CN108283814A - Programmable fully-automatic conversion anthropomorphic robot - Google Patents

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

Programmable Fully Automatic Transforming Robot

technical field

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

Background technique

With the development of modern science and technology, humanoid deformable robot products with swinging, sounding, and adjusting movements, which integrate electromechanical, sensor, computer and other technologies, have been developed rapidly.

Publication No. CN102698440A discloses a deformed robot toy, which has a body, a roof and a bracket for connecting the body and the roof. The whole body is provided with a plurality of rotating shafts, which can be transformed between a chariot and a robot. The Chinese utility model patent with the publication number CN202590353U discloses a deformed robot toy, which includes an upper body, a left arm, a right arm, a left leg that can be transformed into a left barrel housing assembly, and a body that can be transformed into a right barrel housing assembly. Right leg, trigger, can transform between human form and gun form. The modeling structures and deformation methods of these two robots are relatively simple.

The Chinese utility model patent with the publication number of CN202876340U discloses a device with a head connector, a chest device, a left leg device and a right leg device with a U-shaped frame, a left arm device with a left bracket, and a device with a right bracket. Transformable robot with right arm and steering gear. The Chinese utility model patent with the publication number CN204050955U discloses a deformable robot with a head, torso, limbs and connectors, wherein the upper limbs include relatively movable upper arms and forearms, and the lower limbs include relatively movable thighs and calves. The trunk, upper limbs, hands and thighs of the lower limbs can be deformed to form the front of the vehicle, the head can be deformed and wrapped into the front of the vehicle, and the lower legs and the feet of the lower limbs can be deformed to form the vehicle body. The Chinese utility model patent with the publication number CN205549560U discloses a deformable robot toy car, which includes a tail, a body shell, a head, a door, a body, an arm and a head, and the lower end of the body is hinged on the rear of the car. The front part and the rear part of the car are provided with an overturning mechanism that can drive the body to turn up and stand relative to the rear part of the car. The lower end of the body shell is hinged on the rear part of the rear part of the car. There is a driving device that can drive the rear wheels to rotate. The front bottom surface of the rear of the car is provided with supporting small wheels, and the body is driven by the turning mechanism to turn up to stand or turn down to lie flat and automatically realize the mutual transformation between the toy car and the robot. The Chinese utility model with the publication number CN205434963U discloses a deformed automobile robot toy, which includes a vehicle frame, a chassis, a vehicle door, a rear end, a front cover, a compartment cover and hinged parts forming the overall appearance structure of the automobile, and the vehicle doors are respectively connected by connecting parts. The rod is hinged on both sides of the first connecting frame, the front wheel is hinged on the door, the front part of the rear is hinged to the rear of the chassis through a shaft, the middle part of the rear is hinged to the rear of the frame through a shaft, and the middle part of the front end of the frame is connected. block, the front cover is hinged on the connecting block through the shaft, the robot head is fixedly connected to the lower part of the connecting block on the frame, the rear wheels are respectively connected to the two sides of the rear of the car through the shaft, and the compartment cover is fixed on the frame , the product has a deformation mechanism that can transform the product between a car and a robot. The structure of these types of robots is relatively complex, and the deformation of human form and car form is more flexible, but the degree of freedom and controllability of deformation are not enough.

In view of the current state of the art, the applicant has designed a unique structure for the robot: the new robot product has 21 degrees of freedom in the whole body, can walk upright with two feet in the human form, and can move in the human form and the car form , supporting mobile phone APP and computer 3D high-definition graphical programming system, one-click to realize the free transformation of people to cars.

Contents of the invention

The present invention provides a programmable fully automatic deformation robot. The whole body of the robot has 21 degrees of freedom. It can walk upright with two feet in the human form, and can move in both the human form and the car form. It is equipped with mobile phone APP and computer 3D high-definition graphics. With an advanced programming system, the free transformation from a person to a car can be realized with one click.

In order to achieve the above object, the present invention adopts the following technical solutions.

The invention discloses a programmable fully automatic deformation robot, which includes a power supply unit, a robot body and an operation control system; the programmable fully automatic deformation robot of the invention also includes a steering gear system;

The power supply unit includes a power supply device and a low voltage protection device;

The robot main body includes a head, a trunk, a left shoulder arm, a left hand, a right shoulder arm, a right hand, a left leg, a right leg, a left foot, a right foot, and also includes a Arm, right hand, left leg, right leg, left foot, right foot and multiple joints that support and transmit various parts of the main body of the robot;

The steering gear system includes a front chest steering gear, a left shoulder arm steering gear, a left arm steering gear, a left hip joint steering gear, a left leg steering gear, a left foot steering gear, a right shoulder arm steering gear, Right arm steering gear, right hip joint steering gear, right leg steering gear and right foot steering gear, the front chest steering gear, left hip joint steering gear, and right hip joint steering gear are separately located on the robot body The torso of the left shoulder arm steering gear and the left arm steering gear are arranged on the left shoulder arm and left hand of the robot main body, and the right shoulder arm steering gear and the right arm steering gear are arranged on the right shoulder arm and the right hand of the robot main body , the left leg steering gear and the left foot steering gear are respectively arranged on the left leg and the left foot of the robot main body, and the right leg steering gear and the right foot steering gear are respectively arranged on the right leg and the right foot of the robot main body , each steering gear device is connected through a shared bus to realize the robot's human form and/or car form and fully automatic deformation control;

The operation control system includes a programming system and a mobile phone APP control system, and realizes human-computer interaction through the PC-side programming control of the robot and the mobile phone-side software control.

Preferably, the joints of the robot body include left shoulder-arm joints, left arm joints, left hip joints, left leg joints, left leg knee joints, left foot joints, right shoulder-arm joints, right arm joints, right hip joints, right leg joint, right leg knee joint, right foot joint, the left shoulder-arm joint, left hip joint, right shoulder-arm joint, and right hip joint are arranged on the trunk, and the left arm joint and right arm joint are respectively arranged on the left shoulder Shoulder and arm parts, the left leg joint and left leg knee joint are arranged on the left leg, the right leg joint and right leg knee joint are arranged on the right leg, and the left foot joint and right foot joint are respectively arranged on the left foot, right foot.

In any of the above-mentioned technical solutions, preferably, the robot main body also includes a front cover, a rear cover, a left leg shell, a left foot shell, a right leg shell, a right foot shell, the front cover, the rear cover The shells of the left leg and the left foot are arranged on the left leg and the left foot respectively, and the shells of the right leg and the right foot are respectively arranged on the right leg and the right foot.

In any of the above-mentioned technical solutions, it is preferred that the chest steering gear device is installed on the front chest position of the torso of the robot; Disk 1 connects the front chest steering gear and the front cover, and the front chest steering gear is used to realize the rotation and deformation of the front chest position.

In any of the above technical solutions, preferably, the left shoulder arm steering gear is installed on the left shoulder arm of the robot and the joint position of the left shoulder arm; the left shoulder arm steering gear includes a left arm steering gear, a second steering wheel, and a left shoulder steering gear Fixing parts, rudder plate 3, left shoulder servo and U-shaped piece 1, rudder plate 2 is connected to the left arm servo, rudder plate 3 is connected to the left shoulder servo, and the left shoulder servo fixing part is connected to rudder plate 2 and rudder plate 3 and passed through the U Part one is connected to the left front driven wheel, and the left arm steering gear and the left shoulder steering gear realize the rotation and deformation of the left shoulder-arm joint of the left shoulder and arm.

In any of the above-mentioned technical solutions, it is preferred that the left arm steering gear is installed on the left shoulder arm and left arm joint of the robot; Pieces, rudder plate 5, left-hand steering gear, rudder plate 4 is connected to the left upper arm servo, rudder plate 5 is connected to the left-hand servo, and the left arm connecting piece is connected to rudder plate 4 and rudder plate 5 and connected to the left front driven wheel through U-shaped piece 1 , the left hand steering gear and the left upper arm steering gear realize the rotation and deformation of the left shoulder and arm joints of the left arm.

In any of the above technical solutions, preferably, the left hip joint servo device is installed at the position of the robot trunk and the left hip joint; the left hip joint servo device includes a left hip joint servo, a left hip cross, a left The hip joint steering gear is fixedly connected to the position of the left hip joint through the cross of the left hip to realize the rotation and deformation of the left hip joint of the robot torso.

In any of the above technical solutions, preferably, the left leg steering gear device is installed on the left leg of the robot, the left leg joint, and the left leg knee joint; the left leg includes a left thigh, a left knee and a left calf; the The left leg servo device includes the left leg servo, the left leg servo fixing part, the left rear driving wheel, the left leg servo connecting piece, the left thigh servo, the left knee servo and the left calf servo ;The left leg servo fixing part is connected to the left leg servo, left thigh servo, left knee servo and left calf servo, and the left leg servo connecting small piece is connected to the left rear driving wheel and left leg servo And the left thigh servo, the left leg servo is also connected to the left hip joint of the trunk through the left hip cross; the left thigh servo is set on the left thigh, the left knee servo is set on the left knee, and the left calf servo is set For the left calf, the left leg servo, the left thigh servo, the left knee servo and the left calf servo are used to realize the rotation and deformation of the left leg joint and the left knee joint of the left leg, and the rotation and deformation with the right leg The steering gear device is used to control the left rear driving wheel and the right rear driving wheel in the car form, so as to realize the forward/backward movement of the robot in the car form.

In any of the above technical solutions, preferably, the left foot steering gear device is installed on the left foot of the robot and the left foot joint position; the left foot steering gear device includes a left foot steering gear, a left foot cross, a left foot rudder The machine is fixedly connected to the left foot through the cross of the left foot to realize the rotation and deformation of the left foot joint of the left foot. The left foot servo is also connected to the left calf through the cross of the left foot to realize the joint deformation of the left calf and the left foot.

In any of the above technical solutions, it is preferred that the right shoulder arm steering gear is installed on the right shoulder arm of the robot and the joint position of the right shoulder arm; the right shoulder arm steering gear includes a right arm steering gear, a steering wheel six, Right shoulder servo fixing part, rudder plate seven, right shoulder servo and U-shaped part two, rudder plate six is connected to right arm servo, rudder plate four is connected to right shoulder servo, right shoulder servo fixing part is connected to rudder plate Six and the rudder plate seven are connected to the right front driven wheel through the U-shaped part two, and the right arm steering gear and the right shoulder steering gear realize the rotation and deformation of the right shoulder and arm joint of the right shoulder and arm.

In any of the above technical solutions, preferably, the right arm steering gear is installed at the joint position of the right shoulder arm and the right arm of the robot; the right arm steering gear includes a right upper arm steering gear, a steering wheel eight, a right arm Connector, rudder plate 9, right-hand steering gear, rudder plate 8 is connected to the right upper arm servo, rudder plate 9 is connected to the right-hand servo, right arm connecting piece is connected to rudder plate 8 and rudder plate 9, and connected to the right front slave through U-shaped piece 2 The driving wheel, the right hand steering gear and the right upper arm steering gear realize the rotation and deformation of the right arm joint at the right shoulder and arm.

In any of the above technical solutions, preferably, the right hip joint steering gear is installed at the position of the robot trunk and the right hip joint; the right hip joint steering gear includes a right hip joint steering gear, a right hip cross, a right The hip joint steering gear is fixedly connected to the position of the right hip joint through the right hip cross to realize the rotation and deformation of the right hip joint of the robot torso.

In any of the above technical solutions, preferably, the right leg steering gear device is installed on the right leg of the robot, the right leg joint, and the knee joint of the right leg; the right leg includes the right thigh, right knee and right calf; the The right leg servo device includes the right leg servo, the right leg servo fixing part, the right rear driving wheel, the right leg servo connecting piece, the right thigh servo, the right knee servo and the right calf servo , the right leg servo fixing part is connected to the right leg servo, right thigh servo, right knee servo and right calf servo, and the right leg servo connecting small piece is connected to the right rear driving wheel and right leg servo And the right thigh servo, the right leg servo is also connected to the right hip joint of the trunk through the right hip cross; the right thigh servo is set on the right thigh, the right knee servo is set on the right knee, and the right calf servo is set For the right calf, the right leg servo, the right thigh servo, the right knee servo and the right calf servo are used to realize the rotation and deformation of the right leg joint of the right leg, the right knee joint of the right leg, and the The steering gear device is used to control the right rear driving wheel and the left rear driving wheel in the car form, so as to realize the forward/backward movement of the robot in the car form.

In any of the above technical solutions, preferably, the right foot steering gear device is installed on the right foot of the robot and the joint position of the right foot; the right foot steering gear device includes a right foot steering gear, a right foot cross, a right foot rudder The machine is fixedly connected to the right foot through the right foot cross to realize the rotation and deformation of the right foot joint of the right foot. The right foot servo is also connected to the right calf through the right foot cross to realize the joint deformation of the right calf and the right foot.

In any of the above technical solutions, it is preferred that the front chest steering gear, left arm steering gear, left shoulder steering gear, left upper arm steering gear, left hand steering gear, left hip joint steering gear, left leg steering gear, left Thigh Servo, Left Knee Servo, Left Calf Servo, Left Foot Servo, Right Arm Servo, Right Shoulder Servo, Right Upper Arm Servo, Right Hand Servo, Right Hip Joint Servo, Right Leg Servo The servo, the right thigh servo, the right knee servo, the right calf servo, and the right foot servo are connected through a shared bus in a TTL level multi-layer connection.

In any of the above technical solutions, it is preferred that the front chest steering gear, left arm steering gear, left shoulder steering gear, left upper arm steering gear, left hand steering gear, left hip joint steering gear, left leg steering gear, left Thigh Servo, Left Knee Servo, Left Calf Servo, Left Foot Servo, Right Arm Servo, Right Shoulder Servo, Right Upper Arm Servo, Right Hand Servo, Right Hip Joint Servo, Right Leg Servo The right thigh servo, right knee servo, right calf servo, and right foot servo all use dedicated digital servos that can be disassembled and replaced.

In any of the above technical solutions, it is preferred that the dedicated digital steering gear includes a front cover, a circuit board, a potentiometer, a motor, a middle case, a gear set and a rear end cover, and each component is connected in a detachable manner.

In any of the above technical solutions, preferably, the dedicated digital steering gear adopts UART serial communication mode, has an ID code, and the ID code can be changed.

In any of the above technical solutions, preferably, the circuit board includes a locked-rotor power-down protection module and a position feedback alarm module.

Preferably in any of the above technical solutions, the position feedback alarm module includes a detection circuit and a control circuit and is connected to the main control module of the steering gear system through the alarm module; the main control module transmits control instructions to the control circuit, and the control circuit receives the instructions Finally, the special digital steering gear is controlled to act according to the command, and the detection circuit detects whether the special digital steering gear acts according to the command and transmits the detection signal to the main control module; the detection circuit is connected to the control circuit, and when the detection circuit detects that the special digital steering gear appears fault, send the steering gear failure signal of the special digital steering gear to the control circuit and the main control module; the control circuit receives the steering gear failure signal of the special digital steering gear and turns off its power supply; the main control module receives the steering gear failure signal and sends The control circuits of other steering gears in the steering gear system except the special digital steering gear send a stop command, and start the alarm circuit at the same time to issue an alarm.

In any of the above technical solutions, preferably, the power supply device includes a battery, a charging interface, a power switch, a power-off protection device, and a voice prompt device for remaining power.

In any of the above technical solutions, preferably, the battery is a rechargeable battery with a standard of not less than 12.6V-2000mAh-15C.

In any of the above technical solutions, preferably, the robot body further includes a card reader device, a music storage card device, a data download port and a communication interface.

Compared with the prior art, the above-mentioned technical solution of the present invention has beneficial effects such as flexible degrees of freedom, 3D programming, mobile phone APP control, one-key automatic deformation, etc.:

(1) The whole body of the robot has 21 degrees of freedom, and the unique shape and structure design can realize the fully automatic one-button transformation from human to car:

The whole body of the robot has 21 degrees of freedom of movement, and 21 servos make the deformation of the robot flexible and free;

Realize one-click cool transformation through the mobile APP;

The deformation process includes the transformation from person to car, from car to person, double-morphological deformation, and both people and cars can move;

In human form, you can easily complete forward, backward, push-ups and other actions;

In car form, it can carry 5KG and has strong off-road capability.

(2) With programmable and APP online control functions:

The robot has a communication interface, a data download port, a supporting mobile phone or PAD version APP, and a supporting 3D high-definition graphical programming system, and synchronously controls the robot through real-time operation of the APP or programming system.

(3) It has the function of data read-back, which is used to record user-defined actions, and 100% restore the actions edited by users:

The robot has a communication interface and a card reader device, which can automatically reproduce the deformation process of the robot 100% by recording the whole process of deformation by the user's hand, and can store 1 million deformation processes;

The steering gear used in the steering gear system is a dedicated digital steering gear. The dedicated digital steering gear is detachable and replaceable and has a position feedback function, which can remember the deformation process of each joint when the user moves it, and completely reproduce the deformation process.

(4) Cool sound effect matching, with entertainment function:

The robot has a communication interface, a music storage card device, and a built-in mp3 player system, which can store any music by itself;

The robot has 21 degrees of freedom of movement, singing and dancing, omnipotent.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the structural representation according to the appearance of a preferred embodiment of the programmable fully automatic deformation robot of the present invention;

Fig. 2 is a schematic structural view of a preferred embodiment of the steering gear system according to the programmable fully automatic deformation robot of the present invention;

Fig. 3 is a schematic structural view of a preferred embodiment of the connection between the head and the torso of the programmable fully automatic deformation robot according to the present invention;

Fig. 4 is a schematic structural view of a preferred embodiment in which the shoulder arm of the programmable fully automatic deformation robot is connected to the torso according to the present invention;

Fig. 5 is a schematic structural view of a preferred embodiment of the connection between the crotch and the leg of the programmable fully automatic deformation robot according to the present invention;

Fig. 6 is an enlarged schematic view of a preferred embodiment of the left arm structure of the programmable fully automatic deformation robot according to the present invention;

Fig. 7 is the enlarged schematic view of a preferred embodiment of the left leg structure of the programmable fully automatic deformation robot according to the present invention;

Fig. 8 is the front view of a preferred embodiment of the human form robot structure of the programmable fully automatic deformation robot according to the present invention;

Fig. 9 is the rear view of a preferred embodiment of the human form robot structure of the programmable fully automatic deformation robot according to the present invention;

Fig. 10 is the left side view of a preferred embodiment of the human form robot structure of the programmable fully automatic deformation robot according to the present invention;

Fig. 11 is the right side view of a preferred embodiment of the human form robot structure of the programmable fully automatic deformation robot according to the present invention;

Fig. 12 is a schematic diagram of a preferred embodiment of the deformation process from the human form to the car form according to the programmable fully automatic deformation robot of the present invention;

Fig. 13 is a schematic diagram of a preferred embodiment of the deformation process decomposition from the human form to the car form according to the programmable fully automatic deformation robot of the present invention;

Fig. 14 is the front view of a preferred embodiment of the automobile form robot structure according to the programmable fully automatic deformation robot of the present invention;

Fig. 15 is the rear view of a preferred embodiment of the automobile form robot structure according to the programmable fully automatic deformation robot of the present invention;

Fig. 16 is the left side view of a preferred embodiment of the automobile form robot structure according to the programmable fully automatic deformation robot of the present invention;

Fig. 17 is the right side view of a preferred embodiment of the automobile form robot structure according to the programmable fully automatic deformation robot of the present invention;

Fig. 18 is a top view according to a preferred embodiment of the automobile form robot structure of the programmable fully automatic deformation robot of the present invention;

Fig. 19 is the bottom view of a preferred embodiment of the car form robot structure of the programmable fully automatic deformation robot according to the present invention;

Fig. 20 is a schematic structural view of a preferred embodiment of the vehicle form robot loading vehicle according to the programmable fully automatic deformation robot of the present invention;

Fig. 21 is the perspective view of a preferred embodiment of the vehicle form robot loading vehicle of the programmable fully automatic deformation robot according to the present invention;

Fig. 22 is a stereoscopic view of a preferred embodiment of a programmable fully automatic deforming robot according to the present invention, where the programmed control robot presents a cool gesture.

Reference signs:

1. Head, 2. Left shoulder, 3. Left hand, 4. Right shoulder, 5. Right hand, 6. Left leg, 7. Left foot, 8. Right leg, 9. Right foot, 10. Torso, 11, Music memory card, 12, power switch, 13, charging interface, 14, communication interface, 15, left arm servo, 16, left shoulder servo, 17, left upper arm servo, 18, left hand servo, 19, right arm Servo, 20, right shoulder servo, 21, right upper arm servo, 22, right hand servo, 23, left hip joint servo, 24, left leg servo, 25, left thigh servo, 26, left Side knee servo, 27, left calf servo, 28, left foot servo, 29, right hip joint servo, 30, right leg servo, 31, right thigh servo, 32, right knee servo , 33, right calf steering gear, 34, right foot steering gear, 35, front chest steering gear, 36, left shoulder steering gear fixing part, 37, U-shaped part one, 38, left front driven wheel, 39, left crotch Cross, 40, left thigh, 41, left rear drive wheel, 42, left calf, 43, left foot cross, 44, left foot shell, 45, left leg shell, 46, cannon, 47, machine gun, 48, right front Moving wheel, 49, right rear driving wheel.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In view of the existing technical situation in the field of deformable robots, an embodiment of the present invention proposes a programmable fully automatic deformable robot. The robot in the embodiment of the present invention has a unique structural design. The whole body of the robot has 21 degrees of freedom. It can walk upright with two feet in the human form, and can move in both the human form and the car form. It is equipped with mobile phone APP and computer 3D high-definition graphics. With an advanced programming system, one-button realization of fully automatic free deformation from human to car.

Example 1

This embodiment can form a complete technical solution alone, and can also be arranged/combined with any other embodiment of the present invention to form a complete technical solution.

As shown in Figure 1, the programmable fully automatic deformation robot of this embodiment includes a power supply unit, a robot main body, an operation control system and a steering gear system.

The programmable fully automatic deformation robot described in this embodiment has a power supply unit including a power supply device and a low voltage protection device.

The programmable fully automatic deformation robot described in this embodiment has a robot body comprising a head 1, a torso 10, a left shoulder arm 2, a left hand 3, a right shoulder arm 4, a right hand 5, a left leg 6, a right leg 8, and a left foot 7 , right foot 9, also includes for connecting head 1, trunk 10, left shoulder arm 2, left hand 3, right shoulder arm 4, right hand 5, left leg 6, right leg 8, left foot 7, right foot 9 and play Multiple joints for support and transmission of various parts of the main body of the robot. The joints of the robot body include left shoulder-arm joint, left arm joint, left hip joint, left leg joint, left leg knee joint, left foot joint, right shoulder-arm joint, right arm joint, right hip joint, right leg joint, right leg knee Joints, right foot joints, left shoulder-arm joints, left hip joints, right shoulder-arm joints, and right hip joints are set in 10 parts of the trunk, left arm joints and right arm joints are respectively set in left shoulder arm 2 and right shoulder arm 4 parts, left leg joints 1. The knee joint of the left leg is set at 6 positions of the left leg, the right leg joint and the knee joint of the right leg are set at 8 positions of the right leg, and the left foot joint and right foot joint are respectively set at 7 positions of the left foot and 9 positions of the right foot. The multi-joint setting makes the performance of the robot very strong. The joints of the whole body cooperate with the steering gear system to make tens of thousands of human-like actions, such as: human-vehicle deformation, forward and backward under the dual form of human-vehicle, push-ups, dancing, and machine gun shooting , cannon fire, etc.

The programmable full-automatic deformation robot described in this embodiment, its steering gear system comprises chest steering gear device, left shoulder arm steering gear device, left arm steering gear device, left hip joint steering gear device, left leg steering gear device, left arm steering gear device, Foot Servo, Right Shoulder Arm Servo, Right Arm Servo, Right Hip Joint Servo, Right Leg Servo, Right Foot Servo, Front Chest Servo, Left Hip Joint Servo, The right hip joint steering gear is separately arranged on the torso 10 of the robot main body, the left shoulder arm steering gear and the left arm steering gear are arranged on the left shoulder arm 2 and the left hand 3 of the robot main body, and the right shoulder arm steering gear and the right arm steering gear are arranged on On the right shoulder arm 4 and the right hand 5 of the robot main body, the left leg steering gear and the left foot steering gear are respectively arranged on the left leg 6 and the left foot 7 of the robot main body, and the right leg steering gear and the right foot steering gear are respectively arranged on On the right leg 8 and the right foot 9 of the main body of the robot, each steering gear device is connected through a common bus to realize the robot's human form and/or car form and fully automatic deformation control.

The programmable fully automatic deformation robot described in this embodiment has an operation control system including a programming system and a mobile phone APP control system, and realizes human-computer interaction through the robot's PC-side programming control and mobile phone-side software control.

Example 2

This embodiment can form a complete technical solution alone, can also be combined with embodiment 1 to form a complete technical solution, and can also be arranged/combined with any other embodiment of the present invention to form a complete technical solution.

As shown in Figures 1 to 7, the programmable fully automatic deformation robot of this embodiment has a power supply unit, a robot main body, an operation control system and a steering gear system, and the steering gear system includes a front chest steering gear device, a left shoulder arm steering gear device, a Arm steering gear, left hip joint steering gear, left leg steering gear, left foot steering gear, right shoulder arm steering gear, right arm steering gear, right hip joint steering gear, right leg steering gear and The right foot steering gear device, each steering gear device is connected through a shared bus to realize the robot's human form and/or car form and fully automatic deformation control:

The chest steering gear is installed on the front chest position of the torso 10 of the robot; the chest steering gear includes the chest steering gear 35, the steering wheel one and the front machine cover, and the steering wheel one connects the chest steering gear 35 and the front machine cover, The front chest steering gear 35 is used to realize the rotation and deformation of the front chest position.

The left shoulder arm servo device is installed on the left shoulder arm 2 and the left shoulder arm joint position of the robot; the left shoulder arm servo device includes a left arm servo 15, a steering wheel 2, a left shoulder steering gear fixing part 36, a steering wheel 3, a left shoulder servo 16 and U-shaped piece 1 37, steering wheel 2 is connected to left arm steering gear 15, steering wheel 3 is connected to left shoulder steering gear 16, left shoulder steering gear fixing part 36 is connected to steering wheel 2 and steering wheel 3 and connected to the left front slave through U-shaped piece 1 37 Moving wheel 38, left arm steering gear 15 and left shoulder steering gear 16 realize the rotation and deformation of left shoulder arm 2 parts left shoulder arm joints.

The left arm servo device is installed on the robot left shoulder arm 2 and the joint position of the left arm; Four connects the left upper arm steering gear 17, the steering wheel five connects the left hand steering gear 18, the left arm connector connects the steering wheel four and the steering wheel five and connects the left front driven wheel 38 by the U-shaped piece one, the left hand steering gear 18 and the left upper arm The steering gear 17 realizes the rotation and deformation of the left arm joint at 2 positions of the left shoulder arm.

The left hip joint servo device is installed on the robot trunk 10 and the left hip joint position; the left hip joint servo device includes a left hip joint servo 23 and a left hip cross 39, and the left hip joint servo 23 is fixed by the left hip cross 39 It is connected to the position of the left hip joint to realize the rotation and deformation of the left hip joint of 10 parts of the robot torso.

The left leg servo device is installed on the robot left leg 6 and the left leg joint, left leg knee joint position; Left leg 6 comprises left thigh 40, left knee and left calf 42; Leg steering gear fixing parts, left rear driving wheel 41, left leg steering gear connecting parts, left thigh steering gear 25, left knee steering gear 26, left calf steering gear 27; left leg steering gear fixing parts Connect the left leg steering gear 24, the left thigh steering gear 25, the left knee steering gear 26 and the left calf steering gear 27, and the left leg steering gear connects the left rear driving wheel 41, the left leg steering gear 24 and the left Side thigh steering gear 25, left leg steering gear 24 also connects the left hip joint of trunk 10 parts through left crotch cross 39; The side calf steering gear 27 is arranged on the left calf 42, the left leg steering gear 24, the left thigh steering gear 25, the left knee steering gear 26 and the left calf steering gear 27 are used to realize the The rotation and deformation of the knee joint, and the cooperation with the right leg steering gear are used to control the left rear drive wheel 41 and the right rear drive wheel 49 in the car form, so as to realize the forward/backward movement of the robot in the car form.

The left foot servo device is installed on the robot left foot 7 and the left foot joint position; Pin 7 positions are to realize the rotation and deformation of the left foot joint at 7 positions of the left foot, and the left foot steering gear 28 is also connected with the left calf 42 through the left foot cross 43 to realize the linkage deformation of the left calf 42 and the left crus 7 positions.

The right shoulder arm servo device is installed on the right shoulder arm 4 of the robot and the joint position of the right shoulder arm; the right shoulder arm servo device includes right arm servo 19, rudder plate six, right shoulder Shoulder steering gear 20 and U-shaped piece 2, rudder plate 6 is connected to right arm steering gear 19, rudder plate 4 is connected to right shoulder steering gear 20, right shoulder steering gear fixing part is connected to rudder plate 6 and rudder plate 7 and passed through U-shaped piece Two connect the right front driven wheel 48, the right arm steering gear 19 and the right shoulder steering gear 20 realize the rotation and deformation of the right shoulder arm joint at 4 positions of the right shoulder arm.

The right arm servo device is installed on the robot right shoulder arm 4 and the joint position of the right arm; Plate eight is connected to the right upper arm steering gear 21, steering plate nine is connected to the right hand steering gear 22, and the right arm connector is connected to steering plate eight and steering plate nine and is connected to the right front driven wheel 48 through U-shaped piece two, and the right hand steering gear 22 is connected to the right side The upper arm steering gear 21 realizes the rotation and deformation of the right arm joint at 4 parts of the right shoulder arm.

The right hip joint steering gear is installed on the robot trunk 10 and the right hip joint position; the right hip joint steering gear includes the right hip joint steering gear 29 and the right hip cross, and the right hip joint steering gear 29 is fixedly connected to the right hip joint through the right hip cross. The position of the right hip joint realizes the rotation and deformation of the right hip joint of 10 parts of the robot torso.

The right leg steering gear device is installed on the right leg 8 of the robot, the right leg joint, and the right leg knee joint position; the right leg 8 includes the right thigh, right knee and right calf; Steering gear fixing piece, right rear driving wheel 49, right leg steering gear connecting small piece, right thigh steering gear 31, right knee steering gear 32 and right calf steering gear 33, right leg steering gear fixing piece connected to the right Leg steering gear 30, right thigh steering gear 31, right knee steering gear 32 and right calf steering gear 33, right leg steering gear connecting small parts connect right rear driving wheel 52, right leg steering gear 30 and right thigh The steering gear 31 and the right leg steering gear 30 are also connected to the right hip joint of the trunk 10 through the right crotch cross; the right thigh steering gear 31 is arranged on the right thigh, the right knee steering gear 32 is arranged on the right knee, and the right calf steering gear 33 is arranged on the right calf, the right leg steering gear 30, the right thigh steering gear 31, the right knee steering gear 32 and the right calf steering gear 33 are used to realize the rotation and Deformation, and cooperate with the left leg servo device to be used to control the right rear driving wheel 52 and the left rear driving wheel 41 under the car form, to realize the forward/backward of the robot under the car form.

The right foot steering gear device is installed on the right foot 8 and the right foot joint position of the robot; the right foot steering gear device includes the right foot steering gear 34 and the right foot cross, and the right foot steering gear 34 is fixedly connected to the right foot 9 through the right foot cross. position to realize the rotation and deformation of the right foot joint at 8 positions of the right foot, and the right foot servo 34 is also connected with the right calf through the cross of the right foot to realize the joint deformation of the right calf and the 8 positions of the right foot.

The programmable fully automatic deformation robot described in this embodiment has 21 steering gears, that is, 21 degrees of freedom, and realizes the human form and/or vehicle form of the robot and fully automatic free deformation.

Example 3

This embodiment can form a complete technical solution alone, can also be combined with embodiment 1 and/or 2 to form a complete technical solution, and can also be arranged/combined with any other embodiment of the present invention to form a complete technical solution.

The programmable fully automatic deformation robot of present embodiment has power unit, robot main body, operation control system and steering gear system, as shown in Figure 2, steering gear system has 21 steering gears: left arm steering gear 15, left shoulder steering gear 16 , left upper arm servo 17, left hand servo 18, left hip joint servo 23, left leg servo 24, left thigh servo 25, left knee servo 26, left calf servo 27, left foot servo Servo 28, right arm servo 19, right shoulder servo 20, right upper arm servo 21, right hand servo 22, right hip joint servo 29, right leg servo 30, right thigh servo 31, right knee Steering gear 32, right calf steering gear 33, right foot steering gear 34, chest steering gear 35, each steering gear is connected by shared bus with TTL level multi-layer connection mode, realizes the human form of robot and/or car form and Fully automatic deformation control.

Example 4

This embodiment can form a complete technical solution alone, can also be combined with embodiment 1 and/or 2 and/or 3 to form a complete technical solution, and can also be arranged/combined with any other embodiment of the present invention to form a complete technical solution technical solutions.

The programmable fully automatic deformation robot of this embodiment has a power supply unit, a robot main body, an operation control system and a steering gear system, as shown in Figures 1 to 7, 21 steering gears in the steering gear system "left arm steering gear 15, left shoulder Servo 16, left upper arm servo 17, left hand servo 18, left hip joint servo 23, left leg servo 24, left thigh servo 25, left knee servo 26, left calf servo 27, Left foot servo 28, right arm servo 19, right shoulder servo 20, right upper arm servo 21, right hand servo 22, right hip joint servo 29, right leg servo 30, right thigh servo 31, The right knee steering gear 32, the right calf steering gear 33, the right foot steering gear 34, and the front chest steering gear 35 "are connected through a shared bus in a TTL level multilayer connection mode to realize the human form and/or car form of the robot and Fully automatic deformation control. The 21 steering gears all use special digital steering gears, which can be disassembled and replaced.

The programmable fully automatic deformation robot described in this embodiment, its dedicated digital steering gear includes a front cover, a circuit board, a potentiometer, a motor, a middle shell, a gear set and a tail end cover, and each part is connected in a detachable manner.

The programmable fully automatic deformation robot described in this embodiment, its dedicated digital steering gear adopts the UART serial port communication mode, has an ID code, and the ID code can be changed.

In the programmable fully automatic deformation robot described in this embodiment, the circuit board in its dedicated digital steering gear includes a locked-rotor power-down protection module and a position feedback alarm module.

Example 5

This embodiment can form a complete technical solution alone, can also be combined with embodiment 4 to form a complete technical solution, and can also be arranged/combined with any other embodiment of the present invention to form a complete technical solution.

The programmable fully automatic deformation robot of this embodiment has a power supply unit, a robot main body, an operation control system and a steering gear system, as shown in Figures 1 to 7, 21 steering gears in the steering gear system "left arm steering gear 15, left shoulder Servo 16, left upper arm servo 17, left hand servo 18, left hip joint servo 23, left leg servo 24, left thigh servo 25, left knee servo 26, left calf servo 27, Left foot servo 28, right arm servo 19, right shoulder servo 20, right upper arm servo 21, right hand servo 22, right hip joint servo 29, right leg servo 30, right thigh servo 31, The right knee steering gear 32, the right calf steering gear 33, the right foot steering gear 34, and the front chest steering gear 35" all use detachable and replaceable special digital steering gears to realize the robot's human form and/or car form and fully automatic Morph Control.

In the programmable fully automatic deformation robot described in this embodiment, its dedicated digital steering gear includes a front cover, a circuit board, a potentiometer, a motor, a middle case, a gear set and a tail end cover, and the circuit board includes a locked-rotor power-down protection module And position feedback alarm module. The position feedback alarm module includes a detection circuit and a control circuit, and is connected to the main control module of the steering gear system through the alarm module; the main control module transmits control instructions to the control circuit, and the control circuit controls the special digital steering gear to act according to the instructions after receiving the instructions. Detect whether the special digital steering gear operates according to the command and transmit the detection signal to the main control module; the detection circuit is connected to the control circuit, and when the detection circuit detects that the special digital steering gear fails, it sends the special digital steering gear to the control circuit and the main control module. The steering gear fault signal of the steering gear; the control circuit receives the steering gear fault signal of the special digital steering gear and turns off its power; the main control module receives the steering gear fault signal and sends The control circuits of other steering gears send stop instructions, and start the alarm circuit simultaneously to send an alarm.

Example 6

This embodiment can form a complete technical solution alone, and can also be arranged/combined with any other embodiment of the present invention to form a complete technical solution.

The programmable fully automatic deformation robot of this embodiment has a power supply unit, a robot main body, an operation control system and a steering gear system, wherein, as shown in Figure 17, the power supply unit includes a battery, a charging interface 13, a power switch 12, and a power failure protection device And remaining power voice prompt device.

The programmable fully automatic deformation robot described in this embodiment adopts a rechargeable battery of no less than 12.6V-2000mAh-15C standard as its battery.

If you forget to turn off the power, the battery power will be consumed slowly. Because of the power-off protection device, the battery will be protected from power-off and will not damage the robot.

Example 7

This embodiment can form a complete technical solution alone, and can also be arranged/combined with any other embodiment of the present invention to form a complete technical solution.

The programmable full-automatic deformation robot of present embodiment has power supply unit, robot main body, operation control system and steering gear system, and wherein, as shown in Figure 17, robot main body also comprises card reader device, music memory card 11 devices, data download Ports and communication interfaces14.

Example 8

This embodiment can form a complete technical solution alone, and can also be arranged/combined with any other embodiment of the present invention to form a complete technical solution.

As shown in Figures 1 to 7, the programmable fully automatic deformation robot of the present embodiment has a power supply unit, a robot main body, an operation control system and a steering gear system, wherein the robot main body also includes a front cover, a rear cover, and a left leg shell 45, left foot shell 44, right leg shell, right foot shell.

The programmable fully automatic deformation robot described in this embodiment has a front cover and a rear cover which are respectively arranged at 10 parts of the torso.

The programmable fully automatic deformation robot described in the present embodiment, as shown in FIG. 5 , has a left leg shell 45 and a left foot shell 44 respectively located at the left leg 6 and the left foot 7 positions.

In the programmable fully automatic deformation robot described in this embodiment, the right leg shell and the right foot shell are respectively arranged at the right leg 8 and the right foot 9 positions.

Example 9

This embodiment can form a complete technical solution alone, and can also be arranged/combined with any other embodiment of the present invention to form a complete technical solution.

As shown in Fig. 1, the programmable fully automatic deformation robot of this embodiment has a power supply unit, a robot main body, an operation control system and a steering gear system. The weight of the robot including the battery and the steering gear system is 2.2kg; in the human form, the shape and size of the robot are 390m*230*185mm, the walking speed is 2m/min, and the gait walking adopts the humanoid biped upright walking method; in the car In the shape state, the shape size of the robot is 300*223*160mm, the driving speed in the car shape reaches 15m/min, and the turning radius is 1400mm.

Example 10

This embodiment can form a complete technical solution alone, and can also be arranged/combined with any other embodiment of the present invention to form a complete technical solution.

As shown in Figures 8 to 19, the programmable fully automatic deformation robot of this embodiment has a power supply unit, a robot main body, an operation control system and a steering gear system. The robot has dual initial positions of human form and car form. When the power is turned on and turned on, it will automatically recognize and restore the human form or car form according to the current state of the robot. The steering gear on the front chest realizes the rotation of the front cover, the steering gear on the left and right shoulders realizes the deformation of the arms, and the steering gear in the middle of the left and right legs is used for forward/backward drive in the car form.

The programmable fully automatic deformation robot described in this embodiment, as shown in FIG. 8 , the setting of the initial position of the human form: the distance A between the feet is 10mm. In human form, the center of gravity of the robot is centered, the stand is stable, the distance between the feet is 10mm, the screws in the middle of the three joints of the legs are in a line, the main body of the robot is slightly tilted forward, and the upper arms are at 20 degrees from the vertical. The cover and shell of each part of the robot They are all located at the bottom of the front part where they are located and do not interfere with the main body.

In the programmable fully automatic deformation robot described in this embodiment, the setting of the initial position of the car form: the two legs of the robot have no gaps, the joints have no tension, the upper arms are parallel to the body, the cover and the shell of each part of the robot All are located at the rear of their location and closed with the main body.

Example 11

This embodiment can form a complete technical solution alone, and can also be arranged/combined with any other embodiment of the present invention to form a complete technical solution.

As shown in Figures 1 to 19, the programmable fully automatic deformation robot of the present embodiment has a power supply unit, a robot main body, an operation control system and a steering gear system, and the robot has a double initial position of a human form and a car form. Automatically recognize and restore adult form or car form according to the current state of the robot. The steering gear on the front chest realizes the rotation of the front cover, the steering gear on the left and right shoulders realizes the deformation of the arms, and the steering gear in the middle of the left and right legs is used for forward/backward drive in the car form.

The programmable fully automatic deformation robot described in this embodiment can be equipped with a "arms arsenal" when in the form of a car (i.e. the state of the robot carrier). As shown in Figures 20 and 21, the car form robot is equipped with a cannon 46 on the roof And machine gun 47, increase the toy fun of the robot.

Example 12

This embodiment can form a complete technical solution alone, and can also be arranged/combined with any other embodiment of the present invention to form a complete technical solution.

As shown in Figures 1 to 19, the programmable fully automatic deformation robot of this embodiment has a power supply unit, a robot body, an operation control system and a steering gear system, and the operation control system includes a programming system and a mobile phone APP control system. Through the PC-side programming control of the robot and the mobile phone-side APP control, the human-computer interaction between the human shape and the car shape deformation can be realized, and the robot can be controlled to make a cool gesture through the PC-side programming or the mobile phone APP, as shown in Figure 22.

The programmable fully automatic deformation robot described in this embodiment controls the robot through the mobile phone APP, and the communication interface between the mobile phone APP and the main body of the robot adopts low-power bluetooth 4.0 communication. The bluetooth module supports the android system and the IOS system, and the communication speed is fast , and the data is transmitted to each other in real time, and the one-to-one link has no interference.

Example 13

This embodiment can form a complete technical solution alone, and can also be arranged/combined with any other embodiment of the present invention to form a complete technical solution.

As shown in Figures 1 to 19, the programmable fully automatic deformation robot of this embodiment has a power supply unit, a robot body, an operation control system and a steering gear system, and the operation control system includes a programming system and a mobile phone APP control system. Through the PC-side programming control of the robot and the mobile phone-side APP control, the human-computer interaction between the human shape and the car shape deformation can be realized, and the robot can be controlled to make a cool gesture through the PC-side programming or the mobile phone APP, as shown in Figure 22.

The programmable fully automatic deforming robot described in this embodiment controls the robot through a 3D high-definition graphical programming system on the PC side, uses a three-dimensional virtual model to interact, and can debug and program the robot by simply clicking a mouse.

The programmable fully automatic deformation robot described in this embodiment can download the program and input it into the main body of the robot through the communication interface. The 21 steering gears can realize the controllable angle of 300 degrees, and the 250 degrees in the middle of 25-275 degrees are used as the joints of the robot (rudder Machine) use angle, controlled by 250 numbers from 0-250, 1 value controls 1 degree, set the initial position of the robot, select the action storage button, add a cycle box, cycle box operation, add structure connection, set the starting point , edit 3D actions, associate music with actions, save and open 3D action programs, download 3D action programs, upload 3D action programs and other system operations, and the 3D high-definition graphical programming system realizes direct communication between robots and users.

The programmable fully automatic deforming robot described in this embodiment can also memorize and restore the data of the hand breaking action. When the robot is powered off and brakes, all joints can be moved, and each joint can be moved to the desired position to read the current state of the robot. The position data is sent to the 3D high-definition graphical programming system, and the current data generates an action module. There is no need to drag the mouse to each joint, just move each joint to the appropriate place to read the data.

The above description is only a description of the preferred embodiments of the present invention, not limiting the scope of the present invention; Under the premise of the spirit of the invention design, any modification, equivalent replacement, improvement, etc. made by ordinary engineers and technicians in the field to the technical solution of the present invention shall fall within the scope of protection determined by the claims of the present invention.

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.