Transformable robot

Abstract

Provided is a transformable robot capable of dividing a movement function of a lower body of a robot and a work function involving a hand of an upper body of the robot, and connecting only the lower body or only the upper body of the robot to another device before use. This transformable robot, which can change form between a robot mode and a vehicle mode, is characterized in that a peripheral portion of a cockpit of a vehicle body upper part of a vehicle in the vehicle mode and a chassis part of a bottom part of the vehicle body respectively constitute an upper body and a lower body of the robot in the robot mode, thereby separating the vehicle body upper part and a vehicle body lower part in the vehicle mode into the upper body and the lower body of the robot in the robot mode.

Description

Transforming robot

[0001] The present invention relates to a transformable robot that can change its form between a robot mode and a vehicle mode.

[0002] Transformable toys that can change from a robot form in robot mode to a vehicle form in vehicle mode, or vice versa, from a vehicle to a robot, are known, and various proposals have been made in this regard.

[0003] For example, Patent Literature 1 proposes a transforming toy that allows a user to enjoy an unprecedented transformation process in which the wheels of a mobile toy transform into the arms of a robot toy. Specifically, this transforming toy has a storage recess that is covered by a wheel cover, and transformable arms and hands are stored in the storage recess. When the transforming toy is a mobile toy such as a vehicle, the arms are stored in a retracted state in the storage recess covered by the wheel cover. When the transforming toy is in the form of a robot, the arms are extended out of the storage recess.

[0004] Furthermore, Patent Document 2 proposes a transforming toy and joint structure that can appropriately lock the movement required for transformation while realizing natural movements. That is, this transforming toy is equipped with a movable part having multiple movable axes for moving at least one part, and a locking mechanism that restricts the movement of at least one of the multiple movable axes of the movable part, while not restricting the movement of the other movable axes.

[0005] Furthermore, Patent Document 3 proposes a transforming robot that can change its posture between a vehicle form and a humanoid form without changing the posture of the cockpit. More specifically, in vehicle form, this transforming robot has front sides located on either side of the front center part, a cockpit where the seats are located, door sections located on the sides of the cockpit, and rear lower sections located above and below the cockpit, and in humanoid form, the front sides form the head, the door sections form the arms, the rear upper section form the left and right feet, and the seat surface of the cockpit seat has the same inclination angle in both vehicle form and humanoid form.

[0006] JP 2006-034896 A JP 2023-166965 A International Publication No. 2017 / 200038 A

[0007] However, in the transforming toys or transforming robots proposed in Patent Documents 1 to 3, the upper and lower bodies of the robot in robot mode are not separated into the upper and lower body parts of the vehicle in vehicle mode, so the movement function of the robot's lower body and the manual work function of the robot's upper body cannot be separated, resulting in the problem that only the lower body or only the upper body of the robot cannot be connected to another device and used.

[0008] The present invention has been made in consideration of the above problems, and its object is to provide a transformable robot in which the movement function of the robot's lower body and the manual working function of the robot's upper body can be separated, and in which only the robot's lower body or only the upper body can be connected to another device and used.

[0009] The present invention, which aims to solve the above-mentioned problems, is a transformable robot (1) that can change its form between robot mode and vehicle mode, characterized in that the cockpit (5) surrounding area at the top of the body (2) of the vehicle (1C) in vehicle mode and the chassis (6) at the bottom of the body (2) respectively constitute the upper and lower body of the robot (1R) in robot mode, thereby separating the upper body (2A) and lower body (2B) of the vehicle (1C) in vehicle mode into the upper and lower body of the robot (1R) in robot mode.

[0010] According to the present invention, the cockpit area at the top of the vehicle body in vehicle mode and the chassis at the bottom of the body respectively constitute the upper and lower body of the robot in robot mode. This separates the upper and lower body of the vehicle in vehicle mode into the upper and lower body of the robot in robot mode, making it possible to separate the movement function of the robot's lower body from the manual work function of the robot's upper body, and the robot's lower body or upper body alone can be connected to another device and used.

[0011] In addition, in this transformable robot, the vehicle (1C) in vehicle mode may have shock absorbers (16, 18, 21) arranged in four directions, front, back, left and right, to absorb the impact when the robot (1R) in robot mode falls.

[0012] With this configuration, even if the robot falls over, the shock is absorbed by the shock absorbers provided on the robot facing in four directions (front, back, left, and right), preventing damage to the robot due to the fall.

[0013] This transformable robot may also be provided with a lift-up mechanism for lifting the body (2) when transforming from vehicle mode to robot mode.

[0014] With this configuration, when transforming from vehicle mode to robot mode, the vehicle body is lifted up by the lift-up mechanism, allowing for a smooth transformation from vehicle to robot mode.

[0015] This transformable robot may also be provided with a slide mechanism that slides the front wheels (3) and rear wheels (4) in the longitudinal direction of the vehicle when transforming from vehicle mode to robot mode.

[0016] With this configuration, when transforming from vehicle mode to robot mode, the front and rear wheels can be slid toward each other in the fore-and-aft direction of the vehicle using the sliding mechanism, allowing the front and rear wheels to be stored compactly in the shins of the robot.

[0017] In addition, in this transformable robot, swivel casters (25) may be provided on the soles of both feet of the robot (1R) in robot mode.

[0018] With this configuration, the weight of the robot in robot mode can be supported by the swivel casters provided on the soles of both feet, and when the swivel casters come into contact with the walking surface, an external force can be applied to the robot in an upright position to move or change direction.

[0019] In addition, in this transformable robot, a plurality of grip pads (24) that are expandable in the vertical direction may be provided on the soles of both feet of the robot (1R) in robot mode.

[0020] With this configuration, when the robot walks, the multiple grip pads on the soles of both feet of the robot can be stretched and placed in contact with the walking surface, increasing the friction between the grip pads and the walking surface, allowing the robot to walk reliably without slipping.

[0021] In addition, in this transformable robot, a plurality of omni-wheel drive wheels (26) that can expand and contract in the vertical direction may be provided on the soles of both feet of the robot (1R) in robot mode.

[0022] With this configuration, when the robot is standing upright or walking, the omni-wheel drive wheels do not touch the walking surface, but are kept slightly above the walking surface, and if the robot tilts and is about to fall over, the omni-wheel drive wheels will touch the walking surface, causing the omni-wheel drive wheels to rotate, returning the robot to an upright position and preventing the robot from falling over. In other words, the multiple omni-wheel drive wheels can function as a means for stabilizing the robot's posture.

[0023] According to the transformable robot of the present invention, the movement function of the robot's lower body can be separated from the manual work function of the robot's upper body, and only the lower body or only the upper body of the robot can be connected to another device and used.

[0024] 1 is a perspective view of a vehicle in vehicle mode of a transforming robot according to an embodiment of the present invention, as seen diagonally from the front; FIG. 2 is a perspective view of a vehicle in vehicle mode of a transforming robot, as seen diagonally from the rear; FIG. 3 is a front view showing the process of a transforming robot changing form from a vehicle to a robot; FIG. 4 is a front view showing the process of a transforming robot changing form from a vehicle to a robot; FIG. 5 is a front view showing the process of a transforming robot changing form from a vehicle to a robot; FIG. 6 is a side view showing the process of a transforming robot changing form from a vehicle to a robot; FIG. 7 is a front view showing the process of a transforming robot changing form from a vehicle to a robot; FIG. 8 is a side view showing the process of a transforming robot changing form from a vehicle to a robot; 1 is a front view showing the process by which a transforming robot changes its form from a vehicle to a robot; FIG. 2 is a front view showing the process by which a transforming robot changes its form from a vehicle to a robot; FIG. 3 is a side view showing the process by which a transforming robot changes its form from a vehicle to a robot; FIG. 4 is a front view showing the process by which a transforming robot changes its form from a vehicle to a robot; FIG. 5 is a side view showing the process by which a transforming robot changes its form from a vehicle to a robot; FIG. 6 is a perspective view of a transforming robot in robot mode, seen diagonally from the front; FIG. 7 is a front view showing the rotation (rolling, pitching and yawing) of each joint of the robot; FIG. 8 is a bottom view of the sole of the robot's foot, seen from below.

[0025] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0026] [Overall Configuration of the Vehicle] First, the configuration of the vehicle 1C when the transformable robot 1 according to one embodiment of the present invention is transformed into the form of the vehicle 1C in vehicle mode will be described with reference to Figures 1 and 2. In Figures 1 and 2, the arrows indicate the "front-rear" and "left-right" directions, respectively, as shown.

[0027] 1 and 2 , a vehicle 1C has a body 2 supported for travel by a pair of left and right front wheels 3 (only one of which is shown in FIG. 2 ) that serve as steering wheels and a pair of left and right rear wheels 4 (only one of which is shown in FIG. 1 ) that serve as drive wheels. The body 2 is divided into an upper portion 2A surrounding a cockpit 5 and a lower portion 2B in which a chassis portion 6 is provided. The cockpit 5 that constitutes the upper portion 2A of the body 2 is formed inside a canopy 7, and this cockpit 5 houses a steering wheel 8, a seat (not shown), and the like. Furthermore, thruster pods 9 (only one of which is shown in FIGS. 1 and 2 ) are disposed on the left and right rear portions of the canopy 7, and a horizontally elongated high-mounted stop lamp 10 is provided on the upper back surface of the canopy 7, as shown in FIG. 2 .

[0028] A front bumper 11 is disposed at the front end of the vehicle body 2, and a hood 12 is disposed in the center of the width direction at the upper rear of the front bumper 11, as shown in Fig. 1. On the left and right sides of the hood 12, front turn signals 13 that also serve as daytime running lights and retractable headlights 14 are disposed, as shown in Fig. 1, and a pair of left and right fender mirrors 15 are disposed behind the headlights 14, and front shock absorbers 16 are disposed parallel to each other in the front-to-rear direction on the inner sides of the fender mirrors 15 in the width direction.

[0029] Furthermore, block-shaped side members 17 (only one of which is shown in FIGS. 1 and 2) are disposed on both the left and right sides of the canopy 7 that constitutes the upper part 2A of the vehicle body 2, and side shock absorbers 18 (only one of which is shown in FIGS. 1 and 2) that can be extended and retracted in the width direction are provided below these side members 17. In the state shown in FIGS. 1 and 2, the side shock absorbers 18 are stored inside the vehicle body 2.

[0030] Furthermore, a rear wing 19 is disposed behind the canopy 7 that constitutes the upper portion 2A of the vehicle body 2, and rear turn signals 20 (only one of which is shown in FIG. 2) that also serve as backlights are disposed on the left and right sides below the rear wing 19, as shown in FIG. 2. Also, a rear shock absorber 21 is disposed below the rear wing 19 at the rear end of the vehicle body 2, as shown in FIG. 2.

[0031] [Transformation from Vehicle to Robot] Next, the process by which the vehicle 1C configured as described above transforms into the robot 1R shown in FIG. 23 in the robot mode will be described below with reference to FIGS.

[0032] In the robot mode, as shown in Fig. 3, a lift-up mechanism (not shown) provided on the vehicle body 2 lifts the vehicle body 2 in the direction of the arrow (upward) while leaving a pair of left and right front and rear wheels 3 and 4 (not shown in Fig. 3) on the running surface F. When the vehicle body 2 is lifted up in this manner, the left and right side shock absorbers 18 are then caused to protrude horizontally from the vehicle body 2 by a drive mechanism (not shown) built into the vehicle body 2, as shown in Fig. 4.

[0033] Thereafter, as shown in Fig. 5, a pair of left and right legs 22 built into the lower part of the body 2 descend with their soles pointing downward. Then, as shown in Fig. 6, the entire body 2 including the front wheels 3 and rear wheels 4 rises up and stands upright on the left and right legs 22. From this state, as shown in Fig. 7, the parts that will become the shoulders and arms of the robot 1R shown in Fig. 23 (parts where the left and right headlights 14 are provided) are slid upward, and then, as shown in Fig. 8, the left and right rear wheels 4 (only one of which is shown in Fig. 8) are slid forward (to the left in Fig. 8) by a sliding mechanism (not shown) to approach the left and right front wheels 3 (only one of which is shown in Fig. 8), respectively.

[0034] Next, as shown in Fig. 9, the left and right side members 17 (portions that will become the arms of the robot 1R shown in Fig. 23) are rotated about shoulder roll axes (not shown) to open the robot to the side. Thereafter, as shown in Fig. 10, the upper body portion of the robot 1R shown in Fig. 23 (including the canopy 7, thruster pods 9, front bumper 11, hood 12, fender mirrors 15, side members 17, and rear wing 19) begins to stand up using the left and right legs 22 as support by a drive mechanism (not shown), and when the upper body portion of the robot 1R is completely raised and standing on the left and right legs 22 as shown in Fig. 11, the left and right front wheels 3 (only one of which is shown in Fig. 12) are slid downward by a slide mechanism (not shown) to approach the left and right rear wheels 4 (only one of which is shown in Fig. 12), as shown in Fig. 12.

[0035] Thereafter, as shown in Fig. 13, the hand portion 17a at the tip of the side member 17, which forms the shoulder portion of the robot 1R shown in Fig. 23, rotates 90°, and the hood 12 unfolds as shown in Fig. 14. Here, the head 23 of the robot 1R is hidden behind the hood 12, and when the hood is opened upward and unfolded as shown in Fig. 14, the head 23 that was hidden behind the hood 12 appears.

[0036] Next, as shown in FIG. 15, the left and right side members 17 (only one of which is shown in FIG. 15) which form the arms of the robot 1R shown in FIG. 23 are slid rearward (to the right in FIG. 15) by a slide mechanism not shown, and the left and right side members 17 which have slid rearward in this manner are lowered downward by rotating about their base ends while avoiding interference with the side shock absorbers 18, as shown in FIG. 16.

[0037] Thereafter, as shown in FIG. 17, the left and right legs 22 rotate about the roll axes of the hip joints and ankles to open to the left and right, the head slides down to a predetermined position as shown in FIG. 18, and the left and right fender mirrors 15 are deployed outward and opened as shown in FIG. 19.

[0038] Next, as shown in Fig. 20, the front bumper 11 is lowered to a horizontal position, and then the rear wing 19 is retracted in an upright position as shown in Fig. 21, and the headlights 14 are unfolded as shown in Fig. 22, completing the robot 1R shown in Fig. 23. The vehicle 1C in vehicle mode shown in Figs. 1 and 2 changes form into the robot 1R in robot mode through the above process. The directions of rolling, pitching, and yawing about the rotation axes of the main joints of the robot 1R, which has changed form from the vehicle 1C in this way, namely the shoulder 1a, elbow 1b, wrist 1c, hip joint 1d, knee 1e, and ankle 1f, are shown by arrows in Fig. 24.

[0039] 25 shows the configuration of the soles of the left and right legs 22 (only one is shown in FIG. 25), and as shown in the figure, the sole of each leg 22 of the robot 1R is provided with four grip pads 24 that can expand and contract in the vertical direction, four swivel casters 25, and four omni-wheel drive wheels 26 that can expand and contract in the vertical direction. Note that the number of grip pads 24, swivel casters 25, and omni-wheel drive wheels 26 on each sole is not limited to four, and can be any number as long as there is more than one.

[0040] The above has explained the process by which the transformable robot 1 of the present invention changes form from a vehicle 1C in vehicle mode to a robot 1R in robot mode. However, the process by which the robot 1R in robot mode changes form to a vehicle 1C in vehicle mode is the opposite of the above, so an explanation of this process will be omitted.

[0041] Thus, in the transformable robot 1 of this embodiment, which can change form between robot mode and vehicle mode as described above, the peripheral portion of the cockpit 5 of the upper portion 2A of the body 2 of the vehicle 1C in vehicle mode and the chassis portion 6 at the bottom of the body 2 respectively constitute the upper and lower body of the robot 1R in robot mode. By separating the upper portion 2A and lower portion 2B of the body of the vehicle 1C in vehicle mode into the upper and lower body of the robot 1R in robot mode, it is possible to separate the movement function of the lower body of the robot 1R from the manual work function of the upper portion of the robot 1R, resulting in the effect that only the lower body or only the upper body of the robot 1R can be connected to another device and used.

[0042] Furthermore, the robot 1R is provided with a front shock absorber 16 facing forward, side shock absorbers 18 facing left and right, and a rear shock absorber 21 facing rearward, so that even if the robot 1R falls over, the impact is absorbed by any of the front shock absorbers 16, side shock absorbers 18, and rear shock absorbers 21 provided on the robot 1R. This effectively prevents damage to the robot 1R due to the robot 1R falling over.

[0043] Furthermore, the transformable robot 1 according to this embodiment is provided with a lift-up mechanism for lifting the body 2 when transforming from vehicle mode to robot mode, so that the body 2 is lifted by the lift-up mechanism, allowing for a smooth transformation from the vehicle 1C to the robot 1R. When the transformable robot 1 is in the form of the vehicle 1C shown in Figures 1 and 2, lifting up the entire body 2 with the lift-up mechanism increases the vehicle height of the vehicle 1C, allowing it to be used as an off-road vehicle. Furthermore, when cornering the vehicle 1C, increasing the vehicle height on the side opposite the turning side and tilting the body 2 toward the turning side allows the vehicle 1C to turn smoothly.

[0044] Furthermore, the transformable robot 1 according to this embodiment is equipped with a slide mechanism that slides the front wheels 3 and rear wheels 4 in the longitudinal direction of the vehicle when changing from vehicle mode to robot mode. Therefore, when transforming from vehicle mode to robot mode, the front wheels 3 and rear wheels 4 are slid in the longitudinal direction of the vehicle by the slide mechanism so that they approach each other, allowing the front wheels 3 and rear wheels 4 to be stored compactly in the shins of the robot 1R.

[0045] Furthermore, in the transformable robot 1 according to this embodiment, four swivel casters 25 are provided on the soles of both feet of the robot 1R in robot mode, as shown in FIG. 25. These swivel casters 25 can support the weight of the robot 1R, and when the swivel casters 25 come into contact with the walking surface, an external force can be applied to the robot 1R in an upright position, causing the robot 1R to move or change direction.

[0046] In addition, in this embodiment, as shown in Figure 25, four grip pads 24 that can be expanded and contracted in the vertical direction are provided on the soles of both feet of the robot 1R in robot mode.When the robot 1R walks, each of the four grip pads 24 can be extended and placed in contact with the walking surface, thereby increasing the friction between the grip pads 24 and the walking surface, allowing the robot 1R to walk reliably without slipping.

[0047] 25, in the transformable robot 1 according to this embodiment, four omni-wheel drive wheels 26 that can expand and contract in the vertical direction are provided on the soles of each foot of the robot 1R in robot mode, so that when the robot 1R is standing upright or walking in robot mode, the omni-wheel drive wheels 26 do not touch the walking surface but keep the robot 1R slightly above the walking surface, and if the robot 1R tilts and is about to tip over, the omni-wheel drive wheels 26 will touch the walking surface, causing the omni-wheel drive wheels 26 to rotate, returning the robot 1R to an upright position and preventing the robot 1R from tipping over. In other words, the multiple omni-wheel drive wheels 26 function as a posture stabilization means for the robot 1R.

[0048] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the technical concept described in the claims, specification, and drawings. The transformable robot of the present invention, which is capable of transforming as described in the above embodiments, can be used as a toy in which the robot's height in robot mode is, for example, several tens of centimeters. It can also be realized in a vehicle mode that is the size of a minicar or a slightly smaller vehicle, with the robot's height in vehicle mode being approximately 3 meters. In this size, a real person can enter the cockpit and operate the vehicle in vehicle mode to drive it independently and perform various actions and tasks with the robot in robot mode.

Claims

1. A transforming robot that can change form between robot mode and vehicle mode, characterized in that the cockpit area on the top of the vehicle body in vehicle mode and the chassis part on the bottom of the body respectively constitute the upper and lower body of the robot in robot mode, and thus the upper and lower body of the vehicle in vehicle mode are separated into the upper and lower body of the robot in robot mode.

2. The transforming robot described in claim 1, characterized in that the vehicle in vehicle mode has shock absorbers arranged in four directions (front, back, left, and right) to absorb the impact when the robot in robot mode falls.

3. The transformable robot according to claim 1, characterized in that it is provided with a lift-up mechanism for lifting the body when transforming from vehicle mode to robot mode.

4. A transformable robot according to claim 1, characterized in that it is provided with a sliding mechanism that slides the front and rear wheels in the longitudinal direction of the vehicle when transforming from vehicle mode to robot mode.

5. A transformable robot according to claim 1, characterized in that said robot in robot mode is provided with swivel casters on the soles of both feet.

6. A transformable robot according to claim 1, characterized in that a plurality of grip pads that can be extended and contracted in the vertical direction are provided on the soles of both feet of said robot in robot mode.

7. A transformable robot according to claim 1, characterized in that a plurality of omni-wheel drive wheels that can be extended and contracted in the vertical direction are provided on the soles of both feet of said robot in robot mode.

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