Transformation robot and transformation method

Abstract

The invention relates to a transformation robot and a transformation method, the transformation robot comprises a trunk part, a left arm, a left thigh, a left shank, a left foot, a right foot, a right shank, a right thigh and a right arm, the left thigh and the right thigh, the left shank and the left thigh as well as the left foot and the right foot are symmetrically distributed on the two sides of the trunk part, and the transformation robot comprises 18 steering engines of three types, the driving mechanism is used for driving the robot to change from a vehicle form to a human form and walk; the human form and the vehicle form comprise a plurality of different postures; the trunk part is detachably provided with replacement parts, the replacement parts comprise a basic part, a forklift and a tilting cart, and the forklift and the tilting cart are detachably installed on the basic part. According to the transformation robot, accessories can be replaced in two different forms of a person or a vehicle, so that different playing method requirements are met; the robot has a human shape and a vehicle shape, and each shape has different postures, so that the playability, operability and interestingness of the robot are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of deformable robot technology, and more specifically, to a deformable robot and a deformable method. Background Technology

[0002] Existing transforming robot technology has limitations, with limited interactive functions and a lack of fun and operability.

[0003] For example, international application WO2022012051A1 discloses a transforming robot, including an arm structure, a leg structure, and a robot head mounted on a chest structure. The arm structure includes a left and right arm, and the leg structure includes a left and right leg. The chest structure includes a first servo motor mounted on a second fixed frame. The rotation output shaft of the first servo motor passes through the top wall of the second fixed frame and a first pad, connecting to a first rudder disk fixedly mounted on a first rotating frame. The first rudder disk has an arc-shaped limiting opening. A limiting post on the first pad movably passes through the limiting opening. The rotation output shaft of the first servo motor rotates, causing the first rotating frame to rotate. This transforming robot can transform from humanoid to vehicle form or from vehicle form to humanoid form by controlling the servos on each joint of the robot via a controller. In vehicle form, the transforming robot can move using servos; in humanoid form, it can walk on two legs using servos. However, the robot's posture changes are relatively limited and lack variety. Summary of the Invention

[0004] The purpose of this invention is to provide a transforming robot and a transformation method. It uses a total of 18 servo motors of 3 types to drive the robot to transform from a vehicle form to a human form and to perform various actions such as walking. In both human and vehicle forms, the parts can be replaced. The servo motors of the parts can be shared and can also perform corresponding actions of different parts, thereby fulfilling different play requirements. This robot has two forms, human form and vehicle form, and each form has different postures, which greatly increases the playability, operability and fun of the robot.

[0005] To achieve the above design objectives, the present invention adopts the following solution:

[0006] The first aspect of the present invention provides a transforming robot, comprising a torso, a left arm, a left thigh, a left calf, a left foot, a right foot, a right calf, a right thigh, and a right arm. The left thigh and right thigh, the left calf and left thigh, the left foot and right foot, and the left arm and right arm are symmetrically distributed on both sides of the torso. The transforming robot is driven by a total of 18 servo motors of 3 types for transforming the robot from a vehicle mode to a human mode and for walking. The human mode and vehicle mode include a variety of different postures. Replacement parts are detachably installed on the torso, and the replacement parts are the base parts, a forklift, or a dump truck.

[0007] Preferably, the torso has a first servo, a second servo, a third servo, a fourth servo, a fifth servo, a sixth servo, a seventh servo 402, an eighth servo, and a ninth servo arranged sequentially from top to bottom on both sides.

[0008] In any of the above embodiments, preferably, the torso includes a head, a front end of the torso, a torso frame, and a rear end of the torso connected together by snap-fit ​​mechanisms. The torso frame includes a main frame composed of a rear body sheet metal and a front body sheet metal. A battery, a torso button push rod, a left torso support, and a right torso support are fixedly connected internally to the main frame using screws. A motherboard and a charging board are fixedly connected to the front end of the main frame using screws. An adapter plate is fixedly connected to the rear end of the main frame using screws. The rear end of the torso includes an upper torso shell, a head decoration, a head cover, a light panel B, a microphone, a front torso cover, and a front torso shell. The torso includes a button slider and headlights. The movement of the torso button slider is achieved by pressing the torso button push rod, torso front shell, torso button slider, torso middle shell, back spring, and chest spring assembly, which are combined with the torso disassembly buttons. The rear end of the torso is fixed to the rear end of the torso frame with screws. The head is fixed to the face 101, right ear, right helmet, eyes, neck, left helmet, and left ear with screws. The head is fixed to the torso with screws between the neck and the torso middle shell. The front end of the torso is fixed to the speaker, torso disassembly buttons, torso front skirt armor, and small disassembly parts with screws, adhesive, and heat fusion.

[0009] The installation of accessories inside the torso relies on interface components, loader interface components, dump truck interface components and the torso front shell to secure the accessories to the robot through positioning and limiting of positioning pins, and locking with buckles. Before installation, press the torso button push rod to retract the torso button slider buckle. When the accessory is pressed to the appropriate position, release the torso button push rod, and the button slider buckle will extend to secure the accessory to the robot body.

[0010] In any of the above embodiments, preferably, both the left and right arms include a hand, forearm, upper arm, front tire, and a U-shaped arm component. The hand includes a front end, fingers, and a rear end. The forearm includes a forearm active disc side shell and a forearm driven disc side shell. The upper arm is composed of an upper arm driven disc shell and an upper arm active disc shell, with a forearm, switch, and flap between the upper arm driven disc shell and the upper arm active disc shell. The front tire is composed of a front tire, a front wheel hub, a front wheel connector, and two front tire upper links. The assembly of the front tire, front wheel hub, and front wheel connector is mounted on one end of the two front tire upper links via a shaft and torsion spring structure. The other end is assembled on the left upper arm driven plate housing via a shaft and torsion spring structure to form a four-bar linkage mechanism; the arm U-shaped component includes a shoulder L-end U-shaped component and a shoulder straight U-shaped component. One side of the shoulder L-end U-shaped component is connected to the upper arm, and the other side is fastened to the torso with screws; the upper arm active plate housing is provided with a front upper arm flap and a rear upper arm flap. The front upper arm flap and the rear upper arm flap are connected to the upper arm active plate housing via a shaft and torsion spring structure, respectively, and play an automatic retraction and opening function when the forearm rotates, greatly preserving the integrity of the appearance and safety; the left arm is provided with a switch button and a switch plate. The switch button is limited by the structures on both sides and relies on the cantilever to press the switch plate to control the machine's opening and closing.

[0011] In any of the above embodiments, preferably, the deformable robot includes a left leg and a right leg. Each leg includes a thigh, a lower leg, a foot, and multiple servo motors. The structure of the legs and the distribution of the servo motors are consistent to ensure consistency during walking or movement. The two legs can also coordinate their movements. The thigh includes a front thigh shell and a rear thigh shell. The thigh is fixedly connected to the torso using screws via a combination of U-shaped components. The lower part of the thigh is connected via... The lower leg driven plate and the lower leg driving plate are connected to the lower leg; the lower leg includes a lower leg front shell, a lower leg rear cover, a lower leg side shell, a rear wheel hub, and a rear wheel tire; the foot includes a basic frame composed of a right foot sheet metal and a left foot sheet metal; the foot and the lower leg are fixedly connected together by screws through a left foot U-shaped part and a right foot U-shaped part; the foot is composed of a foot bracket, a foot sole plate bracket, an E-ring, an ankle shaft, a foot bracket, a foot shell, a foot light plate, a foot light cover, and a foot sole cover assembly assembled together by screws and limiting parts.

[0012] In any of the above embodiments, preferably, the base component includes a basic structure with a basic model front end as its frame, on which the basic model cockpit and basic model windows are fixedly connected by screws; a right wing and a left wing are fixedly connected to both sides of the frame by screws; a circuit board and structural components are provided inside the lower part of the basic model front end, and the lower ends of the circuit board and structural components are fixedly mounted on rubber components; an interface component is provided between the basic model front end and the rubber components; the base component can be connected to the main frame in the torso 1 through the interface component to form a new whole.

[0013] In any of the above embodiments, preferably, the loader includes a loader head, which is the basic frame of the loader; the top of the loader head is fixedly connected to the loader truck window 1125 and the loader cab shell by screws; the rear of the loader head is fixedly connected to the loader flap and the loader top piece by a through shaft and limiting piece; the sides of the loader head are fixedly connected by screws to the loader short connecting rod, the loader long connecting rod, the right wing, connecting rod A, connecting rod B, connecting rod shaft, connecting rod C, the left wing, the loader driven rod, connecting rod D, and the loader driving rod; a bucket is provided at the front of the loader head; the bottom of the loader head is fixedly connected by screws to the loader cab body, the loader upper adapter plate, the loader push rod and the loader lower adapter plate assembly, the bottom of the assembly is sealed by a loader interface piece; a replaceable servo motor can be installed inside the loader. Replaceable servos can be installed inside the loader to control the raising and lowering of the left and right structures to achieve different effects. Alternatively, the same effect can be achieved through manual operation without the replacement servos. The loader can also be integrated with the main frame in the torso via the loader interface to form a new whole.

[0014] In any of the above embodiments, preferably, the dump truck includes a dump truck head, which is the basic frame of the dump truck; the top of the dump truck head is fixedly connected to the dump truck's cargo window and the dump truck's cab by screws; the rear of the dump truck head is fixedly connected to the dump truck's flap and top component by a through shaft and a limiting component; the sides of the dump truck head are fixedly connected by screws to a servo motor adapter, connecting rod E, a rod, the dump truck's right wing, a limiting component, the dump truck's left wing, the dump truck's drive rod, connecting rod F, connecting rod G, and the dragon back lower baffle shaft; the top of the dump truck head is fixedly connected to the dump truck and the cover by screws; the bottom of the dump truck head is fixedly connected by screws to an assembly of the dump truck's cab body, adapter plate A, adapter plate B, and dump truck push rod, and the bottom of the assembly is sealed by a dump truck interface component; a replaceable servo motor can be installed inside the dump truck.

[0015] In another aspect, the present invention provides a deformation method for a deformable robot, comprising the following deformation steps:

[0016] First, the fifth servo motor of the robot's left and right legs rotates 15° and the sixth servo motor rotates 90°. After completing the above actions, the robot changes from vehicle mode to a posture where its lower legs touch the ground and its feet are flipped up.

[0017] The second step involves the robot rotating the first servo motor of its left and right arms, left and right legs, and left and right feet by 90°, the third servo motor by 90°, the fifth servo motor by 5°, the sixth servo motor by 90°, and the ninth servo motor by 15°, based on the vehicle form. After completing the above actions, the robot changes from a posture with its lower legs touching the ground and its feet flipped up to a plank support posture with its arms and feet supporting the ground.

[0018] The third step involves the robot rotating the third servo motor in each arm, leg, and foot by 90°, the fifth servo motor by 20°, the sixth servo motor by 10°, and the ninth servo motor by 5°, based on the plank support posture with arms and feet on the ground. After completing these actions, the robot changes from the plank support posture with arms and feet on the ground to the posture with fists on the ground and the legs and feet adjusted to the appropriate angles to support the upper body of the robot.

[0019] In the fourth step, the robot supports itself with its fists on the ground and adjusts its legs and feet to the appropriate angles to lift its upper body. The first servo motor of each arm, leg, and foot rotates 10°, the fifth servo motor rotates 60°, the sixth servo motor rotates 20°, and the ninth servo motor rotates 80°. After completing the above actions, the robot changes from supporting itself with its fists on the ground and adjusting its legs and feet to supporting itself with its feet, legs, and arms on the ground, thereby increasing the robot's stability.

[0020] In the fifth step, with the robot supported on the ground by its feet, legs and arms, the first servo motor of each of the left and right arms, left and right legs and left and right feet rotates 100°, the fifth servo motor rotates 100°, the sixth servo motor rotates 10°, and the ninth servo motor 503 rotates 5°. After completing the above actions, the robot changes from the posture of being supported on the ground by its feet, legs and arms to an upright posture.

[0021] In the sixth step, based on the upright posture, the second servo motor of the left and right arms, left and right hips, and left and right feet rotates by 30°, the fourth servo motor rotates by 20°, and the eighth servo motor rotates by 20°. After completing the above actions, the robot changes from an upright posture to a straddle posture, thus completing the transformation process.

[0022] Preferably, when the robot is equipped with a dump truck, during the transformation from vehicle mode to dump truck mode, the replaceable servo motors first rotate 90°. After completing the above actions, the fifth servo motor in the left and right legs rotates 15° and the sixth servo motor rotates 90°, thereby completing the transformation from vehicle mode to the dump truck's tipping and rising posture.

[0023] In summary, the transforming robot and its transformation method of the present invention have the following advantages: The transforming robot uses a total of 18 servo motors of 3 types to drive the robot to transform from vehicle form to human form and perform various actions such as walking; the robot has two forms, human form and vehicle form, each with different postures; these mechanisms work together to make the robot's movements smooth and its structure stable during form switching, while providing users with a richer, more intuitive, and mechanically immersive interactive experience; the transformation method of the transforming robot of the present invention enables automatic transformation without human interference, greatly increasing the robot's playability and operability. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of a preferred embodiment of the deformable robot according to the present invention.

[0025] Figure 2 For the deformable robot according to the present invention Figure 1 A split diagram of the preferred embodiment is shown.

[0026] Figure 3 For the deformable robot according to the present invention Figure 1 A split view of the torso in the preferred embodiment is shown.

[0027] Figure 4 For the deformable robot according to the present invention Figure 1 A split view of the arm in the preferred embodiment shown.

[0028] Figure 5 For the deformable robot according to the present invention Figure 1 A split view of the leg in the preferred embodiment shown.

[0029] Figure 6 For the deformable robot according to the present invention Figure 1 The diagram shows a split view of the base component in the preferred embodiment.

[0030] Figure 7 For the deformable robot according to the present invention Figure 1 A split view of the forklift in the preferred embodiment is shown.

[0031] Figure 8 For the deformable robot according to the present invention Figure 1 A split view of the dump truck in the preferred embodiment shown.

[0032] Figure 9 For the deformable robot according to the present invention Figure 6 The diagram shows the disassembly of the internal components of the base component in the preferred embodiment.

[0033] Figure 10 For the deformable robot according to the present invention Figure 1The diagram shows the snap-fit ​​retracted state of the base component in the preferred embodiment.

[0034] Figure 11 For the deformable robot according to the present invention Figure 1 The diagram shows the initial state of the latch in the base component in the preferred embodiment.

[0035] Figure 12 For the deformable robot according to the present invention Figure 1 The preferred embodiment shown is equipped with only a forklift, and the forklift's flip cover is in the closed state.

[0036] Figure 13 For the deformable robot according to the present invention Figure 1 The preferred embodiment shown is equipped with only a forklift, and the forklift's flip cover is in the open state.

[0037] Figure 14 The deformable robot according to the present invention is composed of Figure 13 Axonometric view of the preferred embodiment shown.

[0038] Figure 15 For the deformable robot according to the present invention Figure 1 The diagram shown in the preferred embodiment depicts a loader with its bucket raised.

[0039] Figure 16 For the deformable robot according to the present invention Figure 1 The preferred embodiment shown is equipped with only a loader, and the loader bucket is shown in a lowered state.

[0040] Figure 17 For the deformable robot according to the present invention Figure 1 The diagram shown in the preferred embodiment depicts a loader with its bucket rotating downwards.

[0041] Figure 18 For the deformable robot according to the present invention Figure 1 The diagram shown in the preferred embodiment depicts a loader with its bucket rotating upwards.

[0042] Figure 19 The deformable robot according to the present invention is composed of Figure 1 The preferred embodiment shown only has a dump truck installed, and the dump truck is shown in a lowering state diagram.

[0043] Figure 20 For the deformable robot according to the present invention Figure 1 The preferred embodiment shown is equipped with only a dump truck, and the dump truck is shown in the diagram as it is raised.

[0044] Figure 21 The deformable robot according to the present invention is composed of Figure 1The diagram shown in the preferred embodiment depicts a state where only a dump truck is installed, and the dump truck is rotating upwards.

[0045] Figure 22 For the deformable robot according to the present invention Figure 1 The preferred embodiment shown is equipped with only a dump truck, and the dump truck is rotating downwards.

[0046] Figure 23 For the deformable robot according to the present invention Figure 1 The diagram shows the vehicle-shaped form of the robot body after the basic components are installed on the robot body in the preferred embodiment.

[0047] Figure 24 The deformable robot according to the present invention is composed of Figure 23 In the preferred embodiment shown, the vehicle shape is transformed into a posture where the lower legs touch the ground and the feet are flipped up.

[0048] Figure 25 The deformable robot according to the present invention is composed of Figure 24 In the preferred embodiment shown, the posture of the lower legs touching the ground and the feet flipped up is transformed into a plank support posture with the arms and feet supporting the ground.

[0049] Figure 26 The deformable robot according to the present invention is composed of Figure 25 The preferred embodiment shown transforms the plank posture with arms and feet on the ground into a posture with fists on the ground and legs and feet adjusted to a suitable angle to support the robot's upper body.

[0050] Figure 27 The deformable robot according to the present invention is composed of Figure 26 In the preferred embodiment shown, the robot's upper body is supported by its fists, and its legs and feet are adjusted to a suitable angle to change the posture from supporting the upper body to supporting the ground with its feet, legs and arms.

[0051] Figure 28 The deformable robot according to the present invention is composed of Figure 27 In the preferred embodiment shown, the posture of the feet, legs, and arms supporting the ground is transformed into an upright posture.

[0052] Figure 29 The deformable robot according to the present invention is composed of Figure 28 The preferred embodiment shown transforms the upright posture into a straddling posture.

[0053] Figure 30 Transforming robot according to the present invention Figure 23 The diagram shows the configuration of the vehicle after the dump truck is installed in the preferred embodiment.

[0054] Figure 31 Transforming robot according to the present invention Figure 30 The diagram shows a variation process of the preferred embodiment.

[0055] Figure 32 Transforming robot according to the present invention Figure 1 The diagram shows a schematic of the robot's main body structure in a preferred embodiment. Detailed Implementation

[0056] The following description is merely exemplary and not intended to limit this disclosure, its application, or its uses. Specific embodiments of the transforming robot of the present invention will be further described below with reference to the accompanying drawings.

[0057] like Figure 1 , Figure 2 , Figure 32 The diagram shown is a structural schematic of a preferred embodiment of the deformable robot according to the present invention.

[0058] The first aspect of the present invention provides a transforming robot, comprising a torso 1, a left arm 2, a left thigh 3, a left calf 4, a left foot 5, a right foot 6, a right calf 7, a right thigh 8, and a right arm 9. The left thigh 3 and right thigh 8, the left calf 4 and left thigh 3, the left foot 5 and right foot 6, and the left arm 2 and right arm 9 are symmetrically distributed on both sides of the torso 1. The transforming robot is driven by a total of 18 servo motors of 3 different types to change its vehicle form (see...). Figure 32 (As shown) The transformation into human form and the walking action; the human form and vehicle form include a variety of different postures; a replacement part is detachably installed on the torso 1, the replacement part being the base part 10 or the forklift 11 or the dump truck 12.

[0059] In this embodiment, the torso 1 is provided with a first servo motor 124, a second servo motor 206, a third servo motor 216, a fourth servo motor 126, a fifth servo motor 305, a sixth servo motor 310, a seventh servo motor 402, an eighth servo motor 505 and a ninth servo motor 503 on both sides from top to bottom.

[0060] See Figure 3 As shown, the deformable robot according to the present invention Figure 1 A split view of the torso in the preferred embodiment is shown.

[0061] In this embodiment, the torso 1 includes a head, a front end of the torso, a torso frame, and a rear end of the torso connected by snap-fit ​​mechanisms. The torso frame includes a main frame composed of a rear body sheet metal 121 and a front body sheet metal 129. A battery 122, a torso button push rod 123, a left torso support 127, and a right torso support 128 are fixedly connected to the inside of the main frame by screws. A motherboard 120 and a charging board 131 are fixedly connected to the front end of the main frame by screws. An adapter plate 133 is fixedly connected to the rear end of the main frame by screws. The rear end of the torso is provided with a torso upper shell 109, a head decoration 110, a head cover 114, a light panel B115, a microphone 116, a torso front cover 117, a torso front shell 118, and a torso button slider 11. 9 and vehicle lights; the movement of the torso button slider 119 is achieved by pressing the torso button top rod 123, torso front shell 118, torso button slider 119, torso middle shell 135, back spring 144 and chest spring 145 assembly, which are combined with the torso disassembly button 132; the rear end of the torso is fixed to the rear end of the torso frame by screws; the head is fixedly connected to the face 101, right ear 102, right helmet 103, eye 104, neck 105, left helmet 106 and left ear 107 by screws; the head is fixed to the torso by screws between the neck 105 and the torso middle shell 135; the front end of the torso is fixedly connected to the speaker 130, torso disassembly button 132, torso front skirt armor 136 and small disassembly parts by screws, adhesive and heat fusion.

[0062] The assembly process of the torso 1 is as follows: First, the rear sheet metal 121 and the front sheet metal 129 of the body form the main frame. The battery 122, torso button push rod 123, torso left support 127, and torso right support 128 are fastened to the inside of the main frame with screws. The main board 120, charging board 131, and adapter board 133 are fastened to the front and rear of the main frame with screws to form the torso frame. Then, the upper shell 109 of the torso, the top decoration 110, the top cover 114, the light board B115, the microphone 116, the front cover 117 of the torso, the front shell 118 of the torso, and the torso button slider 119 are assembled. After the torso, which consists of headlights and other components, is secured to the rear of the torso frame with screws, the face 101, right ear 102, right helmet 103, eyes 104, neck 105, left helmet 106, and left ear 107 are fixed together with screws to form the head. The head is then fixed to the torso by screws between the neck 105 and the torso mid-shell 135. The speaker 130, torso disassembly / reassembly buttons 132, torso front skirt armor 136, and small disassembled parts are assembled into the torso front using screws, adhesives, and heat fusion. Finally, the torso front is secured to the torso frame and the rear of the torso with screws, completing the torso assembly.

[0063] Combination Figure 9As shown, the disassembly principle of the internal components of the torso 1 is as follows: The torso disassembly button 132 is installed between the front sheet metal 129 of the body and the middle shell 135 of the torso. The end shaft hole of the torso disassembly button 132 is connected to the torso button push rod 123, which serves as a button and a limit. The end hole of the torso button push rod 123 passes through the shaft of the rear sheet metal 121 of the body. At the same time, a chest spring 145 is installed in the middle to enable the button to automatically return to its original position when pressed. The torso button slider 119 contacts the end face of the torso button push rod 123 and is fixed to the front shell 118 of the torso by a washer screw, which facilitates its sliding in the groove inside the front shell 118 of the torso. A back spring 144 is installed at the head of the torso button slider 119 and presses against the front shell 118 of the torso to realize the automatic return function of the torso button slider 119. Finally, pressing the torso disassembly button 132 moves the torso button slider 119.

[0064] See Figure 10 As shown, the retracted state of the buckle in the torso 1 is as follows: when the torso button push rod 123 is pressed, the torso button push rod 123 moves downward together, compressing the chest spring 145. The torso button push rod 123 contacts and squeezes the torso button slider 119 to slide in the groove of the torso front shell 118. The torso button slider 119 squeezes the back spring 144, finally causing the buckle section of the torso button slider 119 to retract completely.

[0065] See Figure 11 As shown, the initial state of the accessory latch in the torso 1 is as follows: when the torso button push rod 123 is released, the torso button push rod 123 is subjected to the elastic force of the chest spring 145, which drives the torso button push rod 123 to move upward together. The torso button slider 119 is disengaged from the torso button push rod 123 and slides in the groove of the torso front shell 118 under the elastic force of the back spring 144, which finally causes the latch section of the torso button slider 119 to fully extend and lock the accessory.

[0066] The accessories inside the torso 1 are installed on the robot by means of positioning and limiting, and locking, through the interface component 1007, the loader interface component 1114, the dump truck interface component 1215 and the torso front shell 118. Before installation, the torso button push rod 123 should be pressed to retract the torso button slider 119. When the accessory is pressed to the appropriate position, the torso button push rod 123 should be released and the button slider 119 should be extended to secure the accessory to the robot body.

[0067] See next. Figure 4 As shown, the deformable robot according to the present invention Figure 1 A split view of the arm in the preferred embodiment shown.

[0068] In this embodiment, both the left arm 2 and the right arm 9 include a hand, forearm, upper arm, front tire, and U-shaped arm component. The hand includes a front end 217, fingers 218, and a rear end 219. The forearm includes a forearm active disc side shell 215 and a forearm driven disc side shell 220. The upper arm is composed of an upper arm driven disc shell 205 and an upper arm active disc shell 208, with a forearm, switch, and flap between the upper arm driven disc shell 205 and the upper arm active disc shell 208. The front tire is composed of a front tire 201, a front wheel hub 202, a front wheel connector 203, and a front tire upper connecting rod 204. There are two front tire upper connecting rods 204. The assembly of the front tire 201, front wheel hub 202, and front wheel connector 203 is assembled to one end of the two front tire upper connecting rods 204 via a shaft and torsion spring structure. The other end of the lever 204 is assembled on the left upper arm driven plate housing 205 through a shaft and torsion spring structure to form a four-bar linkage mechanism; the arm U-shaped component includes a shoulder L-end U-shaped component 210 and a shoulder straight U-shaped component 211. One side of the shoulder L-end U-shaped component 210 is connected to the upper arm, and the other side is fastened to the torso with screws; the upper arm active plate housing 208 is provided with an upper arm front flip plate 207 and an upper arm rear flip plate 214. The upper arm front flip plate 207 and the upper arm rear flip plate 214 are respectively connected to the upper arm active plate housing 208 through a shaft and torsion spring structure, which play an automatic retraction and opening function when the forearm rotates, greatly preserving the integrity of the appearance and safety; the left arm 2 is provided with a switch button 222 and a switch plate 213. The switch button 222 is limited by the structure on both sides and relies on the cantilever to press the switch plate 213 to control the opening and closing of the machine.

[0069] The arm assembly process is as follows: First, the front end 217, fingers 218, and rear end 219 of the hand are fastened together with screws to form the hand; the hand is then fastened together with slots and limiters between the forearm, which is formed by fastening the forearm active plate side housing 215 and the forearm driven plate side housing 220 together with screws; then, the forearm, switch, flip plate, and other parts are fastened together with screws or positioning fasteners to the upper arm, which is formed before the upper arm driven plate housing 205 and the upper arm active plate housing 208. The front tire 201, front wheel hub 202, and front wheel connector 203 are connected. The front tires are fastened together with screws, and then mounted on one end of the two front wheel linkages 204 via a shaft and torsion spring structure. The other end of the two front wheel linkages 204 is mounted on the upper arm driven plate housing 205 via a shaft and torsion spring structure, thus forming a four-bar linkage mechanism. When the arm is raised and touches the main body, the tires can be raised, and when it is lowered, it automatically returns to the center position to avoid interference and maintain the integrity of the appearance. Finally, the upper arm is fastened between the shoulder L-end U-shaped piece 210 and the shoulder straight U-shaped piece 211 with screws, thus completing the assembly of the left arm.

[0070] See Figure 5 As shown, the deformable robot according to the present invention Figure 1A split view of the leg in the preferred embodiment shown.

[0071] In this embodiment, the deformable robot includes a left leg and a right leg. Each leg includes a thigh, a lower leg, a foot, and multiple servo motors. The structure and distribution of the servo motors of the legs and the left leg are consistent to ensure consistency during walking or movement. The two legs can also move in coordination. The thigh includes a front thigh shell 301 and a rear thigh shell 309. The thigh is fixedly connected to the torso 1 with screws via a combination of U-shaped parts 302, 303, 304, 306, 307, and 308. The lower part of the thigh 3 is connected to the lower leg via a driven lower leg disc 311 and a driven lower leg disc 312. 4. Connection; The lower leg includes a lower leg front shell 401, a lower leg rear cover 403, a lower leg side shell 404, a rear wheel hub 405, and a rear wheel tire 406; The foot includes a basic frame composed of a right foot sheet metal 502 and a left foot sheet metal 506; The foot and lower leg are fixedly connected together by screws through a left foot U-shaped part 501 and a right foot U-shaped part 504; The foot is composed of a foot bracket 507, a foot sole plate bracket 508, an E-ring 509, an ankle shaft 510, a foot bracket 511, a foot shell 512, a foot light plate 513, a foot light cover 514, and a foot sole cover 515 assembled together by screws and limiting parts.

[0072] The assembly process of the transforming robot's leg structure is as follows: The leg consists of three parts: the thigh, the lower leg, and the foot. First, the thigh is mainly based on the front thigh shell 301 and the rear thigh shell 309. U-shaped parts 302, 303, 304, 306, 307, and 308 are fastened to the upper part of the thigh with screws, helping the thigh connect to the torso 1. The lower leg driven plate 311 and the lower leg active plate 312 are fastened to the lower part of the thigh with screws, helping the thigh connect to the lower leg. Then, the lower leg is mainly composed of the lower leg front shell 401, the lower leg rear cover 403, the lower leg side shell 404, the rear wheel hub 405, and the rear wheel tire 406. Among them, the seventh servo motor 402 provides sufficient power support for the robot's vehicle mode, and the rubber material of the rear wheel tire 406 greatly increases the friction. Finally, the foot is mainly based on the right sheet metal 502 and the left sheet metal 506. The left U-shaped part 501 and the right U-shaped part 504 are fastened to the foot and the lower leg with screws. The foot bracket 507, foot plate bracket 508, E-ring 509, ankle axis 510, foot bracket 511, foot shell 512, foot light plate 513, foot light cover 514, foot bottom cover 515, etc. are assembled in this way by screws, limiters and other means. The foot is connected to the lower leg through the foot U-shaped part 501 and the foot U-shaped part 504, which greatly ensures the stability of the structure and provides strong support for the robot's walking, dancing and other movements, thus completing the assembly of the leg structure.

[0073] like Figure 6 The deformable robot according to the present invention is shown Figure 1 The diagram shows a split view of the base component in the preferred embodiment.

[0074] In this embodiment, the base component 10 includes a basic structure with a basic front end 1003 as its frame. The basic cockpit 1001 and the basic window 1002 are fixedly connected to the frame by screws. The right wing 1004 and the left wing 1009 are fixedly connected to both sides of the frame by screws. A circuit board 1006 and a structural component 1005 are provided inside the lower part of the basic front end 1003. The lower ends of the circuit board 1006 and the structural component 1005 are fixedly mounted on a rubber component 1008. An interface component 1007 is provided between the basic front end 1003 and the rubber component 1008. The base component 10 can be connected to the main frame in the torso 1 through the interface component 1007 to form a new whole.

[0075] The assembly process of the basic component 10 is as follows: First, the basic model car window 1002 is fastened to the top of the basic model car front 1003 (frame) with screws. Then, the right side wing 1004 and the left side wing 1009 are fastened to the left and right sides of the frame with screws respectively. Finally, the other parts are fastened to the inside of the frame with screws using the rubber part 1008, thus completing the assembly.

[0076] See next. Figure 7 As shown, the deformable robot according to the present invention Figure 1 A split view of the forklift in the preferred embodiment is shown.

[0077] In this embodiment, the loader 11 includes a loader head 1120, which is the basic frame of the loader. A loader truck window 1125 and a loader cab shell 1126 are fixedly connected to the top of the loader head 1120 by screws. A loader flip cover 1101 and a loader top piece 1102 are fixedly connected to the rear of the loader head 1120 by a through-shaft and limiting components. A loader short connecting rod 1106, a loader long connecting rod 1107, a right wing 1108, connecting rod A 1109, and connecting rod B are fixedly connected to both sides of the loader head 1120 by screws. 1116, connecting rod shaft 1118, connecting rod C1119, left wing 1121, loader driven rod 1122, connecting rod D1123, loader driving rod 1124; a bucket 1117 is located directly in front of the loader head 1120; an assembly consisting of the loader cab body 1110, loader upper adapter plate 1111, loader push rod 1112, and loader lower adapter plate 1113 is fixedly connected to the loader head 1120 with screws, and the lower part of the assembly is sealed by a loader interface piece 1114; a replaceable servo motor 1105 can be installed inside the loader 11. The replaceable servo motor 1105 installed inside the loader 11 controls the raising and lowering of the left and right structures to achieve different effects, or the same effect can be achieved manually without installing the replaceable servo motor 1105; the loader 11 can also be connected to the main frame in the torso 1 through the loader interface piece 1114 to form a new whole.

[0078] The assembly process of the loader 11 is as follows: First, the loader truck window 1125 and the loader cab shell 1126 are fastened to the top of the loader cab 1120 with screws. Then, the loader flap 1101 and the loader top piece 1102 are fastened to the rear of the loader cab 1120 using through shafts and limiting devices. Then, the loader short connecting rod 1106, loader long connecting rod 1107, right wing 1108, connecting rod A 1109, connecting rod B 1116, connecting rod shaft 1118, connecting rod C 1119, left wing 1121, and loader are assembled. Driven rod 1122, connecting rod D1123, and loader drive rod 1124 are fastened to both sides of loader head 1120 with screws. Bucket 1117 is installed at the front of loader with screws. Finally, the assembly of loader cab body 1110, loader upper adapter plate 1111, loader push rod 1112, and loader lower adapter plate 1113 is sealed with loader interface part 1114 and fastened to the bottom of loader head 1120 with screws, thus completing the overall assembly.

[0079] When a replaceable servo motor 1105 is needed inside the forklift 11, the installation process is as follows: lift the forklift cover 1101 to the appropriate position, and press the notch of the internal servo disc 1103 into place. Figure 17 After the flip cover is opened and the position is adjusted as shown in the axonometric diagram, when the replaceable servo 1105 is placed vertically in the appropriate position, the push rod 1112 will retract to... Figure 12After closing the flip cover as shown in the diagram, finally close the loader flip cover 1101. The clips will then secure the loader flip cover 1101, and the replaceable servo motor 1105 will be installed.

[0080] When it is necessary to remove the replaceable servo motor 1105, the disassembly process is as follows: lift the forklift cover 1101 to the appropriate position, and push the forklift push rod 1112 from below. Figure 13 , Figure 14 Open the flip cover as shown in the diagram, then remove the replaceable servo 1105 from both sides. Afterward, close the flip cover 1101. The removal of the replaceable servo 1105 is now complete. (See...) Figure 13 (Image of the flip cover open).

[0081] The lifting and lowering principle of the loader 11 is as follows: the replaceable servo motor 1105 drives the connecting rod A1109 to rotate upward or downward. The connecting rod shaft 1118 passes through the connecting rods B1116 and C1119 and connects to the loader driven rod 1122, which moves together with the moving connecting rod A1109, driving the mechanisms on both sides to move together (where connecting rod A1109 and loader driven rod 1122 are the frame in a four-bar linkage), thereby realizing the lifting and lowering of the bucket. (See...) Figure 15 Forklift Ascent Diagram Figure 16 (Image of forklift descending)

[0082] The rotation principle of the loader 11 is as follows: Linkage C1119, loader driven link 1122, link D1123, and loader driving link 1124 form a four-bar linkage. loader driven link 1122 is the frame, link D1123 is the connecting rod, and link C1119 and loader driving link 1124 are the connecting rods. A replaceable servo motor 1105 drives the driving link 1124 to rotate. The loader driving link 1124 drives the connecting link D1123 to move, and the connecting link D1123 drives the connecting link C1119 to move around one end of the connecting link C1119 as the origin, thus achieving the rotation of the loader. (Reference) Figure 17 diagram of the forklift rotating downwards. Figure 18 (Image of the forklift rotating upwards)

[0083] like Figure 8 As shown, the deformable robot according to the present invention Figure 1 A split view of the dump truck in the preferred embodiment shown.

[0084] In this embodiment, the dump truck 12 includes a dump truck head 1217, which is the basic frame of the dump truck. The top of the dump truck head 1217 is fixedly connected to the dump truck's cargo window 1223 and the dump truck's cab 1224 via screws. The rear of the dump truck head 1217 is fixedly connected to the dump truck's flip cover 1203 and the dump truck's roof component 1204 via a through-shaft and limiting components. The sides of the dump truck head 1217 are fixedly connected to a servo motor adapter 1207, a connecting rod E1208, a rod 1209, the dump truck's right side wing 1210, and a limiting component 1218 via screws. The dump truck includes a left wing 1219, a drive rod 1220, a connecting rod F1221, a connecting rod G1222, and a lower baffle shaft 1225. The dump truck head 1217 is secured to the top with screws, consisting of a dump truck 1201 and a cover 1202. Below the dump truck head 1217, the dump truck cab body 1211, adapter plate A1212, adapter plate B1213, and a dump truck push rod 1214 are secured to the bottom with screws. The assembly is sealed below by a dump truck interface piece 1215. A replaceable servo motor 1105 can be installed inside the dump truck 12.

[0085] The assembly process of the dump truck 12 is as follows: First, fasten the dump truck window 1223 and the dump truck cab 1224 to the frame with screws. Then, fasten the dump truck cover 1203 and the dump truck roof piece 1204 to the frame with through shafts and limiting pieces. Next, fasten the servo adapter 1207, connecting rod E1208, rod 1209, dump truck right wing 1210, limiting piece 1218, dump truck left wing 1219, dump truck drive lever 1220, and connecting rod F122. 1. Connecting rod G1222 and the lower baffle shaft 1225 are fastened to both sides of the frame with screws. Then, the tipper 1201 and cover 1202 are fastened to the rod above the frame with screws. Finally, the assembly of the tipper cab main body 1211, adapter plate A1212, adapter plate B1213, and tipper push rod 1214 is sealed with tipper interface part 1215 and fastened to the bottom of the frame with screws using tipper truck rubber parts 1216, thus completing the overall assembly. The replaceable servo motor 1105 is installed in the tipper truck 12 to control the raising and lowering of the left and right structures to achieve different effects. Alternatively, the same effect can be achieved manually without the replaceable servo motor 1105. The tipper truck 12 can also be connected to the main frame in the torso 1 through the tipper truck interface part 1215 to form a new whole.

[0086] The principle of raising and lowering the dump truck 12 is as follows: the replaceable servo motor 1105 drives the rod 1209 to rotate downwards or upwards. The connecting rod E1208 passes through the dump 1201, causing the dump 1201 and the connecting rod E1208 to move together (the connecting rod E1208 can rotate inside the dump 1201). The connecting rod G1222 moves downwards with the dump 1201. The connecting rod G1222 is sleeved on the outer ring of the dump truck's drive rod 1220, so the two sides do not affect each other during rotation, thus realizing the raising and lowering of the dump truck 12. (See...) Figure 19 Dump truck descent diagram Figure 20 (Dump truck ascent diagram)

[0087] The rotation principle of the dump truck 12 is as follows: the dump truck's drive lever 1220, connecting rod F1221, connecting rod G1222, and dump 1201 form a four-bar linkage. Connecting rod G1222 is the frame and does not move with the dump truck's drive lever 1220. Connecting rod F1221 is a connecting rod. The dump truck's drive lever 1220 and dump 1201 form a connecting rod. A replaceable servo motor 1105 drives the dump truck's drive lever 1220 to rotate. The dump truck's drive lever 1220 drives the connecting rod F1221 to rotate. The connecting rod F1221 lifts the dump 1201, and the dump 1201 rotates around one end of the connecting rod G1222 as the origin, completing the dump truck's rotational movement. (See...) Figure 21 Diagram of a dump truck rotating upwards Figure 22 (Diagram of a dump truck rotating downwards).

[0088] See last for reference. Figures 23-29 As shown, another aspect of the present invention provides a deformation method for a deformable robot, applied to the aforementioned deformable robot, comprising the following deformation steps:

[0089] First, the fifth servo motor 305 of the robot's left and right legs rotates 15° and the sixth servo motor 310 rotates 90°. After completing the above actions, the robot... Figure 23 The vehicle shape shown transforms into Figure 24 The image shows a posture where the lower legs are on the ground and the feet are turned up.

[0090] The second step is that the robot... Figure 23 Based on the vehicle form shown, the first servo motor 124 in the left and right arms, left and right legs, and left and right feet rotates 90°, the third servo motor 216 rotates 90°, the fifth servo motor 305 rotates 5°, the sixth servo motor 310 rotates 90°, and the ninth servo motor 503 rotates 15°. After completing the above actions, the robot... Figure 24 The posture shown is with the lower legs touching the ground and the feet turned up. Figure 25 The plank pose shown is with arms and feet supporting the ground.

[0091] The third step is that the robot... Figure 25Starting from the plank support posture with arms and feet on the ground, the third servo motor 216 of each arm, leg, and foot rotates 90°, the fifth servo motor 305 rotates 20°, the sixth servo motor 310 rotates 10°, and the ninth servo motor 503 rotates 5°. After completing these movements, the robot... Figure 25 The plank pose shown, with arms and feet supporting the body, becomes... Figure 26 The robot is shown in a pose where its fists are on the ground and its legs and feet are adjusted to a suitable angle to support its upper body.

[0092] Fourth step, the robot in Figure 26 As shown in the diagram, with the robot's upper body supported by its fists on the ground and its legs and feet adjusted to a suitable angle, the first servo motor 124 of each arm, leg, and foot rotates 10°, the fifth servo motor 305 rotates 60°, the sixth servo motor 310 rotates 20°, and the ninth servo motor 503 rotates 80°. After completing these actions, the robot... Figure 26 The robot is shown in a pose where it supports itself with its fists on the ground, and its legs and feet are adjusted to a suitable angle to lift its upper body. Figure 27 The feet, legs, and arms shown support the robot on the ground, thus increasing its stability;

[0093] Fifth step, the robot in Figure 27 Based on the ground-supported posture shown, with feet, legs, and arms, the first servo motor 124 of each arm, leg, and foot rotates 100°, the fifth servo motor 305 rotates 100°, the sixth servo motor 310 rotates 10°, and the ninth servo motor 503 rotates 5°. After completing these actions, the robot... Figure 27 The posture shown, with feet, legs, and arms supporting the ground, becomes Figure 28 The upright posture shown;

[0094] Step six, the robot in Figure 28 Starting from the upright posture shown, the second servo motor 206 of the left and right arms, left and right hips, and left and right feet rotates by 30°, the fourth servo motor 126 rotates by 20°, and the eighth servo motor 505 rotates by 20°. After completing the above actions, the robot... Figure 28 The upright posture shown becomes Figure 29 The straddle posture shown completes the deformation process.

[0095] In this embodiment, when the robot is equipped with a dump truck 12, Figure 30 The vehicle shape shown Figure 31 During the transformation process shown, the replaceable servo 1105 first rotates 90° to complete the above action. After that, the fifth servo 305 in the left and right legs rotates 15° and the sixth servo 310 rotates 90°, thus completing the transformation from... Figure 30 The vehicle shape shown transforms into Figure 31 The tipping and rising posture of the tipper truck 12 shown.

[0096] It will be readily understood by those skilled in the art that the deformable robot of the present invention comprises any combination of the parts described in this specification. Due to space limitations and for the sake of brevity, these combinations are not described in detail here; however, after reading this specification, the scope of the invention, constituted by any combination of the parts described herein, is self-evident.

Claims

1. A metamorphic robot comprising a trunk (1), a left arm (2), a left thigh (3), a left shank (4), a left foot (5), a right foot (6), a right shank (7), a right thigh (8) and a right arm (9), the left thigh (3) and the right thigh (8), the left shank (4) and the left thigh (3), the left foot (5) and the right foot (6), the left arm (2) and the right arm (9) being symmetrically distributed on both sides of the trunk (1), characterized in that: The transformation robot is driven by 3 common servos in total of 18, which are used to drive the robot to transform from a car shape to a human shape and walk; the human shape and the car shape include various postures; a replacement part is detachably installed on the trunk (1), and the replacement part is a base part (10), a forklift (11) or a dump truck (12).

2. The metamorphic robot of claim 1, wherein: The trunk (1) is provided with a first servo (124), a second servo (206), a third servo (216), a fourth servo (126), a fifth servo (305), a sixth servo (310), a seventh servo (402), an eighth servo (505) and a ninth servo (503) from top to bottom on both sides.

3. The metamorphic robot of claim 1, wherein: The trunk (1) includes a head, a trunk front end, a trunk skeleton and a trunk rear end which are connected together by buckling, the trunk skeleton includes a main skeleton composed of a body rear sheet metal (121) and a body front sheet metal (129); the inside of the main skeleton is fixedly connected with a battery (122), a trunk key top rod (123), a trunk left support (127) and a trunk right support (128) by screws; the front end of the main skeleton is fixedly connected with a mainboard (120) and a charging board (131) by screws; the rear end of the main skeleton is fixedly connected with an adapter board (133) by screws; the trunk rear end is provided with a trunk upper shell (109), a head top decoration (110), a head top blocking shell (114), a lamp board B (115), a microphone (116), a trunk front blocking sheet (117), a trunk front shell (118), a trunk key slider (119) and a car lamp; the movement of the trunk key slider (119) is realized through the combination of the trunk key top rod (123), the trunk front shell (118), the trunk key slider (119), the trunk middle shell (135), the back spring (144) and the chest spring (145) combination piece which are combined with the trunk disassembly key (132) by pressing; the trunk rear end is fixedly connected with the rear end of the trunk skeleton by screws; the head is fixedly connected with a face (101), a right ear (102), a right helmet (103), eyes (104), a neck (105), a left helmet (106) and a left ear (107) by screws; the head is fixedly connected with the trunk through the screws between the neck (105) and the trunk middle shell (135); the trunk front end is fixedly connected with a sound (130), a trunk disassembly key (132), a trunk front skirt (136) and a small disassembly part by means of screws, adhesives and hot melting.

4. The metamorphic robot of claim 1, wherein: The left arm (2) and the right arm (9) each include a hand, a lower arm, an upper arm, a front tire, and an arm U-shaped piece, the hand includes a hand front end (217), fingers (218), and a hand rear end (219); the lower arm includes a lower arm driving disc side shell (215) and a lower arm driven disc side shell (220); the upper arm is composed of an upper arm driven disc shell (205) and an upper arm driving disc shell (208), and a lower arm, a switch, and a flap are arranged between the upper arm driven disc shell (205) and the upper arm driving disc shell (208); the front tire is composed of a front wheel outer tire (201), a front wheel hub (202), a front wheel connecting piece (203), and a front tire upper connecting rod (204); the front tire upper connecting rod (204) is two, and an assembly of the front wheel outer tire (201), the front wheel hub (202), and the front wheel connecting piece (203) is assembled at one end of the two front tire upper connecting rods (204) through a shaft and a torsional spring structure; the other end of the two front tire upper connecting rods (204) is assembled on the left upper arm driven disc shell (205) through a shaft and a torsional spring structure to form a four-bar linkage mechanism; the arm U-shaped piece includes a shoulder L-end U-shaped piece (210) and a shoulder straight U-shaped piece (211), one side of the shoulder L-end U-shaped piece (210) is connected with the upper arm, and the other side is fastened on the trunk through a screw; the upper arm driving disc shell (208) is provided with an upper arm front flap (207) and an upper arm rear side flap (214), and the upper arm front flap (207) and the upper arm rear side flap (214) are connected with the upper arm driving disc shell (208) through a shaft and a torsional spring structure respectively; the left arm (2) is provided with a switch key (222) and a switch plate (213).

5. The metamorphic robot of claim 1, wherein: The transformable robot includes left legs and right legs, and each of the left legs and the right legs includes a thigh, a lower leg, a foot, and a plurality of steering wheels, the thigh includes a thigh front shell (301) and a thigh rear shell (309); the thigh is fixedly connected with the trunk 1 through a combination of U-shaped pieces (302), (303), (304), (306), (307), and (308) by means of screws; the lower leg (4) is connected with the thigh (3) through a lower leg driven disc (311) and a lower leg driving disc (312); the lower leg includes a lower leg front shell (401), a lower leg rear cover (403), a lower leg side shell (404), a rear wheel hub (405), and a rear wheel outer tire (406); the foot includes a basic frame composed of a foot right sheet metal (502) and a foot left sheet metal (506); the foot and the lower leg are fixedly connected together by means of screws through a foot left U-shaped piece (501) and a foot right U-shaped piece (504); the foot is composed of a foot support (507), a foot sole plate support (508), an E ring (509), a foot ankle shaft (510), a foot support (511), a foot shell (512), a foot lamp plate (513), a foot lamp cover (514), and a foot sole cover (515) assembled together through screws and limiters.

6. The metamorphic robot of claim 4, wherein: The base piece (10) comprises a base structure with a base head (1003) as a framework, the framework is fixedly connected with a base cockpit (1001) and a base window (1002) through screws; both sides of the framework are fixedly connected with a right side wing (1004) and a left side wing (1009) through screws; the lower part of the base head (1003) is internally provided with a circuit board (1006) and a structural piece (1005), the lower end of the circuit board (1006) and the structural piece (1005) is fixedly installed on a rubber piece (1008); an interface piece (1007) is arranged between the base head (1003) and the rubber piece (1008).

7. The metamorphic robot of claim 1, wherein: The forklift (11) comprises a forklift head (1120), the forklift head (1120) is a base framework of the forklift; the upper part of the forklift head (1120) is fixedly connected with a forklift truck window (1125) and a forklift cockpit shell (1126) through screws; the rear part of the forklift head (1120) is fixedly connected with a forklift flip cover (1101) and a forklift top piece (1102) through a shaft and a limiting piece; both sides of the forklift head (1120) are fixedly connected with a forklift short connecting rod (1106), a forklift long connecting rod (1107), a right side wing (1108), a connecting rod A (1109), a connecting rod B (1116), a connecting rod shaft (1118), a connecting rod C (1119), a left side wing (1121), a forklift driven rod (1122), a connecting rod D (1123) and a forklift driving rod (1124) through screws; the front part of the forklift head (1120) is provided with a bucket (1117); the lower part of the forklift head (1120) is fixedly connected with an assembly of a forklift cockpit main body (1110), a forklift upper adapter plate (1111), a forklift push rod (1112) and a forklift lower adapter plate (1113) through screws, and the lower part of the assembly is sealed through a forklift interface piece (1114); the inside of the forklift (11) is provided with a replaceable steering engine (1105).

8. The metamorphic robot of claim 1, wherein: The tipper truck (12) comprises a tipper truck head (1217), which is a basic framework of the tipper truck; a tipper truck cab (1224) and a tipper truck window (1223) are fixedly connected above the tipper truck head (1217) through screws; a tipper truck cover (1203) and a tipper truck top piece (1204) are fixedly connected behind the tipper truck head (1217) through a shaft and a limiting piece; a rudder adapter (1207), a connecting rod E (1208), a rod (1209), a tipper truck right wing (1210), a limiting piece (1218), a tipper truck left wing (1219), a tipper truck driving rod (1220), a connecting rod F (1221), a connecting rod G (1222) and a dragon back lower baffle shaft (1225) are fixedly connected on both sides of the tipper truck head (1217) through screws; a tipper (1201) and a cover (1202) are fixedly connected above the tipper truck head (1217) through screws; a tipper truck cab body (1211), an adapter plate A (1212), an adapter plate B (1213) and a tipper truck push rod (1214) are fixedly connected below the tipper truck head (1217) through screws; the assembly is sealed below through a tipper truck interface piece (1215); a replaceable rudder (1105) can be installed in the tipper truck (12).

9. The metamorphic robot transformation method according to any one of claims 1 to 8, wherein, The transformation steps include: First step, the fifth rudder (305) and the sixth rudder (310) of the left and right legs of the robot are rotated by 15° and 90° respectively, and after the above action is completed, the robot is transformed from the car shape into the small leg touching the ground and the double feet turning up posture; Second step, on the basis of the car shape, the first rudder (124), the third rudder (216), the fifth rudder (305), the sixth rudder (310) and the ninth rudder (503) in the left and right arms, the left and right legs and the left and right feet are rotated by 90°, 90°, 5°, 90° and 15° respectively, and after the above action is completed, the robot is transformed from the small leg touching the ground and the double feet turning up posture into the arm and foot supporting the ground flat support posture; Third step, on the basis of the arm and foot supporting the ground flat support posture, the third rudder (216), the fifth rudder (305), the sixth rudder (310) and the ninth rudder (503) in the left and right arms, the left and right legs and the left and right feet are rotated by 90°, 20°, 10° and 5° respectively, and after the above action is completed, the robot is transformed from the arm and foot supporting the ground flat support posture into the double fist supporting the ground, the leg and the foot adjusting the appropriate angle to support the upper body of the robot; Fourth step, on the basis of the double fist supporting the ground, the leg and the foot adjusting the appropriate angle to support the upper body of the robot, the first rudder (124), the fifth rudder (305), the sixth rudder (310) and the ninth rudder (503) in the left and right arms, the left and right legs and the left and right feet are rotated by 10°, 60°, 20° and 80° respectively, and after the above action is completed, the robot is transformed from the double fist supporting the ground, the leg and the foot adjusting the appropriate angle to support the upper body of the robot into the posture of supporting the ground with the foot, the leg and the arm, thereby increasing the stability of the robot; The fifth step, the robot in the foot, leg and arm support to the ground pose basis, left and right arm, left and right leg and left and right foot in the first steering wheel (124) rotates 100°, the fifth steering wheel (305) rotates 100°, the sixth steering wheel (310) rotates 10°, the ninth steering wheel (503) rotates 5°, after the above action, the robot from the foot, leg and arm support to the ground pose becomes a standing posture; The sixth step, the robot in the standing posture basis, left and right arm, left and right hip, left and right foot in the second steering wheel (206) rotates 30°, the fourth steering wheel (126) rotates 20°, the eighth steering wheel (505) rotates 20°, after the above action, the robot from the standing posture becomes a cross standing posture, thus completing the whole transformation process.

10. The transformation method of the metamorphic robot according to claim 9, wherein: When the robot is installed with a dump truck 12, in the car shape to the transformation process, first replaceable steering wheel (1105) first rotates 90°, after the above action, the fifth steering wheel (305) in the left and right leg rotates 15°, the sixth steering wheel (310) rotates 90°, and then completes the transformation from the car shape to the dump truck (12) in the dump truck rising posture.

Images