WO2022012051A1

WO2022012051A1 - Deformation robot

Info

Publication number: WO2022012051A1
Application number: PCT/CN2021/077711
Authority: WO
Inventors: 陈小森; 王旭东; 马永欣; 陈旭
Original assignee: 乐森机器人(深圳)有限公司
Priority date: 2020-07-17
Filing date: 2021-02-24
Publication date: 2022-01-20
Also published as: EP3974043B1; EP3974043A1; KR20220041822A; CN214808398U; JP7419405B2; US20220118374A1; CN113941160A; EP3974043A4; JP2023512370A

Abstract

The present invention provides a deformation robot, comprising arm structures, leg structures and a robot head which are mounted on a thoracic cavity structure. The arm structures comprise a left arm and a right arm, the leg structures comprise a left leg and a right leg, and the thoracic cavity structure comprises a first steering engine mounted on the upper part of a second fixing frame, a rotating output shaft of the first steering engine sequentially passes through the top wall of the second fixing frame and a first pad, and is connected to a first steering wheel fixedly mounted on a first rotating frame; the first steering wheel has an arc-shaped limiting opening; a limiting column on the first pad movably passes through the limiting opening; and the rotating output shaft of the first steering engine rotates to drive the first rotating frame to rotate. By a controller controlling steering engines on joints of the robot, the deformation robot can deform from a human form to a vehicle form or deform from a vehicle form to a human form. In the vehicle form state, the deformation robot can move by means of the steering engines. In the human form state, the deformation robot can walk by two feet by means of the steering engines.

Description

A transforming robot

technical field

The invention relates to the technical field of robots, in particular to a deformation robot.

Background technique

The Chinese invention patent application with the patent number of ZL201810007314.2 discloses a variable structure robot, which includes an upper body support part, including a waist support frame, a first joint of the left arm, a steering gear in the first joint of the left arm, a first joint of the right arm, Right arm first joint inner steering gear, left crotch steering gear, and right crotch steering gear; front-end motion part, including front-drive steering gear mounting seat, front-drive steering gear, front axle support frame, front axle, left small front wheel, and the right small front wheel, wherein the output shafts on both sides of the front-drive steering gear are respectively connected with the front axle support frame; Right thigh, right inner calf, right outer calf, right thigh drive servo, right rear wheel, right rear wheel servo, right ankle joint, right ankle joint drive servo, right foot, and right foot servo. This variable structure robot can automatically switch between the upright walking state and the four-wheel drive state without external assistance. Although the structure-changing robot can transform from a car shape to a human shape. However, the thoracic structure of the variable structure robot cannot be rotated when it is in human form. In addition, the variable structure robot has no robot head structure.

SUMMARY OF THE INVENTION

In order to overcome the above-mentioned defects and deficiencies in the prior art, the present invention provides a deformation robot. The transforming robot can transform from a human form to a car form, and from a car form to a human form. The thoracic structure of the transforming robot can be rotated to realize the transformation from human form to car form or from car form to human form. In addition, the head of the transforming robot is retractably placed in the robot's thoracic structure. During the process of transforming the shape-changing robot from a car shape to a human shape, the robot head can be automatically extended from the robot's chest structure; when the shape-changing robot is transformed from a human shape to a car shape, the robot head can be automatically retracted into the robot chest cavity in the structure.

In order to achieve the above purpose, the technical solution of the present invention is that a deformable robot includes an arm structure, a leg structure and a robot head fixedly installed on the chest cavity structure, the arm structure includes a left arm and a right arm, and the legs The upper structure includes a left leg and a right leg; the left leg and the right leg are mirror images of each other and are symmetrically installed on both sides of the lower part of the chest structure; the left arm and the right arm are mutually It is a mirror image structure and is symmetrically installed on both sides of the upper part of the chest cavity structure. The chest cavity structure includes a first steering gear fixedly installed on the upper part of the second fixing frame, and the rotation output shaft of the first steering gear passes through in turn. The top wall and the first backing plate of the second fixing frame are fixedly connected with the first rudder plate fixed on the first turret; the first rudder plate has an arc-shaped limit opening; the first rudder plate The limit post on the backing plate movably passes through the limit opening; the rotation of the rotation output shaft of the first steering gear drives the first turret to rotate.

Preferably, a first connecting frame is fixedly installed on the upper part of the first turret, and a first fixing frame is fixedly installed on the upper part of the first connecting frame.

In any of the above solutions, preferably, a flap is hinged on the top of the rear end of the first fixing frame; the robot head is detachably fixed on the flap.

In any of the above solutions, preferably, a second steering gear is fixedly installed at the bottom of the rear end of the first fixing frame, and a first driving connecting rod is fixedly sleeved on the rotation output shaft of the second steering gear; so One end of the first drive link is fixedly connected with the rotation output shaft of the second steering gear, and the other end is hinged with a second drive link; one end of the second drive link is connected to the first drive link. One end is fixedly hinged, and the other end is fixedly hinged with the bottom of the flap.

In any of the above solutions, it is preferable that a vertical plate is vertically fixed and installed at the tail of the flap; the vertical plate is movably buckled at the top opening of the first fixing frame along with the movement of the flap. superior.

In any of the above solutions, preferably, an axial through hole is provided on the limiting column.

In any of the above solutions, preferably, a third steering gear is fixedly installed on the bottom of the second fixing frame.

In any of the above solutions, preferably, the rotation output shaft of the third steering gear passes through either side of the second fixing frame and is fixedly connected to any side wall of the second connecting frame; the third rudder The supporting shaft of the machine passes through the other side of the second fixing frame and is fixedly connected with the other side wall of the second connecting frame.

In any of the above solutions, preferably, one side of the second connecting frame is fixedly connected to any fourth steering gear in the leg structure, and the other side is connected to another fourth steering gear in the leg structure. The four steering gears are fixedly connected; a third wheel is rotatably mounted on the fourth steering gear.

In any of the above solutions, preferably, the rotation output shaft of the fourth steering gear is fixedly connected to one end of the first connecting arm through the steering wheel, and the support shaft of the fourth steering gear is inserted into one end of the second connecting arm The other end of the first connecting arm is fixedly connected with the top of one side of the first connecting seat; the other end of the second connecting arm is fixedly connected with the top of the other side of the first connecting seat The first connecting seat has a double wishbone structure; any inserting arm on the first connecting seat is fixedly connected with the rotating output shaft of the fifth steering gear through the steering wheel, and another inserting arm is sleeved on the fifth steering wheel. on the support shaft of the steering gear.

In any of the above solutions, preferably, a sixth steering gear is fixedly connected to the bottom of the fifth steering gear; the rotation output shaft of the sixth steering gear passes through any one of the steering wheel and one end of the second connecting frame side fixed connection; the support shaft of the sixth steering gear is fixedly connected with the other side of one end of the second connecting frame through the steering plate; the other end of the second connecting frame is fixedly connected with the seventh steering gear; The rotation output shaft of the seventh steering gear is fixedly connected to either side of the other end of the second connecting frame through the steering wheel, and the support shaft of the seventh steering gear is connected to the other side of the second connecting frame through the steering wheel. One end is fixedly connected to the other side.

In any of the above solutions, preferably, an eighth steering gear is fixedly installed in the second connecting frame; the rotation output shaft of the eighth steering gear passes through the side wall of the second connecting frame and the motor gear Fixed connection; on the one hand, the motor teeth are movably meshed with the second driven gear on the first wheel through the first driven gear, and on the other hand, the motor teeth are movable with the fourth driven gear on the second wheel through the third driven gear When engaged, the eighth steering gear drives the first wheel and the second wheel to rotate at the same time.

In any of the above solutions, preferably, the first driven gear is rotatably fixed on the side wall through a first connecting rod; the third driven gear is rotatably fixed on the side wall through a second connecting rod The first wheel is rotatably fixed on the side wall through a third connecting rod, and the second wheel is rotatably fixed on the side wall through a fourth connecting rod.

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

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

In any of the above solutions, preferably, a ninth steering gear is fixedly connected in a crisscross manner at the bottom of the seventh steering gear.

In any of the above solutions, it is preferable that the output shaft of the ninth steering gear is fixedly connected to any side rib of the second connecting seat through the steering wheel; The other side rib of the second connecting seat is fixedly connected.

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

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

In any of the above solutions, preferably, the arm structure further includes a twelfth steering gear fixedly mounted on the first mounting seat, and the rotation output shaft of the twelfth steering gear is connected to the first mounting seat. The first mounting plate on one end is fixedly connected, and the twelfth steering gear is rotatably hinged on the first mounting plate through the rotation output shaft on it; it is fixedly installed on the housing of the twelfth steering gear Has palms.

In any of the above solutions, preferably, the other end of the first mounting seat has a mounting groove; the thirteenth steering gear is fixedly clipped in the mounting groove.

In any of the above solutions, preferably, the rotation output shaft of the thirteenth steering gear is fixedly connected to one end of any third connecting arm through the steering wheel, and the support shaft of the thirteenth steering gear is connected to the steering wheel through the steering wheel. One end of the other third connecting arm is fixedly connected; the other end of any third connecting arm is fixedly connected with one side of the first connecting plate; the other end of the other third connecting arm is connected with the first connecting arm The other side of the board is fixedly attached.

In any of the above solutions, preferably, a fourteenth steering gear is fixedly installed on the first connecting plate; and a third fixing frame is fixedly installed on the rotation output shaft of the fourteenth steering gear.

In any of the above solutions, preferably, a fifteenth steering gear is fixedly installed on the third fixing frame.

Preferably in any of the above solutions, a third connecting frame is fixedly installed on the rotation output shaft of the fifteenth steering gear.

In any of the above solutions, preferably, the third connecting frame has two fourth connecting arms arranged at intervals; any of the fourth connecting arms is fixedly connected with the rotation output shaft of the sixteenth steering gear, The other fourth connecting arm is sleeved on the support column of the sixteenth steering gear.

In any of the above solutions, it is preferable to further include a second mounting plate, one end of the second mounting plate is detachably mounted on the top of the mounting groove, and the other end is sleeved on the twelfth steering gear on the support shaft; the twelfth steering gear is reversibly placed in the gap formed between the first installation plate and the second installation plate through the rotation output shaft; the first installation plate is parallel to the the second mounting plate.

In any of the above solutions, preferably, the two tenth steering gears are located between the first connecting frame and the first turret at the same time.

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

In any of the above solutions, preferably, the first steering wheel is fixedly sleeved on the rotation output shaft of the first steering gear through the connecting hole on the connecting portion thereof.

In any of the above solutions, preferably, a first battery is fixedly installed at the bottom of the rear end of the first fixing frame; and a horn is fixedly installed on the first steering gear through a connecting plate.

Compared with the prior art, the present invention has the advantage that the deformation robot can control the steering gear on each joint of the robot through the controller to realize the deformation from human form to car form or from car form to human form. In the state of the car shape, the deformation robot movement can be realized through the steering gear. In human form, the deformed robot can walk on two legs through the steering gear. In addition, the robot head of the deforming robot can automatically extend from the thoracic structure of the robot or automatically retract into the thoracic structure of the robot.

Description of drawings

FIG. 1 is a schematic three-dimensional structure diagram of a preferred embodiment of a deformation robot according to the present invention.

FIG. 2 is a schematic diagram of the three-dimensional structure of the deformed robot according to the embodiment of the present invention shown in FIG. 1 after deformation.

FIG. 3 is a schematic three-dimensional structure diagram of the embodiment shown in FIG. 1 without external modeling parts of the deforming robot according to the present invention.

4 is a schematic three-dimensional structural diagram of a preferred embodiment of the thoracic cavity structure in the embodiment shown in FIG. 1 of the deforming robot according to the present invention.

Fig. 5 is a schematic diagram of the three-dimensional structure of the deformed thoracic cavity structure in the embodiment shown in Fig. 4 according to the present invention.

FIG. 6 is a schematic three-dimensional structural diagram 1 of a thoracic cavity structure without an external modeling part in the embodiment shown in FIG. 4 of the deforming robot according to the present invention.

FIG. 7 is a schematic three-dimensional structural diagram 2 of the thoracic cavity structure without external modeling parts in the embodiment shown in FIG. 4 of the deforming robot according to the present invention.

FIG. 8 is a schematic diagram of the deformed state of the thoracic cavity structure in the embodiment shown in FIG. 7 of the deforming robot according to the present invention.

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

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

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

Fig. 12 is a schematic view of the structure of the thoracic cavity in the embodiment shown in Fig. 6 according to the present invention.

FIG. 13 is a schematic diagram 1 of the three-dimensional structure of the thoracic structure without the robot head and its driving mechanism in the embodiment shown in FIG. 6 of the deformable robot according to the present invention.

14 is a schematic three-dimensional structural diagram of a thoracic structure with a first turret and a first steering gear in the embodiment shown in FIG. 6 of the deformable robot according to the present invention.

FIG. 15 is a schematic three-dimensional structure diagram of the first steering gear with the first backing plate in the thoracic structure in the implementation shown in FIG. 6 of the deformable robot according to the present invention.

FIG. 16 is a schematic three-dimensional structure diagram of the second fixing frame of the thoracic cavity structure in the embodiment shown in FIG. 6 of the deformable robot according to the present invention.

FIG. 17 is a schematic three-dimensional structural diagram 1 of the first steering wheel of the thoracic cavity structure in the embodiment shown in FIG. 6 of the deformable robot according to the present invention.

FIG. 18 is a schematic three-dimensional structural diagram 2 of the first steering wheel of the thoracic cavity structure in the embodiment shown in FIG. 6 of the deformable robot according to the present invention.

FIG. 19 is a schematic three-dimensional structural diagram of the first fixing frame of the thoracic cavity structure in the embodiment shown in FIG. 6 of the deforming robot according to the present invention.

FIG. 20 is a schematic three-dimensional structural diagram of the first connecting frame of the thoracic cavity structure in the embodiment shown in FIG. 6 of the deforming robot according to the present invention.

FIG. 21 is a schematic three-dimensional structural diagram of the first turret of the thoracic cavity structure in the embodiment shown in FIG. 6 of the deformable robot according to the present invention.

FIG. 22 is a schematic three-dimensional structure diagram of a preferred embodiment of the leg structure in the embodiment shown in FIG. 1 of the deforming robot according to the present invention.

Fig. 23 is a schematic front view of the leg structure in the embodiment shown in Fig. 22 of the deformable robot according to the present invention.

FIG. 24 is a schematic three-dimensional structure diagram of the deformed leg structure in the embodiment shown in FIG. 22 of the deforming robot according to the present invention.

FIG. 25 is a schematic front view of the leg structure in the embodiment shown in FIG. 24 of the deformable robot according to the present invention.

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

Fig. 27 is a perspective assembly view of the leg structure of the deformable robot according to the present invention in the embodiment shown in Fig. 26 without leg outer moldings.

Fig. 28 is a schematic three-dimensional structure diagram of the connecting frame of the leg structure in the embodiment shown in Fig. 26 of the deforming robot according to the present invention.

FIG. 29 is a perspective structural diagram of the second connecting frame of the leg structure in the embodiment shown in FIG. 26 of the deforming robot according to the present invention.

FIG. 30 is a perspective structural diagram of the second connecting arm of the leg structure in the embodiment shown in FIG. 26 of the deformable robot according to the present invention.

FIG. 31 is a schematic three-dimensional structural diagram of the first connecting seat of the leg structure in the embodiment shown in FIG. 26 of the deforming robot according to the present invention.

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

FIG. 33 is a schematic three-dimensional structure diagram of the second wheel of the leg structure in the embodiment shown in FIG. 26 of the deforming robot according to the present invention.

34 is a schematic three-dimensional structure diagram of a preferred embodiment of the arm structure in the embodiment shown in FIG. 1 of the deformable robot according to the present invention.

Fig. 35 is a schematic front view of the structure of the arm in the embodiment shown in Fig. 34 of the deformable robot according to the present invention.

FIG. 36 is a rear view structural diagram of the arm structure in the embodiment shown in FIG. 34 of the deformable robot according to the present invention.

Fig. 37 is a three-dimensional structural schematic diagram of the arm structure without the modeling part in the embodiment shown in Fig. 34 of the deforming robot according to the present invention.

FIG. 38 is a three-dimensional schematic diagram of the deformed arm structure in the embodiment shown in FIG. 34 of the deforming robot according to the present invention.

FIG. 39 is a three-dimensional schematic diagram of the deformed arm structure in the embodiment shown in FIG. 37 of the deforming robot according to the present invention.

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

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

FIG. 42 is a schematic diagram 1 of the deforming state of the deforming robot in the implementation shown in FIG. 1 according to the present invention.

FIG. 43 is a schematic diagram 2 of the deforming state of the deforming robot in the implementation shown in FIG. 3 according to the present invention.

detailed description

The preferred embodiments of the present invention are further described below in conjunction with the accompanying drawings;

In the description of this embodiment, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, It is not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features, thus, the definition of "first" , "second", etc. features may expressly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

It should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; It can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific situations.

Example 1:

As shown in Figures 1-43, a deformation robot according to a preferred embodiment of the present invention is disclosed. FIG. 1 shows a schematic three-dimensional structure diagram of a deformation robot with an external modeling part in this embodiment. FIG. 2 shows a schematic diagram of the three-dimensional structure of the deforming robot of FIG. 1 after deformation. FIG. 3 shows a schematic three-dimensional structure diagram of the embodiment shown in FIG. 1 without external modeling parts. The deforming robot includes an arm structure, a leg structure and a robot head 1 fixedly mounted on the chest cavity structure. The arm structure includes a left arm 2 and a right arm 3 . The left arm 2 and the right arm 3 are mirror images of each other and are symmetrically installed on both sides of the upper part of the thoracic structure. The leg structure includes a left leg 4 and a right leg 5 . The left leg 4 and the right leg 5 are mirror images of each other and are symmetrically installed on both sides of the lower part of the thoracic structure. FIG. 4 shows a three-dimensional schematic diagram of the thoracic structure of the deforming robot in this embodiment. The robot head 1 is placed on top of the thoracic structure. FIG. 5 shows a schematic three-dimensional structure diagram of the thoracic cavity structure after deformation in the embodiment shown in FIG. 4 . FIG. 6 shows a schematic three-dimensional structural diagram 1 of the thoracic structure without external modeling parts in the embodiment shown in FIG. 4 . FIG. 7 shows a schematic diagram 2 of the three-dimensional structure of the thoracic structure without external modeling parts in the embodiment shown in FIG. 4 . In this embodiment, the chest cavity structure includes a first steering gear 7 fixedly mounted on the upper part of the second fixing frame 6. The second battery 69 is fixedly mounted on the second fixing frame 6 . The rotation output shaft of the first steering gear 7 sequentially passes through the top wall of the second fixing frame 6 and the first backing plate 8 and is fixedly connected to the first steering wheel 10 fixedly mounted on the first turret 9 . In this embodiment, a plurality of connecting bosses 71 are fixedly arranged on the first turret 9 . Sleeves corresponding to the connection bosses 71 are provided on the first steering wheel 10 . The sleeve is sleeved on the connecting boss 71 . The first steering wheel 10 has an arc-shaped limiting opening 11 . The limiting column 12 on the first backing plate 8 movably passes through the limiting opening 11 . The rotation output shaft of the first steering gear 7 drives the first turret 9 to rotate, thereby driving the entire thoracic cavity structure and the robot head 1 , the left arm 2 and the right arm 3 mounted on the thoracic cavity structure to rotate. An axial through hole 20 is provided on the limiting column 12 . The arrangement of the axial through hole 20 facilitates the passage of the connecting wire of the first steering gear 7 .

A first connecting frame 13 is fixedly mounted on the upper portion of the first turret 9 . A first fixing frame 14 is fixedly mounted on the upper part of the first connecting frame 13 . The first connecting frame 13 has a horizontally protruding protruding plate 72 . A flap 15 is hinged on the top of the rear end of the first fixing frame 14 . The turning plate 15 is pivotably hinged at the top position of the rear end of the first fixing frame 14 through a rotating shaft. The robot head 1 is detachably and fixedly mounted on the flap 15 . In this embodiment, the second steering gear 16 is fixedly installed on the bottom of the rear end of the first fixing frame 14 . In this embodiment, a protruding portion 70 is provided at the tail of the first fixing frame 14 . The first fixing frame 14 and the protruding portion 70 are integral structures. The top of the second steering gear 16 is fixedly connected to the protruding portion 70 , and the bottom of the second steering gear 16 is fixedly connected to the protruding plate 72 . A first driving link 17 is fixedly sleeved on the rotation output shaft of the second steering gear 16 . One end of the first driving link 17 is fixedly connected with the rotation output shaft of the second steering gear 16 , and the other end is hinged with the second driving link 18 . One end of the second driving link 18 is fixedly hinged with one end of the first driving link 17 , and the other end is fixedly hinged with the bottom of the flap 15 . The rotation of the rotation output shaft of the second steering gear 16 drives the first drive link 17 and the second drive link 18 to move in turn, thereby driving the flap 15 to turn over along the rotating shaft to realize the movement of the robot head 1 from the first fixing frame 14 Extend or retract. In this embodiment, a vertical plate 19 is fixed and installed vertically at the tail of the flap 15 . The vertical plate 19 is movably buckled on the top opening of the first fixing frame 14 along with the movement of the turning plate 15 .

A third steering gear 21 is fixedly mounted on the bottom of the second fixing frame 6 . The third steering gear 21 has a rotation output shaft and a support shaft provided on the casing of the third steering gear 21 . The support shaft of the third steering gear and the axis of the rotation output shaft of the third steering gear coincide and are symmetrically arranged. The rotation output shaft of the third steering gear 21 passes through either side of the second fixing frame 6 and is fixedly connected to any side wall of the second connecting frame 22 . The support shaft of the third steering gear 21 passes through the other side of the second fixing frame 6 and is fixedly connected to the other side wall of the second connecting frame 22 . One side of the second connecting frame 22 is fixedly connected with any 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 is rotatably attached to the fourth steering gear 23 . The third wheel 24 is rotatably fixed to the side wall of the fourth steering gear 23 through the connecting shaft. As another alternative solution, a connecting plate 76 is installed on the side wall of the fourth steering gear 23 . The connecting shaft 75 is fixedly attached to the connecting plate 76 . A bearing 73 is rotatably sleeved on the connecting shaft 75 . The third wheel 24 is rotatably mounted on the connecting shaft 75 through the bearing 73 .

The fourth steering gear 23 has a rotation output shaft and a support shaft. The rotation output shaft of the fourth steering gear 23 is fixedly connected to one end of the first connecting arm 68 through the steering wheel. The support shaft of the fourth steering gear 23 is inserted into the connecting hole on one end of the second connecting arm 25 . The other end of the first connecting arm 68 is fixedly connected to one top of the first connecting seat 26 . The other end of the second connecting arm 25 is fixedly connected to the top of the other side of the first connecting seat 26 . In this embodiment, the first connecting seat 26 has a double wishbone structure. Any insertion arm 27 on the first connecting seat 26 is fixedly connected to the rotation output shaft of the fifth steering gear 74 through the steering wheel, and the other insertion arm 27 is sleeved on the support shaft of the fifth steering gear 27 . Likewise, the axis centers of the rotation output shaft of the fifth steering gear 74 and the support shaft of the fifth steering gear 74 are coincident and symmetrically arranged. The sixth steering gear 28 is fixedly connected to the bottom of the fifth steering gear 74 . The sixth steering gear 28 has a rotation output shaft and a support shaft corresponding to the rotation output shaft. The rotation output shaft of the sixth steering gear 28 is fixedly connected to either side of one end of the second connecting frame 22 through a steering wheel. The support shaft of the sixth steering gear 28 is fixedly connected to the other side of one end of the second connecting frame 22 through the steering wheel. The other end of the second connecting frame 22 is fixedly connected with a seventh steering gear 29 . Similarly, the axis of the rotation output shaft of the seventh steering gear 29 and the axis of the support shaft of the seventh steering gear 29 are coincident and symmetrically arranged. The rotation output shaft of the seventh steering gear 29 is fixedly connected to either side of the other end of the second connecting frame 22 through the steering wheel. The support shaft of the seventh steering gear 29 is fixedly connected to the other side of the other end of the second connecting frame 22 through the steering wheel.

An eighth steering gear 30 is fixedly installed in the second connecting frame 22 . Specifically, the eighth steering gear 30 is fixedly installed in the installation groove of the second connecting frame 22 through the support frame 42 . The rotation output shaft of the eighth steering gear 30 is fixedly connected to the motor teeth 31 through either side wall of the second connecting frame 22 . On the one hand, the motor teeth 31 are in active mesh with the second driven gear 34 on the first wheel 33 through the first driven gear 32 , and on the other hand, through the third driven gear 35 and the fourth driven gear on the second wheel 36 . 37 active meshes. The eighth steering gear 30 drives the first wheel 33 and the second wheel 36 to rotate at the same time. In this embodiment, the first wheel 33 , the second wheel 36 and the third wheel 24 are on either side of the second connecting frame 22 at the same time. In other words, the first wheel 33 , the second wheel 36 and the third wheel 24 are on the left or right side of the second link frame 22 at the same time. The first driven gear 32 is rotatably and fixedly installed on the side walls on either side of the second connecting frame 22 through the first connecting rod 38 . The third driven gear 35 is rotatably and fixedly mounted on the side wall through the second connecting rod 39 . The first wheel 33 is rotatably and fixedly mounted on the side wall through the third connecting rod 40 . The second wheel 36 is rotatably fixed on the side wall through the fourth connecting rod 41 . The first connecting rod 38 , the second connecting rod 39 , the third connecting rod 40 and the fourth connecting rod 41 are arranged on the side wall of the second connecting frame 22 at intervals and in parallel. The third connecting rod 40 and the fourth connecting rod 41 are on the same straight line.

A ninth steering gear 43 is fixedly connected to the bottom of the seventh steering gear 29 in a crisscross manner. The ninth steering gear 43 has a support shaft. The rotation output shaft of the ninth steering gear 43 is fixedly connected with the ribs on either side of the second connecting seat 44 through the steering wheel. The support shaft of the ninth steering gear 43 is fixedly connected to the other side rib of the second connecting seat 44 through the steering wheel. The second connecting seat 44 can be rotated by the action of the ninth steering gear 43 . A foot connecting plate 45 is detachably connected to the bottom of the second connecting seat 44 .

The bottom of one end of the first connecting frame 13 is fixedly connected with any tenth steering gear 46 of the left arm 2 in the arm structure, and the bottom of the other end is connected to another tenth steering gear 46 of the right arm 3 in the arm structure. Fixed connection. Alternatively, the bottom of one end of the first connecting frame 13 is fixedly connected to any tenth steering gear 46 of the right arm 3 in the arm structure, and the bottom of the other end is connected to another tenth of the left arm 2 in the arm structure. The steering gear 46 is fixedly connected. The left arm 2 and the right arm have the same structure. The two tenth steering gears 46 are located between the first connecting frame 13 and the first turret 9 at the same time. A PCB circuit board 63 is fixedly mounted on the top of the first turret 9 through a plurality of connecting posts 62 . The controller is mounted on the PCB circuit board 63 . The first steering wheel 10 is fixedly sleeved on the rotation output shaft of the first steering gear 7 through the connecting hole 65 on the connecting portion 64 thereof. A first battery 66 is fixedly mounted on the bottom of the rear end of the first fixing frame 14 . A horn 67 is fixedly installed on the first battery 66 and the first steering gear 7 through a connecting plate. The rotation output shaft of each tenth steering gear 46 is fixedly connected with a sixteenth steering gear 47 through a steering wheel. The arm structure further includes a twelfth steering gear 49 fixedly mounted on the first mounting seat 48 . The rotation output shaft of the twelfth steering gear 49 is fixedly connected to the first mounting plate 50 on one end of the first mounting seat 48 . The twelfth steering gear 49 is rotatably hinged on the first mounting plate 50 through the rotation output shaft thereon. The palm portion 51 is fixedly attached to the casing of the twelfth steering gear 49 .

The other end of the first mounting seat 48 has a mounting groove 52 . The thirteenth steering gear 53 is fixedly and clamped in the installation groove 52 . The thirteenth steering gear has a support shaft. The rotation output shaft of the thirteenth steering gear 53 is fixedly connected to one end of any third connecting arm 54 through a steering wheel. The support shaft of the thirteenth steering gear 53 is fixedly connected to one end of another third connecting arm 54 through a steering wheel. The other end of any third connecting arm 54 is fixedly connected to one side of the first connecting plate 55 , and the other end of the other third connecting arm 54 is fixedly connected to the other side of the first connecting plate 55 . The fourteenth steering gear 56 is fixedly mounted on the first connecting plate 55 . A third fixing frame 57 is fixedly mounted on the rotation output shaft of the fourteenth steering gear 56 . The fifteenth steering gear 58 is fixedly mounted on the third fixing frame 57 . A third connecting frame 59 is fixedly mounted on the rotation output shaft of the fifteenth steering gear 58 . The third connecting frame 59 has two fourth connecting arms 60 spaced apart. Any fourth connecting arm 60 is fixedly connected with the rotation output shaft of the sixteenth steering gear 47 , and the other fourth connecting arm 60 is sleeved on the support column of the sixteenth steering gear 47 . In this embodiment, a second mounting plate 61 is also included. The first mounting plate 50 is parallel to the second mounting plate 61 . One end of the second mounting plate 61 is detachably mounted on the top of the mounting groove 52 , and the other end is sheathed on the support shaft of the twelfth steering gear 49 . The twelfth steering gear 49 is reversibly placed in the gap formed between the first mounting plate 50 and the second mounting plate 61 through its own rotation output shaft to realize the inversion of the opponent's palm portion 51 . Each steering gear is electrically connected to the controller through lines. The controller controls the movement of each of the steering gears.

The above are only the preferred embodiments of the present invention, and do not limit the present invention in any form. Any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention still belong to the technology of the present invention. within the scope of the programme.

After reading this specification, it is not difficult for those skilled in the art to see that the present invention consists of a combination of existing technologies. Some of these existing technologies that constitute the various parts of the utility model are described in detail here, and some are for the sake of brevity of the description. The details are not described in detail, but those skilled in the art will know what they can understand after reading the description. Moreover, it is not difficult for those skilled in the art to see that the combination of these existing technologies to constitute the present invention is full of a lot of creative work, and is the result of years of theoretical analysis and a large number of experiments by the inventor. Those skilled in the art can also find from the description that each technical solution disclosed herein and any combination of various features belong to a part of the present invention.

Claims

A deformation robot, comprising an arm structure, a leg structure and a robot head fixedly installed on a chest cavity structure, the arm structure includes a left arm and a right arm, and the leg structure includes a left leg and a right leg; The left leg and the right leg are mirror images of each other and are symmetrically installed on both sides of the lower part of the chest structure; the left arm and the right arm are mirror images of each other and are symmetrically installed in the chest The two sides of the upper part of the structure are characterized in that: the chest cavity structure includes a first steering gear fixedly installed on the upper part of the second fixing frame, and the rotation output shaft of the first steering gear passes through the second fixing frame in sequence. The top wall and the first pad are fixedly connected with the first rudder plate fixed on the first turret; the first rudder plate has an arc-shaped limit opening; the limit post on the first pad plate movably pass through the limit opening; the rotation of the rotation output shaft of the first steering gear drives the rotation of the first turret.
The deformation robot according to claim 1, wherein a first connecting frame is fixedly installed on the upper part of the first turret, and a first fixing frame is fixedly installed on the upper part of the first connecting frame.
The deformation robot according to claim 2, characterized in that: a flap is hinged on the top of the rear end of the first fixing frame; the robot head is detachably and fixedly mounted on the flap.
The transforming robot according to claim 2, wherein a second steering gear is fixedly installed at the bottom of the rear end of the first fixing frame, and a first driving gear is fixedly sleeved on the rotation output shaft of the second steering gear. connecting rod; one end of the first driving connecting rod is fixedly connected with the rotation 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 connected with the first One end of the driving link is fixedly hinged, and the other end is fixedly hinged with the bottom of the turning plate.
The deforming robot according to claim 4, characterized in that: a vertical plate is vertically fixed and installed at the tail of the flap; the vertical plate is movably buckled on the first fixed plate along with the movement of the flap on the top opening of the rack.
The deforming robot according to claim 1, wherein an axial through hole is provided on the limiting column.
The deforming robot according to claim 1, wherein a third steering gear is fixedly installed on the bottom of the second fixing frame.
The deforming robot according to claim 7, wherein the rotation output shaft of the third steering gear passes through either side of the second fixing frame and is fixedly connected to any side wall of the second connecting frame; The support shaft of the third steering gear passes through the other side of the second fixing frame and is fixedly connected to the other side wall of the second connecting frame.
The deforming robot according to claim 8, wherein one side of the second connecting frame is fixedly connected to any fourth steering gear in the leg structure, and the other side is connected to the leg structure. The other fourth steering gear is fixedly connected; a third wheel is rotatably mounted on the fourth steering gear.
The transforming robot according to claim 9, wherein the rotation output shaft of the fourth steering gear is fixedly connected to one end of the first connecting arm through the steering wheel, and the support shaft of the fourth steering gear is inserted into the second steering wheel. in the connecting hole on one end of the connecting arm; the other end of the first connecting arm is fixedly connected with the top of one side of the first connecting seat; the other end of the second connecting arm is connected with the other end of the first connecting seat The side top is fixedly connected; the first connecting seat has a double wishbone structure; any inserting arm on the first connecting seat is fixedly connected with the rotating output shaft of the fifth steering gear through the steering wheel, and the other inserting arm is sleeved on the rotating output shaft of the fifth steering gear. on the support shaft of the fifth steering gear.
The transforming robot according to claim 10, wherein a sixth steering gear is fixedly connected to the bottom of the fifth steering gear; the rotation output shaft of the sixth steering gear passes through the connection between the steering wheel and the second connecting frame Either side of one end is fixedly connected; the support shaft of the sixth steering gear is fixedly connected to the other side of one end of the second connecting frame through the steering wheel; the other end of the second connecting frame is fixedly connected with a seventh steering gear; the rotation output shaft of the seventh steering gear is fixedly connected to either side of the other end of the second connecting frame through the steering wheel, and the support shaft of the seventh steering gear is connected to the second connecting frame through the steering wheel The other side of the other end of the connecting frame is fixedly connected.
The transforming robot according to claim 11, wherein: an eighth steering gear is fixedly installed in the second connecting frame; the rotation output shaft of the eighth steering gear passes through the side of the second connecting frame The wall is fixedly connected with the motor teeth; on the one hand, the motor teeth are in active meshing with the second driven gear on the first wheel through the first driven gear, and on the other hand with the fourth driven gear on the second wheel through the third driven gear The driven gear is movably meshed, and the eighth steering gear drives the first wheel and the second wheel to rotate at the same time.
The deforming robot according to claim 12, wherein: the first driven wheel is rotatably mounted on the side wall through a first connecting rod; the third driven gear is rotatably mounted through a second connecting rod fixedly mounted on the side wall; the first wheel is rotatably fixed on the side wall through a third connecting rod, and the second wheel is rotatably fixed on the side wall through a fourth connecting rod .
The deforming robot according to claim 13, wherein the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are arranged at intervals on the second connecting rod on the side wall of the frame; the third connecting rod and the fourth connecting rod are on the same line.
The deforming robot according to claim 12, wherein the eighth steering gear is fixedly installed in the installation groove of the second connecting frame through a support frame.
The transforming robot according to claim 11, wherein a ninth steering gear is fixedly connected in a crisscross manner at the bottom of the seventh steering gear.
The transforming robot according to claim 16, wherein: the output shaft of the ninth steering gear is fixedly connected to any side rib of the second connecting seat through a steering plate; the support shaft of the ninth steering gear passes through The rudder plate is fixedly connected with the other side rib of the first connecting seat.
The deforming robot according to claim 17, wherein a foot connecting plate is detachably connected to the bottom of the first connecting seat.
The deforming robot according to claim 2, wherein the bottom of one end of the first connecting frame is fixedly connected to any tenth steering gear in the arm structure, and the bottom of the other end is connected to another one of the arm structure. A tenth steering gear is fixedly connected; the rotation output shaft of each tenth steering gear is fixedly connected with a sixteenth steering gear through a steering wheel.
The transforming robot according to claim 19, wherein the arm structure further comprises a twelfth steering gear fixedly mounted on the first mounting seat, and the rotation output shaft of the twelfth steering gear is connected to the twelfth steering gear. The first mounting plate on one end of the first mounting seat is fixedly connected, and the twelfth steering gear is hinged on the first mounting plate through the rotation output shaft on it; on the shell of the twelfth steering gear A palm is fixedly installed on the body.
21. The transforming robot according to claim 20, wherein the other end of the first mounting seat has a mounting groove; and a thirteenth steering gear is fixedly clamped in the mounting groove.
The transforming robot according to claim 21, wherein the rotation output shaft of the thirteenth steering gear is fixedly connected to one end of any third connecting arm through a steering wheel, and the support shaft of the thirteenth steering gear The rudder is fixedly connected to one end of the other third connecting arm; the other end of any third connecting arm is fixedly connected to one side of the first connecting plate; the other end of the other third connecting arm is connected to the The other side of the first connecting plate is fixedly connected.
The transforming robot according to claim 22, wherein: a fourteenth steering gear is fixedly installed on the first connecting plate; a third fixed steering gear is fixedly installed on the rotation output shaft of the fourteenth steering gear shelf.
The transforming robot according to claim 23, wherein a fifteenth steering gear is fixedly installed on the third fixing frame.
The transforming robot according to claim 24, wherein a third connecting frame is fixedly installed on the rotation output shaft of the fifteenth steering gear.
The transforming robot according to claim 25, wherein: the third connecting frame has two fourth connecting arms arranged at intervals; the rotation output of any one of the fourth connecting arms and the sixteenth steering gear The shaft is fixedly connected, and the other fourth connecting arm is sleeved on the support column of the sixteenth steering gear.
The deforming robot according to claim 21, further comprising a second mounting plate, one end of the second mounting plate is detachably mounted on the top of the mounting groove, and the other end is sheathed on the tenth mounting plate. on the support shaft of the second steering gear; the twelfth steering gear is rotatably placed in the gap formed between the first mounting plate and the second mounting plate through the rotation output shaft; the first The mounting plate is parallel to the second mounting plate.
The transforming robot according to claim 19, wherein the two tenth steering gears are located between the first connecting frame and the first turret at the same time.
The deformation robot according to claim 1, wherein a PCB circuit board is fixedly installed on the top of the first turret through a plurality of connecting posts, and a controller is installed on the PCB circuit board.
The transforming robot according to claim 1, wherein the first steering plate is fixedly sleeved on the rotation output shaft of the first steering gear through the connecting hole on the connecting portion thereof.
The deformation robot according to claim 1, wherein a first battery is fixedly installed at the bottom of the rear end of the first fixing frame; and a horn is fixedly installed on the first steering gear through a connecting plate.