CN108283814A - Programmable fully-automatic conversion anthropomorphic robot - Google Patents
Programmable fully-automatic conversion anthropomorphic robot Download PDFInfo
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- CN108283814A CN108283814A CN201810160118.9A CN201810160118A CN108283814A CN 108283814 A CN108283814 A CN 108283814A CN 201810160118 A CN201810160118 A CN 201810160118A CN 108283814 A CN108283814 A CN 108283814A
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H11/00—Self-movable toy figures
- A63H11/18—Figure toys which perform a realistic walking motion
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/26—Details; Accessories
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/28—Arrangements of sound-producing means in dolls; Means in dolls for producing sounds
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/36—Details; Accessories
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/36—Details; Accessories
- A63H3/46—Connections for limbs
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Abstract
The present invention relates to a kind of programmable fully-automatic conversion anthropomorphic robots, it includes power supply unit, robot body, operation control system and steering gear system；Robot body includes head（1）, trunk（10）, left shoulder arm（2）, left hand（3）, right shoulder arm（4）, the right hand（5）, left leg（6）, right leg（8）, left foot（7）, right crus of diaphragm（9）And multiple joints for connecting above-mentioned each position, playing above-mentioned each position support and gearing；Each steering engine is connected with Transistor-Transistor Logic level multilayer connection type by shared bus in steering gear system, and each steering engine is all made of Special digital steering engine and detachable displacement.The programmable fully-automatic conversion anthropomorphic robot of the present invention, 21 steering engines i.e. 21 degree of freedom, realize the humanoid state and/or automobile form and full-automatic Deformation control of robot, robot uses 3D programing systems and cell phone application control system, and human-computer interaction is realized by the ends PC programming Control and the control of mobile phone terminal software.
Description
Technical field
The present invention relates to fighter toy technical fields, and in particular to a kind of programmable fully-automatic conversion anthropomorphic robot.
Background technology
With the development of modern science and technology, set electromechanics, sensor, the technologies such as computer in one with swing, sounding,
The humanoid changeability robot product for adjusting movement is rapidly developed.
A kind of deformation mechanical figure toy disclosed in the Chinese invention patent of Publication No. CN102698440A, have the body,
Roof and holder for connecting the body and roof, whole body are arranged multiple rotation axis, can be converted between battlebus and robot.It is public
The number of opening be CN202590353U Chinese utility model patent disclosed in a kind of deformation mechanical figure toy, including upper body, left arm,
Right arm, the left leg that can be changed into left gun barrel housing unit, right leg, the trigger that can be changed into right gun barrel housing unit, can be humanoid
Changed between gun-shaped.The modeling structure and mode of texturing of both robots are fairly simple.
The Chinese utility model patent of Publication No. CN202876340U discloses a kind of with head connector, thoracic cavity dress
It sets, the left leg device equipped with U-shaped frame and right leg device, the left arm device equipped with left socle, the right arm equipped with right support fill
It sets and the transformable robot of steering engine.The Chinese utility model patent of Publication No. CN204050955U, which discloses one kind, to be had
Head, trunk, four limbs and connector transformable robot, wherein upper limb include can relatively movable upper arm and forearm, lower limb
Including can relatively movable thigh and shank, trunk, upper limb, hand and lower limb the deformable formation headstock of leg portion, head
In deformable package to headstock, the deformable formation vehicle body of the lower leg portion of lower limb and the foot.Publication number CN205549560U
Chinese utility model patent disclose a kind of transformable robot toy car comprising tailstock portion, vehicle body shell, headstock portion, vehicle
Door, body portion, arm part and head, the lower end in body portion are hinged on the front in tailstock portion, and body can be driven by being equipped in tailstock portion
Portion is flipped up the switching mechanism of standing with respect to tailstock portion, and the lower end of vehicle body shell is hinged on the tail portion in tailstock portion, the tail in tailstock portion
Portion both sides are equipped with trailing wheel, and the driving device that can drive rear wheel is equipped in tailstock portion, and the front bottom surface in tailstock portion is equipped with
Steamboat is supported, drives body portion to be flipped up standing by switching mechanism or downwardly turns over accordingly automatic realize in toy car that lie low
The change between robot.The Chinese utility model of Publication No. CN205434963U turns to disclose a kind of transformable automobile robot
Toy, including the vehicle frame of formed automobile overall appearance structure, chassis, car door, the tailstock, front cover, vehicle warehouse lid and hinge member, vehicle
Door is mounted in the first link both sides by connecting rod hinge respectively, is hinged with front vehicle wheel on car door, tailstock front passes through with chassis tail portion
Axis is hinged, hinged by axis with vehicle frame rear portion in the middle part of the tailstock, and the front center of vehicle frame is equipped with link block, and front cover is cut with scissors by axis and filled
On link block, the lower part on vehicle frame positioned at link block is fixedly connected with robot head, and tailstock both sides are separately connected by axis
There is rear wheel, vehicle warehouse lid to be packed on vehicle frame, the deformation mechanism that product has can product carried out between automobile and robot
Transformation.The structure of these types of robot is complex, and the deformation of humanoid state and automobile form is more flexible, but deformation degree of freedom,
Controllability is inadequate.
In view of current prior art scenario, applicant has carried out robot original and different structure design：Novel machine
Device people's product, whole body have 21 degree of freedom, under humanoid state can biped walk upright, under humanoid state and automobile form
Mobile, matched handset APP and computer 3D high definition graphic programming systems, a key realize people to the Free Transform of automobile.
Invention content
The present invention provides a kind of programmable fully-automatic conversion anthropomorphic robot, and robot whole body has 21 degree of freedom, can be in people
Biped walks upright under form, can be removable under humanoid state and automobile form, matched handset APP and computer 3D high definition figures
People can be realized to the Free Transform of automobile in shape programing system, a key.
To achieve the goals above, the present invention adopts the following technical scheme that.
The invention discloses a kind of programmable fully-automatic conversion anthropomorphic robots, including power supply unit, robot body and operation
Control system；The programmable fully-automatic conversion anthropomorphic robot of the present invention further includes steering gear system；
The power supply unit includes supply unit and undervoltage protection；
The robot body includes head, trunk, left shoulder arm, left hand, right shoulder arm, the right hand, left leg, right leg, left foot, right crus of diaphragm,
Further include for connecting head, trunk, left shoulder arm, left hand, right shoulder arm, the right hand, left leg, right leg, left foot, right crus of diaphragm and playing machine
Multiple joints of device human agent each position support and gearing；
The steering gear system includes shirtfront helm gear, left shoulder arm helm gear, left arm helm gear, left hip joint steering engine dress
Set, left leg helm gear, left foot helm gear, right shoulder arm helm gear, right arm helm gear, right hip joint helm gear,
Right leg helm gear and right crus of diaphragm helm gear, the shirtfront helm gear, left hip joint helm gear, right hip joint helm gear
It is divided into the trunk of robot body, the left shoulder arm helm gear and left arm helm gear are set to the left side of robot body
Shoulder arm and left hand, the right shoulder arm helm gear and right arm helm gear are set to the right shoulder arm and the right hand of robot body,
The left leg helm gear and left foot helm gear are respectively arranged at the left leg and left foot of robot body, the right leg steering engine dress
The right leg and right crus of diaphragm that robot body is respectively arranged at right crus of diaphragm helm gear are set, each helm gear is connected by shared bus,
The humanoid state and/or automobile form of realization robot and full-automatic Deformation control；
The operation control system includes programing system and cell phone application control system, passes through the ends the PC programming Control to robot
It is controlled with mobile phone terminal software, realizes human-computer interaction.
Preferably, the joint of the robot body includes left shoulder shoulder joint, left hand shoulder joint, left hip joint, left leg
Joint, left leg knee endoprosthesis, left foot joint, right shoulder arm joint, right hand shoulder joint, right hip joint, right leg joint, right leg knee close
Section, right foot joint, the left shoulder shoulder joint, left hip joint, right shoulder arm joint, right hip joint are set to metastomium, the left side
Arm joint, right hand shoulder joint are divided into left shoulder arm, right shoulder arm position, and the left leg joint, left leg knee endoprosthesis are set to a left side
Leg position, the right leg joint, right leg knee endoprosthesis are set to right leg position, and the left foot joint, right foot joint are divided into a left side
Foot, right crus of diaphragm position.
In any of the above-described technical solution preferably, the robot body further includes preceding cover, rear cover, outside left leg
Shell, left foot shell, right leg shell, right crus of diaphragm shell, the preceding cover, rear cover are divided into metastomium, the left leg shell, a left side
Foot shell is divided into left leg, left foot position, and the right leg shell, right crus of diaphragm shell are divided into right leg, right crus of diaphragm position.
In any of the above-described technical solution preferably, the shirtfront helm gear is installed on the shirtfront of the trunk of robot
Position；The shirtfront helm gear includes shirtfront steering engine, steering wheel one and preceding cover, and steering wheel one connects shirtfront steering engine and preceding cover,
Shirtfront steering engine for realizing precordial locations rotation and deformation.
In any of the above-described technical solution preferably, the left shoulder arm helm gear is installed on the left shoulder arm of robot and a left side
Shoulder shoulder joint position；The left shoulder arm helm gear includes left arm steering engine, steering wheel two, left shoulder steering engine fixing piece, steering wheel three, a left side
Shoulder steering engine and U-shaped part one, steering wheel two connect left arm steering engine, and steering wheel three connects left shoulder steering engine, and left shoulder steering engine fixing piece connects rudder
Disk two connect left front driven wheel with steering wheel three and by U-shaped part one, and left arm steering engine realizes the left shoulder in left shoulder arm position with left shoulder steering engine
The rotation and deformation of shoulder joint.
In any of the above-described technical solution preferably, the left arm helm gear is installed on the left shoulder arm of robot and a left side
Arm joint position；The left arm helm gear includes left side upper arm steering engine, steering wheel four, left arm connector, steering wheel five, a left side
Hand steering engine, the connection of steering wheel four left side upper arm steering engine, steering wheel five connect left hand steering engine, and left arm connector connects steering wheel four and steering wheel
Five and left front driven wheel is connected by U-shaped part one, left hand steering engine realizes left shoulder arm position left hand shoulder joint with left side upper arm steering engine
Rotation and deformation.
In any of the above-described technical solution preferably, the left hip joint helm gear is installed on robot trunk and a left side
Hip joint position；The left hip joint helm gear includes left hip joint steering engine, left crotch's cross, and left hip joint steering engine passes through
Left crotch's cross is fixedly connected on left hip joint position, realizes the rotation and deformation in the robot trunk position joints Zuo Kua.
In any of the above-described technical solution preferably, the left leg helm gear is installed on the left leg of robot and left leg closes
Section, left leg knee endoprosthesis position；The left leg includes left thigh, left knee and left leg；The left leg helm gear includes a left side
Leg steering engine, left leg steering engine fixing piece, left back driving wheel, left leg steering engine connection smallclothes, left side thigh steering engine, left side knee rudder
Machine and left side shank steering engine；Left leg steering engine fixing piece connects left leg steering engine, left side thigh steering engine, left side knee steering engine and left side
Shank steering engine, left leg steering engine connection smallclothes connect left back driving wheel, left leg steering engine and left side thigh steering engine, and left leg steering engine is also logical
The left hip joint of Guo Zuo crotch cross connection metastomium；Left side thigh steering engine is set to left thigh, the setting of left side knee steering engine
In left knee, left side shank steering engine is set to left leg, and left leg steering engine, left side thigh steering engine, left side knee steering engine and left side are small
Leg steering engine and is matched with right leg helm gear for realizing the rotation and deformation of left leg position left leg joint, left leg knee endoprosthesis
Share in controlling left back driving wheel and right rear drive sprocket under automobile form, with realize the advance of the robot under automobile form/
It retreats.
In any of the above-described technical solution preferably, the left foot helm gear is installed on robot left foot and left foot closes
Section is set；The left foot helm gear includes left foot steering engine, left foot portion cross, and left foot steering engine is fixed by left foot portion cross
Left foot position is connected to realize the rotation and deformation in left foot position left foot joint, left foot steering engine also by left foot portion cross with
Left leg connection is to realize that left leg is deformed with the linkage of left foot position.
In any of the above-described technical solution preferably, the right shoulder arm helm gear is installed on robot right shoulder arm and the right side
Shoulder shoulder joint position；The right shoulder arm helm gear includes right arm steering engine, steering wheel six, right shoulder steering engine fixing piece, steering wheel seven, the right side
Shoulder steering engine and U-shaped part two, steering wheel six connect right arm steering engine, and steering wheel four connects right shoulder steering engine, and right shoulder steering engine fixing piece connects rudder
Disk six connect right front driven wheel with steering wheel seven and by U-shaped part two, and right arm steering engine realizes the right shoulder in right shoulder arm position with right shoulder steering engine
The rotation and deformation of shoulder joint.
In any of the above-described technical solution preferably, the right arm helm gear is installed on robot right shoulder arm and the right side
Arm joint position；The right arm helm gear includes right side upper arm steering engine, steering wheel eight, right arm connector, steering wheel nine, the right side
Hand steering engine, the connection of steering wheel eight right side upper arm steering engine, steering wheel nine connect right hand steering engine, and right arm connector connects steering wheel eight and steering wheel
Nine and right front driven wheel is connected by U-shaped part two, right hand steering engine realizes right shoulder arm position right hand shoulder joint with right side upper arm steering engine
Rotation and deformation.
In any of the above-described technical solution preferably, the right hip joint helm gear is installed on robot trunk and the right side
Hip joint position；The right hip joint helm gear includes right hip joint steering engine, right crotch's cross, and right hip joint steering engine passes through
Right crotch's cross is fixedly connected on right hip joint position, realizes the rotation and deformation in the robot trunk position joints You Kua.
In any of the above-described technical solution preferably, the right leg helm gear is installed on the right leg of robot and right leg closes
Section, right leg knee endoprosthesis position；The right leg includes right thigh, right knee and right leg；The right leg helm gear includes the right side
Leg steering engine, right leg steering engine fixing piece, right rear drive sprocket, right leg steering engine connection smallclothes, right lateral thigh steering engine, right side knee rudder
Machine and right side shank steering engine, right leg steering engine fixing piece connect right leg steering engine, right lateral thigh steering engine, right side knee steering engine and right side
Shank steering engine, right leg steering engine connection smallclothes connect right rear drive sprocket, right leg steering engine and right lateral thigh steering engine, and right leg steering engine is also logical
The right hip joint of Guo You crotch cross connection metastomium；Right lateral thigh steering engine is set to right thigh, the setting of right side knee steering engine
In right knee, right side shank steering engine is set to right leg, and right leg steering engine, right lateral thigh steering engine, right side knee steering engine and right side are small
Leg steering engine and is matched with left leg helm gear for realizing the rotation and deformation of right leg position right leg joint, right leg knee endoprosthesis
Share in controlling right rear drive sprocket and left back driving wheel under automobile form, with realize the advance of the robot under automobile form/
It retreats.
In any of the above-described technical solution preferably, the right crus of diaphragm helm gear is installed on robot right crus of diaphragm and right crus of diaphragm closes
Section is set；The right crus of diaphragm helm gear includes right crus of diaphragm steering engine, right foot part cross, and right crus of diaphragm steering engine is fixed by right foot part cross
Right crus of diaphragm position is connected to realize the rotation and deformation of right crus of diaphragm position right foot joint, right crus of diaphragm steering engine also by right foot part cross with
Right leg connection is to realize that right leg is deformed with the linkage of right crus of diaphragm position.
In any of the above-described technical solution preferably, the shirtfront steering engine, left arm steering engine, left shoulder steering engine, left side upper arm
Steering engine, left hand steering engine, left hip joint steering engine, left leg steering engine, left side thigh steering engine, left side knee steering engine, left side shank steering engine, a left side
Foot steering engine, right arm steering engine, right shoulder steering engine, right side upper arm steering engine, right hand steering engine, right hip joint steering engine, right leg steering engine, right lateral thigh
Steering engine, right side knee steering engine, right side shank steering engine, right crus of diaphragm steering engine are connected with Transistor-Transistor Logic level multilayer connection type by shared bus.
In any of the above-described technical solution preferably, the shirtfront steering engine, left arm steering engine, left shoulder steering engine, left side upper arm
Steering engine, left hand steering engine, left hip joint steering engine, left leg steering engine, left side thigh steering engine, left side knee steering engine, left side shank steering engine, a left side
Foot steering engine, right arm steering engine, right shoulder steering engine, right side upper arm steering engine, right hand steering engine, right hip joint steering engine, right leg steering engine, right lateral thigh
Steering engine, right side knee steering engine, right side shank steering engine, right crus of diaphragm steering engine are all made of Special digital steering engine, and detachable displacement.
In any of the above-described technical solution preferably, the Special digital steering engine includes drive end bearing bracket, circuit board, current potential
Device, motor, middle shell, gear set and tail end cover, each component are connected by removably.
In any of the above-described technical solution preferably, the Special digital steering engine uses UART serial interface communication modes, tool
There are ID codings, and ID codings can be changed.
In any of the above-described technical solution preferably, the circuit board includes stall power down protection module and position feedback
Alarm module.
In any of the above-described technical solution preferably, the position feedback alarm module includes detection circuit and control electricity
Road and the main control module that steering gear system is connected by alarm module；Main control module transmits control instruction, control electricity to control circuit
Road controls the Special digital steering engine according to instruction action after receiving instruction, detection circuit detect the Special digital steering engine whether according to
Instruction action simultaneously will detect signal transmission to main control module；Detection circuit connects control circuit, when detection circuit detects this specially
It is broken down with digital steering engine, the steering engine fault-signal of the Special digital steering engine is sent to control circuit and main control module；Control
Circuit receives the steering engine fault-signal of the Special digital steering engine and closes its power supply；Main control module receives the steering engine fault-signal simultaneously
The control circuit of other steering engines into steering gear system in addition to the Special digital steering engine sends halt instruction, while starting alarm
Circuit sends out alarm.
In any of the above-described technical solution preferably, the supply unit include battery, charging interface, power switch,
Power-off protection apparatus and remaining capacity voice prompt device.
In any of the above-described technical solution preferably, the battery, which uses, is not less than 12.6V-2000mAh-15C standards
Rechargeable battery.
In any of the above-described technical solution preferably, the robot body further includes card reader arrangement, music storage
Card device, data download port and communication interface.
Compared with prior art, above-mentioned technical proposal of the invention have flexible degree of freedom, can 3D programmings, cell phone application control,
The advantageous effects such as the full-automatic deformation of one key：
（1）The robot whole body has 21 degree of freedom, the design of original and different modeling structure, it can be achieved that people to automobile it is complete oneself
Dynamic key deformation：
There are robot whole body 21 freedom of motion, 21 steering engines to make the deformation of robot nimbly and freely；
Realize that a key dazzles cruel deformation by cell phone application；
Deformation process includes people to the deformation of automobile, the deformation of automobile to people, and double-form deformation, people, vehicle are removable；
The actions such as advance, retrogressing, push-up can be easily accomplished when humanoid state；
When automobile form can load-carrying 5KG, cross-country power is intrepid.
（2）Have the function of programmable and APP On-line Controls：
Robot has communication interface, data download port, the versions such as matched handset or PAD APP and mating 3D high definitions figure
Change programing system, passes through real-time operation APP or synchronous manipulation robot by programing system.
（3）Have the function of that data readback, record are used for custom action, the action that very also original subscriber edits：
Robot has communication interface, card reader arrangement, can break the overall process of deformation by recording user hand, full-automatic 100%
Playback robot deformation process, and 1,000,000 deformation processes can be stored；
The steering engine that steering gear system uses is Special digital steering engine, and Special digital steering engine detachably replaces and has position feedback work(
Can, user can be remembered and move the deformation process in each joint, and reproduce deformation process completely.
（4）Cruel sound effect matching is dazzled, there is amusement function：
Robot has communication interface, music memory card device, carries mp3 play systems, oneself can store arbitrary music；
21 freedom of motion of robot whole body, sing and dance festively, omnipotent.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without having to pay creative labor, may be used also for those of ordinary skill in the art
With obtain other attached drawings according to these attached drawings.
Fig. 1 is the structural representation of one preferred embodiment of external form of programmable fully-automatic conversion anthropomorphic robot according to the invention
Figure；
Fig. 2 is the structural representation of a preferred embodiment of the steering gear system of programmable fully-automatic conversion anthropomorphic robot according to the invention
Figure；
Fig. 3 is the knot for the preferred embodiment that the head of programmable fully-automatic conversion anthropomorphic robot according to the invention is connected with trunk
Structure schematic diagram；
Fig. 4 is the knot for the preferred embodiment that the shoulder arm of programmable fully-automatic conversion anthropomorphic robot according to the invention is connect with trunk
Structure schematic diagram；
Fig. 5 is that the structure for the preferred embodiment that the hip of programmable fully-automatic conversion anthropomorphic robot according to the invention is connect with leg is shown
It is intended to；
Fig. 6 is the amplification signal of a preferred embodiment of the left arm structure of programmable fully-automatic conversion anthropomorphic robot according to the invention
Figure；
Fig. 7 is the amplification signal of a preferred embodiment of the left leg structure of programmable fully-automatic conversion anthropomorphic robot according to the invention
Figure；
Fig. 8 is the preferred embodiment of the humanoid state robot architecture of programmable fully-automatic conversion anthropomorphic robot according to the invention
Front view；
Fig. 9 is the preferred embodiment of the humanoid state robot architecture of programmable fully-automatic conversion anthropomorphic robot according to the invention
Rearview；
Figure 10 is the preferred embodiment of the humanoid state robot architecture of programmable fully-automatic conversion anthropomorphic robot according to the invention
Left view；
Figure 11 is the preferred embodiment of the humanoid state robot architecture of programmable fully-automatic conversion anthropomorphic robot according to the invention
Right view；
Figure 12 is that the humanoid state of programmable fully-automatic conversion anthropomorphic robot according to the invention is deformed into the deformation process of automobile form
A preferred embodiment schematic diagram；
Figure 13 is that the humanoid state of programmable fully-automatic conversion anthropomorphic robot according to the invention is deformed into the deformation process of automobile form
The schematic diagram for the preferred embodiment decomposed；
Figure 14 is the preferred implementation of the automobile form robot architecture of programmable fully-automatic conversion anthropomorphic robot according to the invention
The front view of example；
Figure 15 is the preferred implementation of the automobile form robot architecture of programmable fully-automatic conversion anthropomorphic robot according to the invention
The rearview of example；
Figure 16 is the preferred implementation of the automobile form robot architecture of programmable fully-automatic conversion anthropomorphic robot according to the invention
The left view of example；
Figure 17 is the preferred implementation of the automobile form robot architecture of programmable fully-automatic conversion anthropomorphic robot according to the invention
The right view of example；
Figure 18 is the preferred implementation of the automobile form robot architecture of programmable fully-automatic conversion anthropomorphic robot according to the invention
The vertical view of example；
Figure 19 is the preferred implementation of the automobile form robot architecture of programmable fully-automatic conversion anthropomorphic robot according to the invention
The upward view of example；
Figure 20 be programmable fully-automatic conversion anthropomorphic robot according to the invention automobile form robot install additional carrier one preferably
The structural schematic diagram of embodiment；
Figure 21 be programmable fully-automatic conversion anthropomorphic robot according to the invention automobile form robot install additional carrier one preferably
The three-dimensional view of embodiment；
Figure 22 is that the programming Control machine people presentation of programmable fully-automatic conversion anthropomorphic robot according to the invention dazzles the one of cruel posture
The three-dimensional view of preferred embodiment.
Reference numeral：
1, head, 2, left shoulder arm, 3, left hand, 4, right shoulder arm, 5, the right hand, 6, left leg, 7, left foot, 8, right leg, 9, right crus of diaphragm, 10, body
It is dry, 11, music storage card, 12, power switch, 13, charging interface, 14, communication interface, 15, left arm steering engine, 16, left shoulder steering engine,
17, left side upper arm steering engine, 18, left hand steering engine, 19, right arm steering engine, 20, right shoulder steering engine, 21, right side upper arm steering engine, 22, right hand rudder
Machine, 23, left hip joint steering engine, 24, left leg steering engine, 25, left side thigh steering engine, 26, left side knee steering engine, 27, left side shank rudder
Machine, 28, left foot steering engine, 29, right hip joint steering engine, 30, right leg steering engine, 31, right lateral thigh steering engine, 32, right side knee steering engine,
33, right side shank steering engine, 34, right crus of diaphragm steering engine, 35, shirtfront steering engine, 36, left shoulder steering engine fixing piece, 37, U-shaped part one, 38, left
Front driven wheel, 39, left crotch's cross, 40, left thigh, 41, left back driving wheel, 42, left leg, 43, left foot portion cross,
44, left foot shell, 45, left leg shell, 46, artillery, 47, machine gun, 48, right front driven wheel, 49, right rear drive sprocket.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
For the prior art scenario in transformable robot field, the embodiment of the present invention proposes a kind of programmable fully-automatic conversion
Anthropomorphic robot.There is original and different structure design, robot whole body to have 21 freedom for the robot of the embodiment of the present invention
Degree, under humanoid state can biped walk upright, removable under humanoid state and automobile form, matched handset APP and computer
3D high definition graphic programming systems, a key realize people to the full-automatic Free Transform of automobile.
Embodiment 1
The present embodiment can independently form complete technical solution, can also be arranged with other any embodiments of the present invention
Row/combination forms complete technical solution.
As shown in Figure 1, the programmable fully-automatic conversion anthropomorphic robot of the present embodiment includes power supply unit, robot body, behaviour
Action control system and steering gear system.
Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, power supply unit include that supply unit and low-voltage are protected
Protection unit.
Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, robot body include head 1, trunk 10, a left side
Shoulder arm 2, left hand 3, right shoulder arm 4, the right hand 5, left leg 6, right leg 8, left foot 7, right crus of diaphragm 9, further include for connect head 1, trunk 10,
Left shoulder arm 2, left hand 3, right shoulder arm 4, the right hand 5, left leg 6, right leg 8, left foot 7, right crus of diaphragm 9 and play each position branch of robot body
Multiple joints of support and gearing.The joint of robot body includes left shoulder shoulder joint, left hand shoulder joint, left hip joint, a left side
Leg joint, left leg knee endoprosthesis, left foot joint, right shoulder arm joint, right hand shoulder joint, right hip joint, right leg joint, right leg knee
Joint, right foot joint, left shoulder shoulder joint, left hip joint, right shoulder arm joint, right hip joint are set to 10 position of trunk, left arm
Joint, right hand shoulder joint are divided into left shoulder arm 2,4 position of right shoulder arm, and left leg joint, left leg knee endoprosthesis are set to left leg 6
Position, right leg joint, right leg knee endoprosthesis are set to 8 position of right leg, and left foot joint, right foot joint are divided into left foot 7, right crus of diaphragm 9
Position.Multi-joint is arranged so that the performance of robot is very powerful, and general joint coordinates with steering gear system, can make up to ten thousand kinds and imitate
The action of the mankind, such as：Forward-reverse, push-up, dancing, gun shooting, artillery shooting under the deformation of people's vehicle, the dual form of people's vehicle
Deng.
Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, steering gear system include shirtfront helm gear, left shoulder
Arm helm gear, left arm helm gear, left hip joint helm gear, left leg helm gear, left foot helm gear, right shoulder arm rudder
Machine device, right arm helm gear, right hip joint helm gear, right leg helm gear and right crus of diaphragm helm gear, shirtfront steering engine dress
Set, left hip joint helm gear, right hip joint helm gear are divided into the trunk 10 of robot body, left shoulder arm helm gear and
Left arm helm gear is set to the left shoulder arm 2 and left hand 3, right shoulder arm helm gear and right arm helm gear of robot body
It is set to the right shoulder arm 4 and the right hand 5 of robot body, left leg helm gear and left foot helm gear are respectively arranged at robot master
The left leg 6 and left foot 7 of body, right leg helm gear and right crus of diaphragm helm gear are respectively arranged at the right leg 8 and right crus of diaphragm of robot body
9, each helm gear is connected by shared bus, realizes humanoid state and/or automobile form and the full-automatic deformation control of robot
System.
Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, operation control system includes programing system and mobile phone
APP control systems are controlled by the ends PC programming Control to robot and mobile phone terminal software, realize human-computer interaction.
Embodiment 2
The present embodiment can independently form complete technical solution, can also be combined to form complete technical side with embodiment 1
Case can also arrange/combine to form complete technical solution with other any embodiments of the present invention.
As shown in Fig. 1 to 7, the programmable fully-automatic conversion anthropomorphic robot of the present embodiment have power supply unit, robot body,
Operation control system and steering gear system, steering gear system include shirtfront helm gear, left shoulder arm helm gear, left arm steering engine dress
Set, left hip joint helm gear, left leg helm gear, left foot helm gear, right shoulder arm helm gear, right arm helm gear,
Right hip joint helm gear, right leg helm gear and right crus of diaphragm helm gear, each helm gear are connected by shared bus, realize machine
The humanoid state and/or automobile form and full-automatic Deformation control of device people：
Shirtfront helm gear is installed on the shirtfront position of the trunk 10 of robot；Shirtfront helm gear includes shirtfront steering engine 35, rudder
Disk one and preceding cover, steering wheel one connect shirtfront steering engine 35 and preceding cover, shirtfront steering engine 35 for realizing precordial locations rotation and
Deformation.
Left shoulder arm helm gear is installed on the left shoulder arm 2 of robot and left shoulder shoulder joint position；Left shoulder arm helm gear includes
Left arm steering engine 15, steering wheel two, left shoulder steering engine fixing piece 36, steering wheel three, left shoulder steering engine 16 and U-shaped part 1, steering wheel two connect
Left arm steering engine 15, steering wheel three connect left shoulder steering engine 16, and left shoulder steering engine fixing piece 36 connects steering wheel two with steering wheel three and by U-shaped
Part 1 connects left front driven wheel 38, and left arm steering engine 15 realizes the rotation of the left left shoulder shoulder joint in 2 position of shoulder arm with left shoulder steering engine 16
And deformation.
Left arm helm gear is installed on the left shoulder arm 2 of robot and left arm joint position；Left arm helm gear includes
Left side upper arm steering engine 17, steering wheel four, left arm connector, steering wheel five, left hand steering engine 18, the connection of steering wheel four left side upper arm steering engine
17, steering wheel five connects left hand steering engine 18, left arm connector connect steering wheel four with steering wheel five and by U-shaped part one connect it is left front from
Driving wheel 38, left hand steering engine 18 realize the rotation and deformation of 2 position left hand shoulder joint of left shoulder arm with left side upper arm steering engine 17.
Left hip joint helm gear is installed on robot trunk 10 and left hip joint position；Left hip joint helm gear includes
Left hip joint steering engine 23, left crotch's cross 39, left hip joint steering engine 23 are fixedly connected on left hip by left crotch's cross 39
Joint position realizes the rotation and deformation in the 10 position joints Zuo Kua of robot trunk.
Left leg helm gear is installed on the left leg 6 of robot and left leg joint, left leg knee endoprosthesis position；Left leg 6 includes a left side
Thigh 40, left knee and left leg 42；Left leg helm gear includes left leg steering engine 24, left leg steering engine fixing piece, left back driving
Wheel 41, left leg steering engine connection smallclothes, left side thigh steering engine 25, left side knee steering engine 26 and left side shank steering engine 27；Left leg
Steering engine fixing piece connects left leg steering engine 24, left side thigh steering engine 25, left side knee steering engine 26 and left side shank steering engine 27, left leg
Steering engine connection smallclothes connect left back driving wheel 41, left leg steering engine 24 and left side thigh steering engine 25, left leg steering engine 24 and also pass through left hip
Portion's cross 39 connects the 10 position joints Zuo Kua of trunk；Left side thigh steering engine 25 is set to left thigh 40, left side knee steering engine 26
It is set to left knee, left side shank steering engine 27 is set to left leg 42, left leg steering engine 24, left side thigh steering engine 25, left side knee
Steering engine 26 and left side shank steering engine 27 for realizing left leg 6 position left leg joint, left leg knee endoprosthesis rotation and deformation, and
Coordinate for controlling left back driving wheel 41 and right rear drive sprocket 49 under automobile form, to realize automobile-shaped with right leg helm gear
Robot under state it is forward/backward.
Left foot helm gear is installed on robot left foot 7 and left foot joint position；Left foot helm gear includes left foot steering engine
28, left foot portion cross 43, left foot steering engine 28 are fixedly connected on 7 position of left foot to realize left foot 7 by left foot portion cross 43
The rotation and deformation in position left foot joint, left foot steering engine 28 are also connect with left leg 42 to realize a left side by left foot portion cross 43
Shank 42 is deformed with the linkage of 7 position of left foot.
Right shoulder arm helm gear is installed on robot right shoulder arm 4 and right shoulder arm joint position；Right shoulder arm helm gear includes
Right arm steering engine 19, steering wheel six, right shoulder steering engine fixing piece, steering wheel seven, right shoulder steering engine 20 and U-shaped part two, steering wheel six connect right arm
Steering engine 19, steering wheel four connect right shoulder steering engine 20, and right shoulder steering engine fixing piece connects steering wheel six with steering wheel seven and connected by U-shaped part two
Right front driven wheel 48 is connect, right arm steering engine 19 realizes the rotation and deformation in 4 position right shoulder arm joint of right shoulder arm with right shoulder steering engine 20.
Right arm helm gear is installed on robot right shoulder arm 4 and right arm joint position；Right arm helm gear includes
Right side upper arm steering engine 21, steering wheel eight, right arm connector, steering wheel nine, right hand steering engine 22, the connection of steering wheel eight right side upper arm steering engine
21, steering wheel nine connects right hand steering engine 22, right arm connector connect steering wheel eight with steering wheel nine and by U-shaped part two connect before the right side from
Driving wheel 48, right hand steering engine 22 realize the rotation and deformation of 4 position right hand shoulder joint of right shoulder arm with right side upper arm steering engine 21.
Right hip joint helm gear is installed on robot trunk 10 and right hip joint position；Right hip joint helm gear includes
Right hip joint steering engine 29, right crotch's cross, right hip joint steering engine 29 are fixedly connected on right hip joint by right crotch's cross
The rotation and deformation in the 10 position joints You Kua of robot trunk are realized in position.
Right leg helm gear is installed on the right leg 8 of robot and right leg joint, right leg knee endoprosthesis position；Right leg 8 includes the right side
Thigh, right knee and right leg；Right leg helm gear include right leg steering engine 30, right leg steering engine fixing piece, right rear drive sprocket 49,
Right leg steering engine connection smallclothes, right lateral thigh steering engine 31, right side knee steering engine 32 and right side shank steering engine 33, right leg steering engine are solid
Determine part and connect right leg steering engine 30, right lateral thigh steering engine 31, right side knee steering engine 32 and right side shank steering engine 33, right leg steering engine connects
It connects the right rear drive sprocket 52 of smallclothes connection, right leg steering engine 30 and right lateral thigh steering engine 31, right leg steering engine 30 and also passes through right crotch's cross
Frame connects the 10 position joints You Kua of trunk；Right lateral thigh steering engine 31 is set to right thigh, and right side knee steering engine 32 is set to right knee
Lid, right side shank steering engine 33 are set to right leg, right leg steering engine 30, right lateral thigh steering engine 31, right side knee steering engine 32 and right side
Shank steering engine 33 for realizing 8 position of right leg right leg joint, right leg knee endoprosthesis rotation and deformation, and with left leg steering engine fill
Cooperation is set for controlling right rear drive sprocket 52 and left back driving wheel 41 under automobile form, to realize the robot under automobile form
It is forward/backward.
Right crus of diaphragm helm gear is installed on robot right crus of diaphragm 8 and right foot joint position；Right crus of diaphragm helm gear includes right crus of diaphragm steering engine
34, right foot part cross, right crus of diaphragm steering engine 34 are fixedly connected on 9 position of right crus of diaphragm to realize 8 position of right crus of diaphragm by right foot part cross
The rotation and deformation of right foot joint, right crus of diaphragm steering engine 34 are also connect by right foot part cross with right leg to realize right leg and the right side
The linkage deformation of 8 position of foot.
Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, 21 steering engines i.e. 21 degree of freedom, realizes machine
The humanoid state and/or automobile form of people and full-automatic Free Transform.
Embodiment 3
The present embodiment can independently form complete technical solution, can also be combined to be formed completely with embodiment 1 and/or 2
Technical solution can also arrange/combine to form complete technical solution with other any embodiments of the present invention.
The programmable fully-automatic conversion anthropomorphic robot of the present embodiment has power supply unit, robot body, operation control system
And steering gear system, as shown in Fig. 2, steering gear system has 21 steering engines：Left arm steering engine 15, left shoulder steering engine 16, left side upper arm steering engine
17, left hand steering engine 18, left hip joint steering engine 23, left leg steering engine 24, left side thigh steering engine 25, left side knee steering engine 26, left side are small
Leg steering engine 27, left foot steering engine 28, right arm steering engine 19, right shoulder steering engine 20, right side upper arm steering engine 21, right hand steering engine 22, right hip joint
It is steering engine 29, right leg steering engine 30, right lateral thigh steering engine 31, right side knee steering engine 32, right side shank steering engine 33, right crus of diaphragm steering engine 34, preceding
Chest steering engine 35, each steering engine are connected with Transistor-Transistor Logic level multilayer connection type by shared bus, realize robot humanoid state and/or
Automobile form and full-automatic Deformation control.
Embodiment 4
The present embodiment can independently form complete technical solution, can also be combined to be formed with embodiment 1 and/or 2 and/or 3
Complete technical solution can also arrange/combine to form complete technical solution with other any embodiments of the present invention.
The programmable fully-automatic conversion anthropomorphic robot of the present embodiment has power supply unit, robot body, operation control system
And steering gear system, as shown in Fig. 1 to 7,21 steering engines " left arm steering engine 15, left shoulder steering engine 16, left side upper arm rudder in steering gear system
Machine 17, left hand steering engine 18, left hip joint steering engine 23, left leg steering engine 24, left side thigh steering engine 25, left side knee steering engine 26, left side
Shank steering engine 27, left foot steering engine 28, right arm steering engine 19, right shoulder steering engine 20, right side upper arm steering engine 21, right hand steering engine 22, right hip close
Save steering engine 29, right leg steering engine 30, right lateral thigh steering engine 31, right side knee steering engine 32, right side shank steering engine 33, right crus of diaphragm steering engine 34,
Shirtfront steering engine 35 " is connected with Transistor-Transistor Logic level multilayer connection type by shared bus, realizes the humanoid state and/or automobile of robot
Form and full-automatic Deformation control.21 steering engines are all made of Special digital steering engine, and detachable displacement.
Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, Special digital steering engine include drive end bearing bracket, circuit board,
Potentiometer, motor, middle shell, gear set and tail end cover, each component are connected by removably.
Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, Special digital steering engine use UART serial communication moulds
Formula has ID codings, and ID codings can be changed.
Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, the circuit board in Special digital steering engine includes stifled
Turn power down protection module and position feedback alarm module.
Embodiment 5
The present embodiment can independently form complete technical solution, can also be combined to form complete technical side with embodiment 4
Case can also arrange/combine to form complete technical solution with other any embodiments of the present invention.
The programmable fully-automatic conversion anthropomorphic robot of the present embodiment has power supply unit, robot body, operation control system
And steering gear system, as shown in Fig. 1 to 7,21 steering engines " left arm steering engine 15, left shoulder steering engine 16, left side upper arm rudder in steering gear system
Machine 17, left hand steering engine 18, left hip joint steering engine 23, left leg steering engine 24, left side thigh steering engine 25, left side knee steering engine 26, left side
Shank steering engine 27, left foot steering engine 28, right arm steering engine 19, right shoulder steering engine 20, right side upper arm steering engine 21, right hand steering engine 22, right hip close
Save steering engine 29, right leg steering engine 30, right lateral thigh steering engine 31, right side knee steering engine 32, right side shank steering engine 33, right crus of diaphragm steering engine 34,
Shirtfront steering engine 35 " be all made of the Special digital steering engine detachably replaced realize humanoid state and/or the automobile form of robot with
And full-automatic Deformation control.
Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, Special digital steering engine include drive end bearing bracket, circuit board,
Potentiometer, motor, middle shell, gear set and tail end cover, circuit board include stall power down protection module and position feedback alarm mould
Block.Position feedback alarm module includes detection circuit and control circuit and connects the master control mould of steering gear system by alarm module
Block；Main control module transmits control instruction to control circuit, and control circuit controls the Special digital steering engine according to finger after receiving instruction
Order acts, detection circuit detect the Special digital steering engine whether according to instruction action and will detection signal transmission to main control module；
Detection circuit connect control circuit, when detection circuit detect the Special digital steering engine break down, to control circuit and master control
Module sends the steering engine fault-signal of the Special digital steering engine；Control circuit receives the steering engine fault-signal of the Special digital steering engine
And close its power supply；Main control module receives the steering engine fault-signal and its into steering gear system in addition to the Special digital steering engine
The control circuit of his steering engine sends halt instruction, while starting warning circuit and sending out alarm.
Embodiment 6
The present embodiment can independently form complete technical solution, can also be arranged with other any embodiments of the present invention
Row/combination forms complete technical solution.
The programmable fully-automatic conversion anthropomorphic robot of the present embodiment has power supply unit, robot body, operation control system
And steering gear system, wherein as shown in figure 17, supply unit includes battery, charging interface 13, power switch 12, power-off protection dress
It sets and remaining capacity voice prompt device.
Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, battery, which uses, is not less than 12.6V-2000mAh-
The rechargeable battery of 15C standards.
Such as forget to close power supply, battery capacity can slow consumption finish, since with power-off protection apparatus, battery can power off
Protection, will not damage robot.
Embodiment 7
The present embodiment can independently form complete technical solution, can also be arranged with other any embodiments of the present invention
Row/combination forms complete technical solution.
The programmable fully-automatic conversion anthropomorphic robot of the present embodiment has power supply unit, robot body, operation control system
And steering gear system, wherein as shown in figure 17, robot body further includes under card reader arrangement, 11 device of music storage card, data
Load port and communication interface 14.
Embodiment 8
The present embodiment can independently form complete technical solution, can also be arranged with other any embodiments of the present invention
Row/combination forms complete technical solution.
As shown in Fig. 1 to 7, the programmable fully-automatic conversion anthropomorphic robot of the present embodiment have power supply unit, robot body,
Operation control system and steering gear system, wherein robot body further includes preceding cover, rear cover, left leg shell 45, left foot shell
44, right leg shell, right crus of diaphragm shell.
Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, preceding cover, rear cover are divided into 10 position of trunk.
Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, as shown in figure 5, its left leg shell 45, left foot shell
44 are divided into left leg 6,7 position of left foot.
Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, right leg shell, right crus of diaphragm shell be divided into right leg 8,
9 position of right crus of diaphragm.
Embodiment 9
The present embodiment can independently form complete technical solution, can also be arranged with other any embodiments of the present invention
Row/combination forms complete technical solution.
As shown in Figure 1, the programmable fully-automatic conversion anthropomorphic robot of the present embodiment has power supply unit, robot body, behaviour
Action control system and steering gear system.Weight 2.2kg containing battery, the robot of steering gear system；Under humanoid state, robot
Shape size is 390m*230*185mm, speed of travel 2m/min, and gait walking is walked upright mode using apery biped,；
Under automobile-shaped state, the shape size of robot is 300*223*160mm, and travel speed when automobile form reaches 15m/min,
Turning radius 1400mm.
Embodiment 10
The present embodiment can independently form complete technical solution, can also be arranged with other any embodiments of the present invention
Row/combination forms complete technical solution.
As shown in Fig. 8 to 19, the programmable fully-automatic conversion anthropomorphic robot of the present embodiment has power supply unit, robot master
Body, operation control system and steering gear system.Robot has double initial positions of humanoid state and automobile form, powers on booting
When humanoid state or automobile form reverted to according to the current state automatic identification of robot.Cover before the steering engine of precordial locations is realized
Rotation variation, the steering engine of left and right shoulder realizes that the deformation of both arms, the steering engine in the leg centre position of left and right leg are used for automobile-shaped
Forward/backward driving under state.
Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, as shown in figure 8, the setting of humanoid state initial position：
Sufficient spacing A is 10mm.When humanoid state, robot center of gravity is placed in the middle, stands steady, biped spacing 10mm, screw among 3 joint of leg
In a line, robot body slightly leans forward, and in vertical in 20 degree, each section cover and shell of robot are in upper both arms
The front bottom at its residing position and not with subject interference.
Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, the setting of automobile form initial position：Robot
Two legs are seamless, and joint is in its institute without strength, upper both arms and body parallel, each section cover and shell of robot is suppressed
Locate position rear portion and is closed with main body.
Embodiment 11
The present embodiment can independently form complete technical solution, can also be arranged with other any embodiments of the present invention
Row/combination forms complete technical solution.
As shown in Fig. 1 to 19, the programmable fully-automatic conversion anthropomorphic robot of the present embodiment has power supply unit, robot master
Body, operation control system and steering gear system, robot have double initial positions of humanoid state and automobile form, power on booting
When humanoid state or automobile form reverted to according to the current state automatic identification of robot.Cover before the steering engine of precordial locations is realized
Rotation variation, the steering engine of left and right shoulder realizes that the deformation of both arms, the steering engine in the leg centre position of left and right leg are used for automobile-shaped
Forward/backward driving under state.
Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, in automobile form（That is robot carrier state）Shi Ke
With installation " arm store ", as shown in figs 20 and 21, automobile form robot installs artillery 46 and machine gun 47 in roof, increases machine
The toy of device people is interesting.
Embodiment 12
The present embodiment can independently form complete technical solution, can also be arranged with other any embodiments of the present invention
Row/combination forms complete technical solution.
As shown in Fig. 1 to 19, the programmable fully-automatic conversion anthropomorphic robot of the present embodiment has power supply unit, robot master
Body, operation control system and steering gear system, operation control system include programing system and cell phone application control system.By to machine
The ends the PC programming Control of device people and mobile phone terminal APP controls, realize the human-computer interaction of humanoid state and automobile form deformation, and can pass through
The ends PC program or mobile phone terminal APP controls robot makes and dazzles cruel posture, as shown in figure 22.
Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, by cell phone application control robot, cell phone application with
Between robot body by communication interface using low-power consumption bluetooth 4.0 communicate, the bluetooth module support Android system with
IOS systems, communication speed is fast, and data mutually pass in real time, and one-to-one link is noiseless.
Embodiment 13
The present embodiment can independently form complete technical solution, can also be arranged with other any embodiments of the present invention
Row/combination forms complete technical solution.
As shown in Fig. 1 to 19, the programmable fully-automatic conversion anthropomorphic robot of the present embodiment has power supply unit, robot master
Body, operation control system and steering gear system, operation control system include programing system and cell phone application control system.By to machine
The ends the PC programming Control of device people and mobile phone terminal APP controls, realize the human-computer interaction of humanoid state and automobile form deformation, and can pass through
The ends PC program or mobile phone terminal APP controls robot makes and dazzles cruel posture, as shown in figure 22.
Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment passes through the 3D high definition graphic programming system controls at the ends PC
Robot processed can adjust robot by simply clicking on mouse mode using three dimensional virtual models interaction
Examination programming.
Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, can download program and be input to machine by communication interface
In device human agent, 21 steering engines realize 300 degree of controllable angle, take this 250 degree of joints as robot intermediate 25-275（Rudder
Machine）Digital control by 0-250 this 250 using angle, the initial position of robot is arranged, into action in 11 degree of Numerical Control
Make storage button selection, addition recycles frame, the operation of cycle frame, addition structure line, setting starting point, edits 3D actions, to dynamic
Making association music, the preservation of three-dimensional motion program and opening, the download of three-dimensional motion program, the upload of three-dimensional motion program etc. is
System operation, 3D high definition graphic programming systems realize that robot is exchanged with the direct of user.
Programmable fully-automatic conversion anthropomorphic robot described in the present embodiment, can also remember and repaired hand breaks action data, machine
Device people's power interruption braking, then all joints can move, each joint is broken to desired position, read machine people's current location data
Into 3D high definition graphic programming systems, current data generates an action module.Dragging of the mouse to each joint is not needed
Operation, it is only necessary to suitable place is broken in each joint and reads data.
The above is only that the preferred embodiment of the present invention is described, and is limited the scope of the present invention
It is fixed；The foregoing is merely the specific implementation modes of the present invention, are not intended to limit the scope of protection of the present invention；It is not departing from
Under the premise of design spirit of the present invention, this field ordinary engineering and technical personnel any is repaiied to what technical scheme of the present invention was made
Change, equivalent replacement, improvement etc., should all fall into the protection domain of claims of the present invention determination.
Claims (10)
1. a kind of programmable fully-automatic conversion anthropomorphic robot, including power supply unit, robot body and operation control system, feature
It is：It further includes steering gear system；
The power supply unit includes supply unit and undervoltage protection；
The robot body includes head（1）, trunk（10）, left shoulder arm（2）, left hand（3）, right shoulder arm（4）, the right hand（5）, it is left
Leg（6）, right leg（8）, left foot（7）, right crus of diaphragm（9）, further include for connecting head（1）, trunk（10）, left shoulder arm（2）, left hand
（3）, right shoulder arm（4）, the right hand（5）, left leg（6）, right leg（8）, left foot（7）, right crus of diaphragm（9）And play each position of robot body
Multiple joints of support and gearing；
The steering gear system includes shirtfront helm gear, left shoulder arm helm gear, left arm helm gear, left hip joint steering engine dress
Set, left leg helm gear, left foot helm gear, right shoulder arm helm gear, right arm helm gear, right hip joint helm gear,
Right leg helm gear and right crus of diaphragm helm gear, the shirtfront helm gear, left hip joint helm gear, right hip joint helm gear
It is divided into the trunk of robot body（10）, the left shoulder arm helm gear and left arm helm gear are set to robot body
Left shoulder arm（2）And left hand（3）, the right shoulder arm helm gear and right arm helm gear are set to the right shoulder of robot body
Arm（4）And the right hand（5）, the left leg helm gear and left foot helm gear are respectively arranged at the left leg of robot body（6）With
Left foot（7）, the right leg helm gear and right crus of diaphragm helm gear are respectively arranged at the right leg of robot body（8）And right crus of diaphragm（9）,
Each helm gear is connected by shared bus, realizes the humanoid state and/or automobile form and full-automatic Deformation control of robot；
The operation control system includes programing system and cell phone application control system, passes through the ends the PC programming Control to robot
It is controlled with mobile phone terminal software, realizes human-computer interaction.
2. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The joint of the robot body
Including left shoulder shoulder joint, left hand shoulder joint, left hip joint, left leg joint, left leg knee endoprosthesis, left foot joint, right shoulder arm joint,
Right hand shoulder joint, right hip joint, right leg joint, right leg knee endoprosthesis, right foot joint, the left shoulder shoulder joint, left hip joint, the right side
Shoulder shoulder joint, right hip joint are set to trunk（10）Position, the left hand shoulder joint, right hand shoulder joint are divided into left shoulder arm（2）、
Right shoulder arm（4）Position, the left leg joint, left leg knee endoprosthesis are set to left leg（6）Position, the right leg joint, right leg knee
Lid joint is set to right leg（8）Position, the left foot joint, right foot joint are divided into left foot（7）, right crus of diaphragm（9）Position.
3. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The robot body further includes
Preceding cover, rear cover, left leg shell（45）, left foot shell（44）, right leg shell, right crus of diaphragm shell, the preceding cover, rear cover point
Set on trunk（10）Position, the left leg shell（45）, left foot shell（44）It is divided into left leg（6）, left foot（7）Position, it is described
Right leg shell, right crus of diaphragm shell are divided into right leg（8）, right crus of diaphragm（9）Position.
4. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The shirtfront helm gear installation
In the trunk of robot（10）Shirtfront position；The shirtfront helm gear includes shirtfront steering engine（35）, steering wheel one and preceding cover,
Steering wheel one connects shirtfront steering engine（35）With preceding cover, shirtfront steering engine（35）For realizing the rotation and deformation of precordial locations.
5. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The left shoulder arm helm gear peace
Loaded on the left shoulder arm of robot（2）And left shoulder shoulder joint position；The left shoulder arm helm gear includes left arm steering engine（15）, steering wheel
Two, left shoulder steering engine fixing piece（36）, steering wheel three, left shoulder steering engine（16）With U-shaped part one（37）, the connection left arm steering engine of steering wheel two
（15）, steering wheel three connects left shoulder steering engine（16）, left shoulder steering engine fixing piece（36）Connection steering wheel two and steering wheel three simultaneously pass through U-shaped part
One（37）Connect left front driven wheel（38）, left arm steering engine（15）With left shoulder steering engine（16）Realize left shoulder arm（2）The left shoulder arm in position closes
The rotation and deformation of section.
6. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The left arm helm gear peace
Loaded on the left shoulder arm of robot（2）And left arm joint position；The left arm helm gear includes left side upper arm steering engine（17）, rudder
Disk four, left arm connector, steering wheel five, left hand steering engine（18）, the connection of steering wheel four left side upper arm steering engine（17）, steering wheel five connects a left side
Hand steering engine（18）, left arm connector connection steering wheel four connect left front driven wheel with steering wheel five and by U-shaped part one（38）, left hand
Steering engine（18）With left side upper arm steering engine（17）Realize left shoulder arm（2）The rotation and deformation of position left hand shoulder joint.
7. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The left hip joint helm gear
It is installed on robot trunk（10）And left hip joint position；The left hip joint helm gear includes left hip joint steering engine（23）、
Left crotch's cross（39）, left hip joint steering engine（23）Pass through left crotch's cross（39）It is fixedly connected on left hip joint position,
Realize robot trunk（10）The rotation and deformation in the position joints Zuo Kua.
8. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The left leg helm gear installation
In the left leg of robot（6）And left leg joint, left leg knee endoprosthesis position；The left leg（6）Including left thigh（40）, left knee and
Left leg（42）；The left leg helm gear includes left leg steering engine（24）, left leg steering engine fixing piece, left back driving wheel（41）、
Left leg steering engine connection smallclothes, left side thigh steering engine（25）, left side knee steering engine（26）With left side shank steering engine（27）；Left leg
Steering engine fixing piece connects left leg steering engine（24）, left side thigh steering engine（25）, left side knee steering engine（26）And left side shank steering engine
（27）, the left back driving wheel of left leg steering engine connection smallclothes connection（41）, left leg steering engine（24）With left side thigh steering engine（25）, left leg
Steering engine（24）Also pass through left crotch's cross（39）Connect trunk（10）The position joints Zuo Kua；Left side thigh steering engine（25）It is set to
Left thigh（40）, left side knee steering engine（26）It is set to left knee, left side shank steering engine（27）It is set to left leg（42）, left leg
Steering engine（24）, left side thigh steering engine（25）, left side knee steering engine（26）With left side shank steering engine（27）For realizing left leg（6）Portion
The rotation and deformation of position left leg joint, left leg knee endoprosthesis, and coordinate for being controlled under automobile form with right leg helm gear
Make left back driving wheel（41）With right rear drive sprocket（49）, to realize the forward/backward of the robot under automobile form.
9. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The left foot helm gear installation
In robot left foot（7）And left foot joint position；The left foot helm gear includes left foot steering engine（28）, left foot portion cross
（43）, left foot steering engine（28）Pass through left foot portion cross（43）It is fixedly connected on left foot（7）Position is to realize left foot（7）Position is left
The rotation and deformation of foot joint, left foot steering engine（28）Also pass through left foot portion cross（43）With left leg（42）Connection is to realize a left side
Shank（42）With left foot（7）Position linkage deformation.
10. programmable fully-automatic conversion anthropomorphic robot as described in claim 1, it is characterised in that：The right shoulder arm helm gear
It is installed on robot right shoulder arm（4）And right shoulder arm joint position；The right shoulder arm helm gear includes right arm steering engine（19）, steering wheel
Six, right shoulder steering engine fixing piece, steering wheel seven, right shoulder steering engine（20）With U-shaped part two, steering wheel six connects right arm steering engine（19）, steering wheel
The four right shoulder steering engines of connection（20）, right shoulder steering engine fixing piece connect steering wheel six with steering wheel seven and by U-shaped part two connect before the right side from
Driving wheel（48）, right arm steering engine（19）With right shoulder steering engine（20）Realize right shoulder arm（4）The rotation and deformation in position right shoulder arm joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810160118.9A CN108283814A (en) | 2018-02-26 | 2018-02-26 | Programmable fully-automatic conversion anthropomorphic robot |
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| CN109454649A (en) * | 2018-11-27 | 2019-03-12 | 孙喜斌 | A kind of automobile deformed robot |
| CN109876463A (en) * | 2019-02-28 | 2019-06-14 | 乐森机器人(深圳)有限公司 | A kind of fighter toy |
| CN111300451A (en) * | 2020-03-19 | 2020-06-19 | 深圳国信泰富科技有限公司 | High-intelligence shape shifting robot |
| CN114432714A (en) * | 2021-11-12 | 2022-05-06 | 株式会社万代 | Toy component and human-shaped toy |
| CN114984590A (en) * | 2022-06-15 | 2022-09-02 | 乐森机器人(深圳)有限公司 | Robot |
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