A transforming robot

Abstract

The present invention provides a transformable robot comprising an arm structure, a leg structure, and a robot head mounted on a thorax structure. The arm structure comprises a left arm and a right arm, and the leg structure comprises a left leg and a right leg. The thorax structure comprises a first servo mounted on the upper portion of a second fixed frame. The first servo's rotational output shaft passes through the top wall of the second fixed 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 post on the first pad movably passes through the limiting opening. The rotational output shaft of the first servo drives the first rotating frame to rotate. The transformable robot can transform from humanoid form to vehicle form or vice versa by controlling the servos at each joint of the robot via a controller. In vehicle form, the servos enable the transformable robot to move. In humanoid form, the servos enable the transformable robot to perform bipedal walking.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a transformable robot. Background Art

[0002] The Chinese invention patent application with patent number ZL201810007314.2 discloses a variable structure robot, including an upper body support part, including a waist support frame, a left arm first joint, a servo in the left arm first joint, a right arm first joint, a servo in the right arm first joint, a left hip servo, and a right hip servo; a front end motion part, including a front drive servo mounting seat, a front drive servo, a front axle support frame, a front axle, a left small front wheel, and a right small front wheel, wherein the output shafts on both sides of the front drive servo are respectively connected to the front axle support frame; and a double leg part, including a left leg and a right leg with symmetrical structure, wherein the right leg includes a right thigh, a right inner calf, a right outer calf, a right thigh drive servo, a right rear wheel, a right rear wheel servo, a right ankle joint, a right ankle joint drive servo, a right foot, and a right foot servo. This variable structure robot can automatically switch between an upright walking state and a four-wheel drive state without external assistance. Although this variable structure robot can transform from a car form to a human form. However, the chest structure of the variable structure robot cannot be rotated when it is in human form. In addition, the variable structure robot does not have a robot head structure. Summary of the Invention

[0003] To overcome the above-mentioned defects and deficiencies in the prior art, the present invention provides a transforming robot. The transforming robot is capable of transforming from a humanoid form to a vehicle form, and vice versa. The transforming robot's chest structure is rotatable to achieve transformation from humanoid form to vehicle form, and vice versa. Furthermore, the transforming robot's head is retractably located within the robot's chest structure. During the process of transforming from vehicle form to humanoid form, the robot's head automatically extends from the robot's chest structure; during the process of transforming from humanoid form to vehicle form, the robot's head automatically retracts into the robot's chest structure.

[0004] To achieve the above-mentioned purpose, the technical solution of the present invention is a transformable robot, comprising an arm structure, a leg structure and a robot head fixedly mounted on a chest structure, the arm structure comprising a left arm and a right arm, the leg structure comprising a left leg and a right leg; the left leg and the right leg are mirror images of each other and are symmetrically mounted 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 mounted on both sides of the upper part of the chest structure, the chest structure comprises a first servo fixedly mounted on the upper part of a second fixed frame, the rotation output shaft of the first servo passes through the top wall of the second fixed frame, a first pad and is fixedly connected to a first steering wheel fixedly mounted on the first rotating frame in sequence; the first steering wheel has an arc-shaped limit opening; the limit column on the first pad movably passes through the limit opening; the rotation output shaft of the first servo drives the first rotating frame to rotate.

[0005] Preferably, a first connecting frame is fixedly mounted on the upper portion of the first rotating frame, and a first fixing frame is fixedly mounted on the upper portion of the first connecting frame.

[0006] In any of the above solutions, preferably, a flap is hinged on the top of the rear end of the first fixing frame; and the robot head is detachably fixedly mounted on the flap.

[0007] In any of the above schemes, it is preferred that a second servo is fixedly installed at the bottom of the rear end of the first fixed frame, and a first driving link is fixedly mounted on the rotation output shaft of the second servo; one end of the first driving link is fixedly connected to the rotation output shaft of the second servo, and the other end is hinged to the second driving link; one end of the second driving link is fixedly hinged to one end of the first driving link, and the other end is fixedly hinged to the bottom of the flap.

[0008] In any of the above solutions, preferably, a vertical plate is fixedly installed vertically at the tail of the flap; and the vertical plate is movably buckled on the top opening of the first fixing frame as the flap moves.

[0009] In any of the above solutions, preferably, an axial through hole is provided on the limiting column.

[0010] In any of the above solutions, preferably, a third steering gear is fixedly mounted on the bottom of the second fixing frame.

[0011] In any of the above schemes, preferably, the rotation output shaft of the third servo passes through any side of the second fixed frame and is fixedly connected to any side wall of the second connecting frame; and the support shaft of the third servo passes through the other side of the second fixed frame and is fixedly connected to the other side wall of the second connecting frame.

[0012] In any of the above schemes, 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 fixedly connected to another fourth steering gear in the leg structure; and a third wheel is rotatably mounted on the fourth steering gear.

[0013] In any of the above schemes, it is preferred that the rotation output shaft of the fourth servo is fixedly connected to one end of the first connecting arm through the steering wheel, and the support shaft of the fourth servo is inserted into the connecting hole on one end of the second connecting arm; the other end of the first connecting arm is fixedly connected to the top of one side of the first connecting seat; the other end of the second connecting arm is fixedly connected to the top of the other side of the first connecting seat; the first connecting seat has a double fork arm structure; any one insert arm on the first connecting seat is fixedly connected to the rotation output shaft of the fifth servo through the steering wheel, and the other insert arm is sleeved on the support shaft of the fifth servo.

[0014] In any of the above schemes, 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 is fixedly connected to either side of one end of the connecting frame through a steering wheel; the support shaft of the sixth steering gear is fixedly connected to the other side of one end of the connecting frame through a steering wheel; the other end of the connecting frame is fixedly connected to 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 connecting frame through a steering wheel, and the support shaft of the seventh steering gear is fixedly connected to the other side of the other end of the connecting frame through a steering wheel.

[0015] In any of the above schemes, it is preferred that an eighth servo is fixedly installed in the connecting frame; the rotation output shaft of the eighth servo passes through the side wall of the connecting frame and is fixedly connected to the motor teeth; the motor teeth are movably engaged with the second driven gear on the first wheel through the first driven gear on the one hand, and are movably engaged with the fourth driven gear on the second wheel through the third driven gear on the other hand, and the eighth servo drives the first wheel and the second wheel to rotate at the same time.

[0016] In any of the above schemes, it is preferred that the first driven wheel is rotatably fixedly mounted on the side wall through a first connecting rod; the third driven gear is rotatably fixedly mounted on the side wall through a second connecting rod; the first wheel is rotatably fixedly mounted on the side wall through a third connecting rod, and the second wheel is rotatably fixedly mounted on the side wall through a fourth connecting rod.

[0017] 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 at intervals on the side wall of the connecting frame; and the third connecting rod and the fourth connecting rod are on the same straight line.

[0018] In any of the above solutions, preferably, the eighth steering gear is fixedly mounted in the mounting groove of the connecting frame via a support frame.

[0019] In any of the above solutions, preferably, a ninth steering gear is fixedly connected to the bottom of the seventh steering gear in a cross-shaped manner.

[0020] In any of the above schemes, preferably, the output shaft of the ninth steering gear is fixedly connected to the ribs on either side of the second connecting seat through the steering wheel; and the support shaft of the ninth steering gear is fixedly connected to the ribs on the other side of the second connecting seat through the steering wheel.

[0021] In any of the above solutions, preferably, the bottom of the first connecting seat is detachably connected to a foot connecting plate.

[0022] In any of the above schemes, it is preferred that the bottom of one end of the first connecting frame is fixedly connected to any tenth servo in the arm structure, and the bottom of the other end is fixedly connected to another tenth servo in the arm structure; the rotation output shaft of each of the tenth servos is fixedly connected to a sixteenth servo through a steering wheel.

[0023] In any of the above schemes, preferably, the arm structure further includes a twelfth servo fixedly mounted on the first mounting seat, the rotation output shaft of the twelfth servo fixedly connected to the first mounting plate on one end of the first mounting seat, and the twelfth servo is rotatably hinged to the first mounting plate through the rotation output shaft thereon; and a palm portion is fixedly mounted on the housing of the twelfth servo.

[0024] 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 clamped in the mounting groove.

[0025] In any of the above schemes, preferably, the rotation output shaft of the thirteenth servo is fixedly connected to one end of any third connecting arm through a steering wheel, and the support shaft of the thirteenth servo is fixedly connected to one end of another third connecting arm through a steering wheel; the other end of any third connecting arm is fixedly connected to one side of the first connecting plate; and the other end of another third connecting arm is fixedly connected to the other side of the first connecting plate.

[0026] In any of the above solutions, preferably, a fourteenth steering gear is fixedly mounted on the first connecting plate; and a third fixing bracket is fixedly mounted on the rotation output shaft of the fourteenth steering gear.

[0027] In any of the above solutions, preferably, a fifteenth steering gear is fixedly mounted on the third fixing frame.

[0028] In any of the above solutions, preferably, a third connecting frame is fixedly mounted on the rotation output shaft of the fifteenth steering gear.

[0029] In any of the above schemes, it is preferred that the third connecting frame has two fourth connecting arms arranged at intervals; any one of the fourth connecting arms is fixedly connected to the rotation output shaft of the sixteenth servo, and the other fourth connecting arm is mounted on the support column of the sixteenth servo.

[0030] Preferably, in any of the above schemes, a second mounting plate is further included, one end of which is detachably fastened to the top of the mounting groove, and the other end is mounted on the support shaft of the twelfth servo; the twelfth servo is flippably placed in the gap formed between the first mounting plate and the second mounting plate through the rotation output shaft; the first mounting plate is parallel to the second mounting plate.

[0031] In any of the above solutions, preferably, the two tenth steering gears are simultaneously located between the first connecting frame and the first rotating frame.

[0032] In any of the above solutions, preferably, a PCB circuit board is fixedly mounted on the top of the first rotating frame via a plurality of connecting columns, and a controller is mounted on the PCB circuit board.

[0033] In any of the above solutions, preferably, the first steering wheel is fixedly mounted on the rotation output shaft of the first steering gear through a connecting hole on the connecting portion thereof.

[0034] In any of the above solutions, preferably, a first battery is fixedly mounted on the rear end bottom of the first fixing frame; and a speaker is fixedly mounted on the first steering gear via a connecting plate.

[0035] Compared to existing technologies, the present invention offers advantages in that the transforming robot can transform from humanoid form to vehicle form, or vice versa, by controlling the servos at each joint of the robot through a controller. In vehicle form, the servos enable the transforming robot to move. In humanoid form, the servos enable the transforming robot to perform bipedal walking. Furthermore, the robot's head can automatically extend from or retract into the robot's thorax. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 Schematic diagram of the three-dimensional structure of a preferred embodiment of the transformable robot according to the present invention.

[0037] Figure 2 A transformable robot according to the present invention Figure 1 The three-dimensional structure diagram of the embodiment after deformation is shown.

[0038] Figure 3 A transformable robot according to the present invention Figure 1The illustrated embodiment is a schematic perspective view of the structure without external moldings.

[0039] Figure 4 A transformable robot according to the present invention Figure 1 The thoracic cavity structure in the illustrated embodiment is a schematic diagram of a three-dimensional structure of a preferred embodiment.

[0040] Figure 5 A transformable robot according to the present invention Figure 4 Schematic diagram of the three-dimensional structure of the chest cavity structure after deformation in the embodiment shown.

[0041] Figure 6 A transformable robot according to the present invention Figure 4 Schematic diagram of the three-dimensional structure of the chest structure without external molding parts in the embodiment shown Figure 1 .

[0042] Figure 7 A transformable robot according to the present invention Figure 4 Schematic diagram of the three-dimensional structure of the chest cavity structure without external molding parts in the embodiment shown Figure 2 .

[0043] Figure 8 A transformable robot according to the present invention Figure 7 Schematic diagram of the deformed state of the chest structure in the embodiment shown.

[0044] Figure 9 A transformable robot according to the present invention Figure 6 A schematic diagram of the main structure of the chest cavity in the embodiment shown.

[0045] Figure 10 A transformable robot according to the present invention Figure 6 Schematic diagram of the rear view of the chest structure in the embodiment shown.

[0046] Figure 11 A transformable robot according to the present invention Figure 6 Left view of the chest structure in the embodiment shown.

[0047] Figure 12 A transformable robot according to the present invention Figure 6 Schematic diagram of the right side structure of the chest cavity structure in the embodiment shown.

[0048] Figure 13 A transformable robot according to the present invention Figure 6 Schematic diagram of the three-dimensional structure of the chest structure without the robot head and its driving mechanism in the embodiment shown Figure 1 .

[0049] Figure 14 A transformable robot according to the present invention Figure 6A schematic three-dimensional structural diagram of the chest structure with a first turret and a first steering gear in the illustrated embodiment.

[0050] Figure 15 A transformable robot according to the present invention Figure 6 The illustrated embodiment shows a three-dimensional structure of a first servo with a chest structure and a first pad.

[0051] Figure 16 A transformable robot according to the present invention Figure 6 The three-dimensional structure of the second fixing frame of the chest structure in the embodiment shown is schematic.

[0052] Figure 17 A transformable robot according to the present invention Figure 6 Schematic diagram of the three-dimensional structure of the first steering wheel of the chest structure in the embodiment shown Figure 1 .

[0053] Figure 18 A transformable robot according to the present invention Figure 6 Schematic diagram of the three-dimensional structure of the first steering wheel of the chest structure in the embodiment shown Figure 2 .

[0054] Figure 19 A transformable robot according to the present invention Figure 6 A schematic diagram of the three-dimensional structure of the first fixing frame of the thoracic structure in the embodiment shown.

[0055] Figure 20 A transformable robot according to the present invention Figure 6 Schematic diagram of the three-dimensional structure of the first connecting frame of the chest structure in the embodiment shown.

[0056] Figure 21 A transformable robot according to the present invention Figure 6 Schematic diagram of the three-dimensional structure of the first rotating frame of the chest structure in the embodiment shown.

[0057] Figure 22 A transformable robot according to the present invention Figure 1 A schematic three-dimensional structural diagram of a preferred embodiment of the leg structure in the illustrated embodiment.

[0058] Figure 23 A transformable robot according to the present invention Figure 22 A schematic diagram of the front view of the leg structure in the illustrated embodiment.

[0059] Figure 24 A transformable robot according to the present invention Figure 22 Schematic diagram of the three-dimensional structure of the leg structure after deformation in the embodiment shown.

[0060] Figure 25 A transformable robot according to the present invention Figure 24A schematic diagram of the front view of the leg structure in the illustrated embodiment.

[0061] Figure 26 A transformable robot according to the present invention Figure 22 A perspective assembly diagram of the leg structure in the illustrated embodiment.

[0062] Figure 27 A transformable robot according to the present invention Figure 26 A perspective assembled view of the leg structure without the leg outer molding in the illustrated embodiment.

[0063] Figure 28 A transformable robot according to the present invention Figure 26 A schematic diagram of the three-dimensional structure of the connecting frame of the leg structure in the illustrated embodiment.

[0064] Figure 29 A transformable robot according to the present invention Figure 26 A schematic diagram of the three-dimensional structure of the connecting frame of the leg structure in the illustrated embodiment.

[0065] Figure 30 A transformable robot according to the present invention Figure 26 Schematic diagram of the three-dimensional structure of the second connecting arm of the leg structure in the illustrated embodiment.

[0066] Figure 31 A transformable robot according to the present invention Figure 26 A schematic diagram of the three-dimensional structure of the first connecting seat of the leg structure in the illustrated embodiment.

[0067] Figure 32 A transformable robot according to the present invention Figure 26 A schematic diagram of the three-dimensional structure of the first wheel of the leg structure in the illustrated embodiment.

[0068] Figure 33 A transformable robot according to the present invention Figure 26 A schematic diagram of the three-dimensional structure of the second wheel of the leg structure in the illustrated embodiment.

[0069] Figure 34 A transformable robot according to the present invention Figure 1 The arm structure in the illustrated embodiment is a schematic three-dimensional structural diagram of a preferred embodiment.

[0070] Figure 35 A transformable robot according to the present invention Figure 34 A schematic diagram of the main structure of the arm structure in the illustrated embodiment.

[0071] Figure 36 A transformable robot according to the present invention Figure 34 A schematic diagram of the rear view of the arm structure in the illustrated embodiment.

[0072] Figure 37 A transformable robot according to the present invention Figure 34 A schematic three-dimensional structural diagram of the arm structure without the shaping part in the illustrated embodiment.

[0073] Figure 38 A transformable robot according to the present invention Figure 34 A schematic diagram of the three-dimensional structure of the deformed arm structure in the illustrated embodiment.

[0074] Figure 39 A transformable robot according to the present invention Figure 37 A schematic three-dimensional structural diagram of the deformed arm structure in the illustrated embodiment.

[0075] Figure 40 A transformable robot according to the present invention Figure 34 A perspective assembly diagram of the arm structure in the illustrated embodiment.

[0076] Figure 41 A transformable robot according to the present invention Figure 37 A perspective assembly diagram of the arm structure in the illustrated embodiment.

[0077] Figure 42 A transformable robot according to the present invention Figure 1 Schematic diagram of the deformation state of the deformation robot in the embodiment shown Figure 1 .

[0078] Figure 43 A transformable robot according to the present invention Figure 3 Schematic diagram of the deformation state of the deformation robot in the embodiment shown Figure 2 . DETAILED DESCRIPTION

[0079] The preferred embodiments of the present invention will be further described below with reference to the accompanying drawings;

[0080] In the description of this embodiment, it should be understood that the orientation or positional relationship indicated by the terms "upper" and "lower" 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, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0081] It should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0082] Example 1:

[0083] like Figure 1-43 As shown, a transformable robot according to a preferred embodiment of the present invention is disclosed. Figure 1 A schematic diagram of the three-dimensional structure of the transformable robot with external molding parts in this embodiment is shown. Figure 2 Shown Figure 1 Schematic diagram of the three-dimensional structure of the transforming robot after transformation. Figure 3 Shown Figure 1 The illustrated embodiment is a schematic diagram of the three-dimensional structure without external moldings. The transformable robot includes an arm structure, a leg structure, and a robot head 1 fixedly mounted on a thorax structure. The arm structure includes a left arm 2 and a right arm 3. The left and right arms 2 and 3 are mirror images of each other and are symmetrically mounted on either side of the upper portion of the thorax structure. The leg structure includes a left leg 4 and a right leg 5. The left and right legs 4 and 5 are mirror images of each other and are symmetrically mounted on either side of the lower portion of the thorax structure. Figure 4 The figure shows a three-dimensional structure diagram of the chest structure of the transformable robot in this embodiment. The robot head 1 is arranged on the top of the chest structure. Figure 5 Shown Figure 4 A schematic diagram of the three-dimensional structure of the chest cavity structure after deformation in the illustrated embodiment. Figure 6 Shown Figure 4 Schematic diagram of the three-dimensional structure of the chest cavity structure without external molding parts in the embodiment shown Figure 1 . Figure 7 Shown Figure 4 Schematic diagram of the three-dimensional structure of the chest cavity structure without external molding parts in the embodiment shown Figure 2In this embodiment, the chest structure includes a first servo 7 fixedly mounted on the upper portion of a second fixed frame 6. A second battery 69 is fixedly mounted on the second fixed frame 6. The rotational output shaft of the first servo 7 passes through the top wall of the second fixed frame 6 and the first backing plate 8, and is fixedly connected to a first steering wheel 10 fixedly mounted on a first rotating frame 9. In this embodiment, a plurality of connecting bosses 71 are fixedly mounted on the first rotating frame 9. Sleeves corresponding to the connecting bosses 71 are provided on the first steering wheel 10. The sleeves are fitted over the connecting bosses 71. The first steering wheel 10 has an arc-shaped limiting opening 11. A limiting post 12 on the first backing plate 8 movably extends through the limiting opening 11. Rotation of the rotational output shaft of the first servo 7 drives the first rotating frame 9, thereby driving the entire chest structure and the robot head 1, left arm 2, and right arm 3 mounted thereon. An axial through-hole 20 is provided on the limiting post 12. The axial through-hole 20 facilitates the passage of the connecting wires of the first servo 7.

[0084] A first connecting frame 13 is fixedly mounted on the top of the first rotating frame 9. A first fixed frame 14 is fixedly mounted on the top of the first connecting frame 13. The first connecting frame 13 has a horizontally protruding protrusion plate 72. A flap 15 is hingedly mounted on the top of the rear end of the first fixed frame 14. The flap 15 is hingedly pivotally connected to the top of the rear end of the first fixed frame 14 via a rotating shaft. The robot head 1 is detachably mounted on the flap 15. In this embodiment, a second servo 16 is fixedly mounted on the bottom of the rear end of the first fixed frame 14. In this embodiment, a protrusion 70 is provided at the rear end of the first fixed frame 14. The first fixed frame 14 and the protrusion 70 are integrally formed. The top of the second servo 16 is fixedly connected to the protrusion 70, and the bottom of the second servo 16 is fixedly connected to the protrusion plate 72. A first drive connecting rod 17 is fixedly mounted on the rotation output shaft of the second servo 16. One end of the first drive link 17 is fixedly connected to the rotation output shaft of the second servo 16, and the other end is hingedly connected to the second drive link 18. One end of the second drive link 18 is fixedly hinged to one end of the first drive link 17, and the other end is fixedly hinged to the bottom of the flap 15. The rotation of the rotation output shaft of the second servo 16 drives the first drive link 17 and the second drive link 18 to move in sequence, thereby driving the flap 15 to flip along the rotation axis, thereby extending or retracting the robot head 1 from the first fixed frame 14. In this embodiment, a vertical plate 19 is vertically fixedly mounted on the rear end of the flap 15. The vertical plate 19 is movably fastened to the top opening of the first fixed frame 14 as the flap 15 moves.

[0085] A third servo 21 is fixedly mounted on the bottom of the second fixed frame 6. The third servo 21 has a rotational output shaft and a support shaft mounted on the housing of the third servo 21. The support shaft of the third servo 21 is symmetrically arranged with its axis coinciding with the axis of the third servo's rotational output shaft. The rotational output shaft of the third servo 21 passes through either side of the second fixed frame 6 and is fixedly connected to either side wall of the second connecting frame 22. The support shaft of the third servo 21 passes through the other side of the second fixed 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 to any fourth servo 23 in the leg structure, and the other side is fixedly connected to another fourth servo 23 in the leg structure. A third wheel 24 is rotatably mounted on the fourth servo 23. The third wheel 24 is rotatably secured to the side wall of the fourth servo 23 via a connecting shaft. As an alternative, a connecting plate 76 is mounted on the side wall of the fourth servo 23. A connecting shaft 75 is fixedly mounted on the connecting plate 76. A bearing 73 is rotatably mounted on the connecting shaft 75. The third wheel 24 is rotatably mounted on the connecting shaft 75 via the bearing 73 .

[0086] The fourth steering gear 23 has a rotational output shaft and a support shaft. The rotational output shaft of the fourth steering gear 23 is fixedly connected to one end of the first connecting arm 68 via a steering wheel. The support shaft of the fourth steering gear 23 is inserted into a connection hole on one end of the second connecting arm 25. The other end of the first connecting arm 68 is fixedly connected to the top of one side of the first connecting base 26. The other end of the second connecting arm 25 is fixedly connected to the top of the other side of the first connecting base 26. In this embodiment, the first connecting base 26 has a double-wishbone structure. One of the insert arms 27 on the first connecting base 26 is fixedly connected to the rotational output shaft of the fifth steering gear 74 via the steering wheel, and the other insert arm 27 is mounted on the support shaft of the fifth steering gear 27. Similarly, the axis of the rotational output shaft of the fifth steering gear 74 and the support shaft of the fifth steering gear 74 coincide and are 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 rotational output shaft and a support shaft corresponding to the rotational output shaft. The rotational output shaft of the sixth steering gear 28 is fixedly connected to either side of one end of the connecting frame 80 via the steering wheel. The support shaft of the sixth steering gear 28 is fixedly connected to the other side of one end of the connecting frame 80 via the steering wheel. The other end of the connecting frame 80 is fixedly connected to the seventh steering gear 29. Similarly, the axis of the rotational output shaft of the seventh steering gear 29 and the support shaft of the seventh steering gear 29 coincide with each other and are symmetrically arranged. The rotational output shaft of the seventh steering gear 29 is fixedly connected to either side of the other end of the connecting frame 80 via 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 connecting frame 80 via the steering wheel.

[0087] The eighth servo 30 is fixedly mounted within the connecting frame 80. Specifically, the eighth servo 30 is fixedly mounted within a mounting slot of the connecting frame 80 via a support frame 42. The rotational output shaft of the eighth servo 30 passes through either side wall of the connecting frame 80 and is fixedly connected to the motor gear 31. The motor gear 31 movably meshes with the second driven gear 34 on the first wheel 33 via the first driven gear 32, and with the fourth driven gear 37 on the second wheel 36 via the third driven gear 35. The eighth servo 30 simultaneously drives the first wheel 33 and the second wheel 36 to rotate. In this embodiment, the first wheel 33, the second wheel 36, and the third wheel 24 are simultaneously located on either side of the connecting frame 80. In other words, the first wheel 33, the second wheel 36, and the third wheel 24 are simultaneously located on either side of the connecting frame 80. The first driven gear 32 is rotatably fixedly mounted to either side wall of the connecting frame 80 via a first connecting rod 38. The third driven gear 35 is rotatably fixedly mounted to the side wall via a second connecting rod 39. The first wheel 33 is rotatably fixedly mounted on the side wall via a third connecting rod 40. The second wheel 36 is rotatably fixedly mounted on the side wall via a fourth connecting rod 41. The first connecting rod 38, the second connecting rod 39, the third connecting rod 40, and the fourth connecting rod 41 are spaced apart and arranged in parallel on the side wall of the connecting frame 80. The third connecting rod 40 and the fourth connecting rod 41 are aligned.

[0088] A ninth steering gear 43 is fixedly connected to the bottom of the seventh steering gear 29 in a cross-shaped arrangement. The ninth steering gear 43 has a support shaft. The rotation output shaft of the ninth steering gear 43 is fixedly connected to a rib on either side of the second connecting base 44 via a steering wheel. The support shaft of the ninth steering gear 43 is also fixedly connected to a rib on the other side of the second connecting base 44 via a steering wheel. The second connecting base 44 is rotated by the ninth steering gear 43. A foot connecting plate 45 is detachably connected to the bottom of the second connecting base 44.

[0089] One end of the first connecting frame 13 is fixedly connected to one of the tenth servos 46 of the left arm 2 of the arm structure, and the other end is fixedly connected to another tenth servo 46 of the right arm 3 of the arm structure. Alternatively, one end of the first connecting frame 13 is fixedly connected to one of the tenth servos 46 of the right arm 3 of the arm structure, and the other end is fixedly connected to another tenth servo 46 of the left arm 2 of the arm structure. The left and right arms 2 have the same structure. The two tenth servos 46 are located between the first connecting frame 13 and the first rotating frame 9. A PCB 63 is fixedly mounted on the top of the first rotating frame 9 via multiple connecting columns 62. A controller is mounted on the PCB 63. The first steering wheel 10 is fixedly mounted on the rotation output shaft of the first servo 7 via a connecting hole 65 on its connecting portion 64. A first battery 66 is fixedly mounted on the rear end bottom of the first fixing frame 14. A speaker 67 is fixedly mounted to the first battery 66 and the first servo 7 via a connecting plate. The rotation output shaft of each tenth servo 46 is fixedly connected to a sixteenth servo 47 via the steering wheel. The arm structure also includes a twelfth servo 49 fixedly mounted on the first mounting base 48. The rotation output shaft of the twelfth servo 49 is fixedly connected to a first mounting plate 50 at one end of the first mounting base 48. The twelfth servo 49 is rotatably hinged to the first mounting plate 50 via its rotation output shaft. A palm portion 51 is fixedly mounted on the housing of the twelfth servo 49.

[0090] The other end of the first mounting base 48 has a mounting slot 52. A thirteenth steering gear 53 is fixedly secured within the mounting slot 52. The thirteenth steering gear 53 has a support shaft. The rotation output shaft of the thirteenth steering gear 53 is fixedly connected to one end of a third connecting arm 54 via a steering wheel. The support shaft of the thirteenth steering gear 53 is fixedly connected to one end of another third connecting arm 54 via a steering wheel. The other end of one third connecting arm 54 is fixedly connected to one side of a first connecting plate 55, while the other end of another third connecting arm 54 is fixedly connected to the other side of the first connecting plate 55. A fourteenth steering gear 56 is fixedly mounted on the first connecting plate 55. A third fixing bracket 57 is fixedly mounted on the rotation output shaft of the fourteenth steering gear 56. A fifteenth steering gear 58 is fixedly mounted on the third fixing bracket 57. A third connecting bracket 59 is fixedly mounted on the rotation output shaft of the fifteenth steering gear 58. The third connecting bracket 59 has two fourth connecting arms 60 spaced apart. Any one of the fourth connecting arms 60 is fixedly connected to the rotation output shaft of the sixteenth servo 47, and the other fourth connecting arm 60 is mounted on the support column of the sixteenth servo 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 fastened to the top of the mounting slot 52, and the other end is mounted on the support shaft of the twelfth servo 49. The twelfth servo 49 is flipped by its own rotation output shaft and placed in the gap formed between the first mounting plate 50 and the second mounting plate 61 to achieve flipping of the palm 51. Each servo is electrically connected to the controller via a circuit. The controller controls the movement of each servo.

[0091] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention still falls within the scope of the technical solution of the present invention.

[0092] After reading this specification, it will be readily apparent to those skilled in the art that the present invention is comprised of a combination of prior art techniques. While some of these prior art techniques constituting various parts of the invention are described in detail herein, others are omitted for clarity and clarity, and will be readily understood by those skilled in the art after reading this specification. Furthermore, it will be readily apparent to those skilled in the art that the combination of these prior art techniques to constitute the present invention represents a significant amount of creative effort, the product of years of theoretical analysis and extensive experimentation by the inventor. Those skilled in the art will also be able to discern from this specification that each of the technical solutions and any combination of features disclosed herein constitutes part of the present invention.

Claims

1. A transformable robot comprising an arm structure, a leg structure, and a robot head fixedly mounted on a chest structure, wherein the arm structure comprises a left arm and a right arm, and the leg structure comprises a left leg and a right leg; the left leg and the right leg are mirror images of each other and are symmetrically mounted on either side of the lower portion of the chest structure; the left arm and the right arm are mirror images of each other and are symmetrically mounted on either side of the upper portion of the chest structure, characterized in that: The chest structure includes a first steering gear fixedly mounted on the upper part of the second fixing frame, the rotation output shaft of the first steering gear passes through the top wall of the second fixing frame and the first pad in sequence and is fixedly connected to the first steering wheel fixedly mounted on the first rotating frame; the first steering wheel has an arc-shaped limiting opening; the limiting column on the first pad movably passes through the limiting opening; the rotation output shaft of the first steering gear drives the first rotating frame to rotate; a first connecting frame is fixedly mounted on the upper part of the first rotating frame, and a first fixing frame is fixedly mounted on the upper part of the first connecting frame; an axial through hole is provided on the limiting column.

2. The transformable robot according to claim 1, wherein: 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.

3. The transformable robot according to claim 2, wherein: A second servo is fixedly installed at the rear end bottom of the first fixed frame, and a first driving link is fixedly mounted on the rotation output shaft of the second servo; one end of the first driving link is fixedly connected to the rotation output shaft of the second servo, and the other end is hinged to the second driving link; one end of the second driving link is fixedly hinged to one end of the first driving link, and the other end is fixedly hinged to the bottom of the flap.

4. The transformable robot according to claim 2, wherein: A vertical plate is fixedly installed vertically at the tail of the flip plate; the vertical plate is movably buckled on the top opening of the first fixing frame as the flip plate moves.

5. The transformable robot according to claim 1, wherein: A third steering gear is fixedly mounted on the bottom of the second fixing frame.

6. The transformable robot according to claim 5, wherein: The rotation output shaft of the third servo passes through either side of the second fixing frame and is fixedly connected to either side wall of the second connecting frame; the support shaft of the third servo passes through the other side of the second fixing frame and is fixedly connected to the other side wall of the second connecting frame.

7. The transformable robot according to claim 6, 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 fixedly connected to another fourth steering gear in the leg structure; a third wheel is rotatably mounted on the fourth steering gear.

8. The transformable robot according to claim 7, wherein: The rotation output shaft of the fourth servo is fixedly connected to one end of the first connecting arm through the steering wheel, and the support shaft of the fourth servo is inserted into the connecting hole on one end of the second connecting arm; the other end of the first connecting arm is fixedly connected to the top of one side of the first connecting seat; the other end of the second connecting arm is fixedly connected to the top of the other side of the first connecting seat; the first connecting seat has a double fork arm structure; any one insert arm on the first connecting seat is fixedly connected to the rotation output shaft of the fifth servo through the steering wheel, and the other insert arm is sleeved on the support shaft of the fifth servo.

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