connection relationship involved are not limited to the above-mentioned implementation described in this embodiment.
- the configuration and connection relationship of each component part in this preferred solution can be Perform any permutation and combination and form a complete technical solution.
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Abstract
Description
Claims (32)
- 一种变形机器人,包括车身(4),车身(4)下部并排设置有右腿(1)和左腿(8),车身(4)上部两侧分别设置有右臂(3)和左臂(7),其特征在于,车身(4)前部装有车头(2),车身(4)后部装有车厢(6),车身(4)顶部装有头部(5),右腿(1)、左腿(8)、右臂(3)和左臂(7)分别与车身(4)之间转动连接。
- 如权利要求1所述的变形机器人,其特征在于,头部(5)包括后脑部(10)、眼睛(12)、脸部(13)、头前部(14)、颈部(18)、头部支架(15),眼睛(12)套装在脸部(13)内侧,脸部(13)通过第一圆头自攻丝螺钉(9)套装在后脑部(10)内侧,头前部(14)套装在脸部(13)外侧,颈部(18)安装在头部(5)底部,头部支架(15)通过转轴(17)及套装在转轴(17)上的扭簧(16)一起安装在颈部(18)下部,颈部(18)上部装有PCB(11)。
- 如权利要求1所述的变形机器人,其特征在于,车头(2)包括左车头(34)、右车头(32)、车头右扭簧(30)、车头左扭簧(35)、车前鼻(33),左车头(34)与右车头(32)分别通过两个第五圆头自攻丝螺钉(27)和垫片(29)以及分别套装在其上的车头右扭簧(30)和车头左扭簧(35)、法兰自攻丝螺钉(31)与车前鼻(33)相连接。
- 如权利要求3所述的变形机器人,其特征在于,左车头(34)内侧设有左车前灯(36),右车头(32)内侧设有右车前灯(28),左车头(34)和右车头(32)均设有前灯PCB(26),左车头(34)和右车头(32)内部装有第一车前挂(19)、两个金属齿舵机(21)、第二车前挂(22),左车头(34)后部装有左鼻子盖(37),右车头(32)后部装有右鼻子盖(23)。
- 如权利要求1所述的变形机器人,其特征在于,车身(4)包括车身前钣金件(53)和车鼻子舵机下钣金件(62),车身前钣金件(53)上分别装有第一腰(55)、第二腰(56)、第三腰(57)、第四腰(58)、车鼻子舵机下钣金件(62)、车鼻子舵机上钣金件(65),车鼻子舵机下钣金件(62)与车鼻子舵机上钣金件(65)之间装有车身第五舵机。
- 如权利要求5所述的变形机器人,其特征在于,在车身前钣金件(53)与车身后背钣金件(43)相对一侧之间分别装有头底(41)、腋下(50)、车身第一舵机(40)、车身第二舵机、车身第三舵机、车身第四舵机、第五腰(52),车身 第一舵机(40)、所述车身第二舵机水平并排布置在车身(4)上部,所述车身第三舵机、车身第四舵机水平并排布置在车身(4)下部,车身后背钣金件(43)另一侧装有控制板(45)。
- 如权利要求1所述的变形机器人,其特征在于,车厢(6)包括车顶(68),车顶(68)两侧分别装有右后排气管(74)、右前排气管(79)、左前排气管(94)、左后排气管(105)、排气尾管(106),车顶(68)后部装有车顶灯架(102),车顶灯架(102)上依次装有车顶灯PCB板(103)、车顶灯(104)、车顶灯罩(101)。
- 如权利要求7所述的变形机器人,其特征在于,车厢(6)包括车窗(95),车顶(68)下部通过车厢第一轴(98)以及套装在其上的车窗左扭簧(99)、车窗右扭簧(96)与车窗(95)相连接。
- 如权利要求8所述的变形机器人,其特征在于,车顶(68)前部分别装有喇叭(71)、音腔(72)、电池盒(75)、两节电池(76)、电池盒盖(77)、麦克风板(80)、开关板(83)、充电接口(84)、按键(86)、小支架(87)、USB接口(88)、麦克风盒子(90)。
- 如权利要求9所述的变形机器人,其特征在于,车顶(68)底部装有麦克风盒子(90)、麦克风(91)、麦克风盒盖(92)、胶套(93)。
- 如权利要求1所述的变形机器人,其特征在于,右臂(3)包括右臂悬挂支架(117)、右前轮架(114)、右前轮支架(111),右臂悬挂支架(117)与右前轮架(114)相连接,右前轮架(114)与右前轮支架(111)相连接,右前轮支架(111)上装有右前轮固定架(110),右前轮固定架(110)上依次装有右前轮胎(108)、右前轮(109)。
- 如权利要求11所述的变形机器人,其特征在于,右臂(3)包括第二右臂盖(119),第二右臂盖(119)上装有第一右臂盖(123)、右臂炮筒(124)、第二右肩U形件(125)、第一右肩U形件(126)、上臂轴(120)、第二弹簧(121)、右臂弹簧安装件(122)。
- 如权利要求12所述的变形机器人,其特征在于,右臂(3)包括右臂肘部舵机正支架(128)、右臂肘部舵机反支架(130),右臂肘部舵机正支架(128)与右臂肘部舵机反支架(130)之间装有右臂金属齿舵机(129)。
- 如权利要求13所述的变形机器人,其特征在于,右臂(3)包括第三右手肘(133)、第一右手肘(135)、第二右手肘(136)、右肘部(144)、右手掌(138)、右手腕(139),第三右手肘(133)、第一右手肘(135)、第二右手肘(136)组装在一起且其上部与右肘部(144)相连接,其下部与右手腕(139)相连接,右手腕(139)与右手掌(138)相连接。
- 如权利要求1所述的变形机器人,其特征在于,左臂(7)包括左臂悬挂支架(164)、左前轮架(157)、左前轮支架(159),左臂悬挂支架(164)与左前轮架(157)相连接,左前轮架(157)与左前轮支架(159)相连接,左前轮支架(159)上装有左前轮固定架(160),左前轮固定架(160)上依次装有左前轮胎(162)、左前轮(161)。
- 如权利要求15所述的变形机器人,其特征在于,左臂(7)包括第二左臂盖(153),第二左臂盖(153)上装有第一左臂盖(149)、左臂炮筒(147)、第二左肩U形件(186)、第一左肩U形件(185)、左上臂轴(150)、第六弹簧(152)、左臂弹簧安装件(151)。
- 如权利要求16所述的变形机器人,其特征在于,左臂(7)包括左臂肘部舵机正支架(183)、左臂肘部舵机反支架(184),左臂肘部舵机正支架(183)与左臂肘部舵机反支架(184)之间装有左臂金属齿舵机(177)。
- 如权利要求17所述的变形机器人,其特征在于,左臂(7)包括第三左手肘(181)、第一左手肘(180)、第二左手肘(176)、左手掌(173)、左手腕(171)、左肘部(167),第三左手肘(181)、第一左手肘(180)、第二左手肘(176)组装在一起且其上部与左肘部(167)相连接,其下部与左手腕(171)相连接,左手腕(171)与左手掌(173)相连接。
- 如权利要求18所述的变形机器人,其特征在于,左臂(7)包括左臂顶部舵机、左臂中部舵机,所述左臂顶部舵机安装在左臂(7)顶部,所述左臂中部舵机安装在左臂(7)中部。
- 如权利要求1所述的变形机器人,其特征在于,右腿(1)包括右脚(189),右脚(189)底部装有右脚底(188),右脚(189)顶部装有右脚面(190)。
- 如权利要求20所述的变形机器人,其特征在于,右脚面(190)顶部装有右脚第一支架(191)、右脚第二支架(192)、右腿第二固定板(224)、右腿第 一固定板(226),右腿第二固定板(224)与右腿第一固定板(226)之间装有右腿第三舵机,右脚第一支架(191)、右脚第二支架(192)与右腿部第一U形件(221)、右腿部第二U形件(222)之间装有右腿第一舵机(193)。
- 如权利要求21所述的变形机器人,其特征在于,右腿(1)包括右膝(199)、右膝上盖(202),右膝(199)上顶部通过右腿扭转弹簧(200)和右腿扭转弹簧轴(201)与右膝上盖(202)相连接。
- 如权利要求22所述的变形机器人,其特征在于,右膝(199)前部装有右膝盖(198),右膝(199)外侧部装有右腿内侧(207),右腿内侧(207)上部装有右腿第四U型件(206)。
- 如权利要求23所述的变形机器人,其特征在于,右腿内侧(207)与右腿外侧(212)相对布置,右腿内侧(207)与右腿外侧(212)之间并排装有右腿第四舵机和右腿第五舵机。
- 如权利要求24所述的变形机器人,其特征在于,右腿外侧(212)的外侧部装有右腿第三U型件(213),右腿第三U型件(213)外侧部装有右腿第五U型件(214),右腿内侧(207)与右腿外侧(212)的后部装有右腿第一U型件(208)、右腿第二U型件(210),右腿第二U型件(210)外侧部装有右腿第六U型件(211)。
- 如权利要求25所述的变形机器人,其特征在于,右腿外侧(212)下部依次装有右膝盖第二U形件(215)、右腿第三固定板(216)、右腿第二舵机(217)、右后轮(218)、右后轮胎(219)。
- 如权利要求1所述的变形机器人,其特征在于,左腿(8)包括左腿第二固定板(264)、左腿第一固定板(266),左腿第二固定板(264)与左腿第一固定板(266)之间装有左腿第三舵机。
- 如权利要求27所述的变形机器人,其特征在于,左腿(8)包括左脚第一支架(231)、左脚第二支架(232)、左腿部第一U形件(261)、左腿部第二U形件(262),左脚第一支架(231)、左脚第二支架(232)与左腿部第一U形件(261)、左腿部第二U形件(262)之间装有左腿第一舵机(233)。
- 如权利要求28所述的变形机器人,其特征在于,左腿(8)包括左膝 (239)、左膝上盖(242),左膝(239)上顶部通过左腿扭转弹簧(240)和左腿扭转弹簧轴(241)与左膝上盖(242)相连接,左膝(239)前部装有左膝盖(238)。
- 如权利要求29所述的变形机器人,其特征在于,左膝(239)外侧部装有左腿内侧(247),左腿内侧(247)上部装有左腿第四U型件(246),左腿内侧(247)与左腿外侧(252)相对布置,左腿内侧(247)与左腿外侧(252)之间并排装有左腿第四舵机和左腿第五舵机。
- 如权利要求30所述的变形机器人,其特征在于,左腿外侧(252)的外侧部装有左腿第三U型件(253),左腿第三U型件(253)外侧部装有左腿第五U型件(254),左腿内侧(247)与左腿外侧(252)的后部装有左腿第一U型件(248)、左腿第二U型件(250)。
- 如权利要求31所述的变形机器人,其特征在于,左腿第二U型件(250)外侧部装有左腿第六U型件(251),左腿外侧(252)下部依次装有左膝盖第二U形件(255)、左腿第三固定板(256)、左腿第二舵机(257)、左后轮(258)、左后轮胎(259)。
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