Patent Application
20240286055
This application is based upon and claims priority to Chinese Patent Applications No. 202310155983.5; No. 202310156005.2, both filed on Feb. 23, 2023, the entire contents of which are incorporated herein by reference.
The present invention belongs to a technical field of transformable robot, and relates to a transformable robot and transforming method thereof.
A transformable robot is a mechanical device that automatically performs work. It can accept commands from human, run programs which are pre-programmed, and act according to principles and guidelines formulated using artificial intelligence technology. The transformable robot in the prior art can only perform simple deformation actions, such as walking or arm swinging.
A Chinese utility model patent with patent announcement number CN209317012U discloses a transformable toy robot, the transformable toy robot includes a state of toy robot and a state of toy transformer, when the transformable toy robot is in the state of toy robot, it includes a head, arms, chest and abdomen, back, legs and back component, wherein, the head is connected with the chest and abdomen and is fixed on an upper end of the chest and abdomen; the chest and abdomen are arranged in front of the back, and a lower end of the chest and abdomen is movably connected to a lower end of the back by a first rotating connecting rod; the arms are movably connected to two sides of an upper end of the back by a first cardan shaft, the legs are movably connected to two sides of the lower end of the back by a second cardan shaft, the back component is movably connected to the upper end of the back by a first hinged structure. A beneficial effect of the utility model patent is that it can be transformed from the toy robot into the toy transformer, and after a transformation into the toy transformer, it has two functional states which include a time display function and a sound and light effect function, its playability is higher. However, appearance of the transformable toy robot is not pretty because some parts of it are exposed, and actions it can complete are relatively simple, it can only complete a simple walking action.
In order to overcome defects in the prior art, a purpose of the present invention is to provide a transformable robot and transforming method thereof, the transformable robot can transform from a dinosaur form to a human form and from the human form to the dinosaur form, realize automatic transformation without interference of human factor, and improve its playability and operability. Furthermore, the transformable robot can transform between the human form and the dinosaur form, and realize change of different postures under the dinosaur form and the human form.
To realize the foregoing purposes, a scheme of the invention is as follows.
A first aspect of the present invention provides a transformable robot which under a human form, includes a head, a trunk, an upper part of body, and a left arm and a right arm which are set symmetrically on both sides of the trunk, a left leg and a right leg which are set symmetrically on both sides of a lower end of the trunk. The head, the left arm, the right arm, the left leg, the right leg, the trunk and the upper part of body are all equipped by servos, driven by the servos, the transformable robot can transform from the human form to the dinosaur form and transform from the dinosaur form to the human form, there are various postures under the human form and the dinosaur form. Furthermore, the transformable robot realizes automatic transformation without interference of human factor, and greatly improves its playability and operability.
Preferably, the head includes a front shell of head sculpt, eyes and a back shell of head sculpt, a printed circuit board (PCB) is set between the eyes and the back shell of head sculpt, the front shell of head sculpt and the back shell of head sculpt are connected together by a first cross round head screw and a second cross round head screw.
In any of the above solutions, it is preferred that the trunk includes a front chest shell, a left rear chest shell, a right rear chest shell, an upper rear waist shell, a front waist shell, and a lower rear waist shell which are connected together by buckles; in the front chest shell, there are an upper part of neck, a lower part of neck, an inner decorative plate of chest shell, a charging management component of PCB, a second bracket of chest shell, and a transparent cover of chest shell; in an assembly structure of the left rear chest shell and the right rear chest shell, there are a metal dome seat of left rear chest shell, a first rotation shaft of chest, a first torsional spring of chest, a metal dome of left rear chest shell, a second torsional spring of chest, a second rotation shaft of chest, a metal dome of right rear chest shell, and a metal dome seat of right rear chest shell; in an assembly structure of the upper rear waist shell, the front waist shell and the lower rear waist shell, there are a front support plate of trunk, a shaft sleeve of left shoulder, a fifteenth servo, a shaft sleeve of right shoulder, a tenth servo, a first connecting plate of back, a twenty-seventh servo, a main-board of chest, a first bracket of chest shell, a second connecting plate of back, a connecting rod of back, a rear support plate of trunk, a cover of main-board, a battery, a thirty-fourth servo and a fifth servo.
In any of the above solutions, it is preferred that the left arm includes a shoulder structure, an upper arm structure, a forearm structure and a hand structure; the shoulder structure includes an upper rear shell of left shoulder, an upper front shell of left shoulder, a front shell of left shoulder, and a rear shell of left shoulder which are connected together by buckles and screws; in an assembly structure of the upper rear shell of left shoulder and the upper front shell of left shoulder, a speaker of left shoulder is equipped, a lower end of the speaker of left shoulder is equipped with a connecting rod of left speaker with a first rotation shaft and a second rotation shaft, the first rotation shaft and the second rotation shaft are used to activate a speaker assembly, under action of the two rotation shafts, the speaker of left shoulder is provided with a bigger active space; in an assembly structure of the front shell of left shoulder and the rear shell of left shoulder, a trunk connector of left servo and an eleventh servo are equipped; the upper arm structure includes a front shell of left upper arm and a rear shell of left upper arm which are connected together by screws, an upper end of an assembly structure of the front shell of left upper arm and the rear shell of left upper arm is equipped with a servo horn of left upper arm, a lower end of the assembly structure of the front shell of left upper arm and the rear shell of left upper arm is equipped with a thirteenth servo; the forearm structure includes a rear shell of left forearm and a front shell of left forearm which are connected together by screws, an outside of the rear shell of left forearm is connected to a turning cover of left forearm by a third rotation shaft and a first torsional spring; a lower end of an assembly structure of the rear shell of left forearm and the front shell of left forearm is equipped with a front claw and a rear claw; the hand structure includes a front shell of left hand, a rear shell of left hand, and a fourteenth servo, the front shell of left hand is connected to a first roller by a clamping slot or a rotation shaft, the rear shell of left hand is connected to a second roller by a clamping slot or a rotation shaft, the front shell of left hand and the rear shell of left hand are connected together by screws or buckles, the fourteenth servo is located in an assembly structure of the front shell of left hand and the rear shell of left hand.
In any of the above solutions, it is preferred that the left leg includes a first U-shaped connector, a left thigh, a left ankle, a left heel, a left tail tip of dinosaur, a servo assembly for movement of left foot, and a left sole; the left thigh is securely connected with the U-shaped connector by buckles, the left thigh includes a front shell of left thigh and a rear shell of left thigh which are connected together by screws, a first servo and a second servo are equipped in an assembly structure of the front shell of left thigh and the rear shell of left thigh, the first servo and the second servo are securely connected together by a first servo connector of left leg and a second servo connector of left leg; the left ankle includes an inner baffle of front shell of left calf, a front shell of left calf, a metal dome of left leg, a twenty-first servo, and an Al-alloy frame of left leg, the metal dome of left leg is connected to the front shell of left calf by a first rotation shaft of left leg and a first torsional spring of left leg, the twenty-first servo is set in a groove on the front shell of left calf; the left heel includes an inner baffle of rear shell of left calf and a rear shell of left calf which are connected together by screws, a baffle of rear shell of left calf is connected to the rear shell of left calf by a rotation shaft or a clamping slot, there are holes on the rear shell of left calf, and the holes are equipped with a connecting rod of cable trunking of left tail tip and a left drive connecting rod, the connecting rod of cable trunking of left tail tip is equipped with a tail roller of left foot by a rotation shaft or a clamping slot, an assembly structure of a driven plate of rear shell of left calf, a lines cover of rear shell of left calf, and a servo horn of rear shell of left calf, as also as a first tail cable clip of left leg and a second tail cable clip of left leg are equipped in the rear shell of left calf; the left tail tip of dinosaur includes an inner baffle of left tail, a connecting plate of left tail tip, a swinging base of left tail tip and a shell of left tail tip which are connected together by screws, the swinging base of left tail tip is connected with the connecting plate of left tail tip by a rotation shaft, a third servo connector of left leg is connected to the swinging base of left tail tip by screws, and a twentieth servo is equipped on the third servo connector of left leg, a first spring of left leg is set between the inner baffle of left tail and the swinging base of left tail tip; the servo assembly for movement of left foot includes a fourth servo connector of left leg, a fifth servo connector of left leg, a third servo and a fourth servo, the third servo and the fourth servo are securely connected together by the fourth servo connector of left leg, the fifth servo connector of left leg and screws, a guide plate of jacking block of left leg is connected to the fifth servo connector of left leg by screws; the left sole includes a front lower shell of left foot and an upper shell of left foot, the front lower shell of left foot and the upper shell of left foot are supported by a front support plate of left foot and a rear support plate of left foot, the front support plate of left foot and the rear support plate of left foot are equipped with Al-teeth of foot.
In any of the above solutions, it is preferred that the upper part of body includes a dinosaur's back, a dinosaur's head, and a dinosaur's left chest and a dinosaur's right chest which are located on two sides of the dinosaur's back; the dinosaur's back includes a main part of dinosaur's back, a lower servo shell of dinosaur's back and an upper servo shell of dinosaur's back, a twenty-eighth servo, a twenty-ninth servo, and a thirtieth servo are equipped in the main part of dinosaur's back, the twenty-eighth servo and the twenty-ninth servo are fixed on an upper end of the main part of dinosaur's back by a servo sleeve of dinosaur's back which is equipped with a lower baffle of dinosaur's back and a pull rod of baffle, the thirtieth servo is fixed on a lower end of the main part of dinosaur's back by a servo cap of dinosaur's back, the bottom of the main part of dinosaur's back is equipped with a lower decorative cover of dinosaur's back, a shell of dinosaur's left chest and a shell of dinosaur's right chest are set on two sides of the main part of dinosaur's back, the shell of dinosaur's left chest is equipped with a dinosaur's left claw, the shell of dinosaur's right chest is equipped with a dinosaur's right claw, a drive plate of left wing and a driven plate of left wing are equipped between the main part of dinosaur's back and the shell of dinosaur's left chest, a drive plate of right wing and a driven plate of right wing are equipped between the main part of dinosaur's back and the shell of dinosaur's right chest, a servo horn of right wing is equipped between the drive plate of right wing and the driven plate of right wing; the dinosaur's head includes a left shell of dinosaur's head, a right inner shell of dinosaur's head, a left inner shell of dinosaur's head, and a right shell of dinosaur's head, the right inner shell of dinosaur's head and the left inner shell of dinosaur's head are set in an assembly structure of the left shell of dinosaur's head and the right shell of dinosaur's head; dinosaur's upper teeth, dinosaur's eyes, a thirty-third servo, a light emitting diode (LED), a flamethrower and dinosaur's lower teeth are equipped between the right inner shell of dinosaur's head and the left inner shell of dinosaur's head, a lower end of the dinosaur's lower teeth is connected to a dinosaur's lower jaw, a lower end of the assembly structure of the left shell of dinosaur's head and the right shell of dinosaur's head is connected with an assembly structure of a right shell of dinosaur's neck and a left shell of dinosaur's neck, a right inner shell of dinosaur's neck and a left inner shell of dinosaur's neck are set in the assembly structure of the right shell of dinosaur's neck and the left shell of dinosaur's neck, a thirty-second servo and a thirty-first servo are set between the right inner shell of dinosaur's neck and the left inner shell of dinosaur's neck, an end of the right inner shell of dinosaur's neck and an end of the left inner shell of dinosaur's neck are connected by a connecting sleeve of dinosaur's neck, an end of the assembly structure of the right shell of dinosaur's neck and the left shell of dinosaur's neck is connected with a left shell of dinosaur's shoulder, a middle shell of dinosaur's shoulder, and a right shell of dinosaur's shoulder, the servo horn of right wing and the driven plate of right wing arc set between the dinosaur's back and the dinosaur's right chest.
In any of the above solutions, it is preferred that under the dinosaur form, a rear end of a dinosaur's trunk is equipped with a dinosaur's tail, rear supporting wheels of dinosaur's tail are set at the bottom of the dinosaur's tail; there are servos in a dinosaur's left leg, a dinosaur's right leg and dinosaur's feet, the dinosaur's feet include a servo of dinosaur's left foot, a servo of dinosaur's right foot, supporting wheels of dinosaur's left foot, anti-slip mats of dinosaur's left foot, anti-slip mats of dinosaur's right foot and supporting wheels of dinosaur's right foot, the dinosaur's left leg include a servo of dinosaur's left thigh and a servo of dinosaur's left calf; the dinosaur's right leg include a servo of dinosaur's right thigh and a servo of dinosaur's right calf.
In any of the above solutions, it is preferred that the servo of dinosaur's left thigh is connected with a servo of dinosaur's left hip joint, a servo rotation shaft is set between the servo of dinosaur's left thigh and the servo of dinosaur's left calf; the servo of dinosaur's right thigh is connected with a servo of dinosaur's right hip joint, another servo rotation shaft is set between the servo of dinosaur's right thigh and the servo of dinosaur's right calf; the supporting wheels of dinosaur's left foot and the supporting wheels of dinosaur's right foot are hidden in dinosaur's left foot and dinosaur's right foot respectively in an initial state; when the robot moves, the supporting wheels of dinosaur's left foot and the supporting wheels of dinosaur's right foot are stretched out from dinosaur's left foot and dinosaur's right foot and land on ground to support the robot.
In any of the above solutions, it is preferred that the dinosaur's left foot includes a drive servo, a fixing shell of front supporting wheel, a fixing shell of rear supporting wheel and a supporting frame of dinosaur's left foot; the drive servo is set in the supporting frame of dinosaur's left foot, a first roller and a second roller are set in the supporting frame of dinosaur's left foot; the first roller is set on an outside of the fixing shell of front supporting wheel, the second roller is set on an outside of the fixing shell of rear supporting wheel; an upper end of the supporting frame of dinosaur's left foot is connected with a side panel by a rotation shaft, a torsional spring is set between the rotation shaft and the side panel; driven by the drive servo, the supporting frame of dinosaur's left foot drives a motion execution unit composed of the fixing shell of front supporting wheel and the fixing shell of rear supporting wheel to fold from inside to outside, at the same time, the supporting frame of dinosaur's left foot drives the side panel to flip outward to provide enough space for folding of the motion execution unit composed of the fixing shell of front supporting wheel and the fixing shell of rear supporting wheel, after transformation, the side panel returns to its original position under driven of the rotation shaft.
A second aspect of the present invention provides a transforming method of transformable robot which is applied to the foregoing transformable robot, the transforming method includes the following transformation steps:
Preferably, when the robot transforms from the dinosaur form to the human form, the foregoing steps are carried out from the step 8 to the step 1.
In any of the above solutions, it is preferred that in the step 1 to the step 8, under the dinosaur form, opening and closing of robot's mouth, adjusting of neck pitch angle, adjusting of neck angle in left and right, raising and lowering of arms, and forward movement of legs are all controlled by different servos.
In any of the above solutions, it is preferred that a walking method of the transformable robot under the dinosaur form includes:
The following description is only an illustration and not a limitation of the present disclosure, application or use. Embodiments of a transformable robot of the present invention are further described in accordance with drawings.
A structural schematic diagram of a whole transformable robot of the present invention is shown in
The transformable robot of the present invention, under a human form, includes a head 1, a trunk 6, an upper part of body 7, and a left arm 2 and a right arm 3 which are set symmetrically on both sides of the trunk 6, a left leg 4 and a right leg 5 which are set symmetrically on both sides of a lower end of the trunk 6; the head 1, the left arm 2, the right arm 3, the left leg 4, the right leg 5, the trunk 6, and the upper part of body 7 are all equipped by servos; driven by the servos, the transformable robot can transform from the human form to a dinosaur form and transform from the dinosaur form to the human form, there are various postures under the human form and the dinosaur form. Furthermore, the transformable robot of the present invention realizes automatic transformation without interference of human factor, and greatly improves its playability and operability.
An exploded view of the head in the preferred embodiment shown in
In the embodiment, the head 1 includes a front shell of head sculpt 101, eyes 102, and a back shell of head sculpt 104, a PCB 103 is set between the eyes 102 and the back shell of head sculpt 104; the front shell of head sculpt 101 and the back shell of head sculpt 104 are connected together by a first cross round head screw 105 and a second cross round head screw 106.
An exploded view of the trunk in the preferred embodiment shown in
In the embodiment, the trunk 6 includes a front chest shell 501, a left rear chest shell 502, a right rear chest shell 503, an upper rear waist shell 534, a front waist shell 535, and a lower rear waist shell 536 which are connected together by buckles; in the front chest shell 501, there are an upper part of neck 504, a lower part of neck 505, an inner decorative plate of chest shell 506, a charging management component of PCB 507, a second bracket of chest shell 508, and a transparent cover of chest shell 509; in an assembly structure of the left rear chest shell 502 and the right rear chest shell 503, there are a metal dome seat of left rear chest shell 510, a first rotation shaft of chest 511, a first torsional spring of chest 512, a metal dome of left rear chest shell 513, a second torsional spring of chest 514, a second rotation shaft of chest 515, a metal dome of right rear chest shell 516, and a metal dome seat of right rear chest shell 517; in an assembly structure of the upper rear waist shell 534, the front waist shell 535 and the lower rear waist shell 536, there are a front support plate of trunk 518, a shaft sleeve of left shoulder 519, a fifteenth servo 520, a shaft sleeve of right shoulder 521, a tenth servo 522, a first connecting plate of back 523, a twenty-seventh servo 524, a main-board of chest 525, a first bracket of chest shell 526, a second connecting plate of back 527, a connecting rod of back 528, a rear support plate of trunk 529, a cover of main-board 530, a battery 531, a thirty-fourth servo 532, and a fifth servo 533.
Refer to
In the embodiment, the left arm 2 includes a shoulder structure, an upper arm structure, a forearm structure, and a hand structure; the shoulder structure includes an upper rear shell of left shoulder 201, an upper front shell of left shoulder 202, a front shell of left shoulder 203, and a rear shell of left shoulder 204 which are connected together by buckles and screws; in an assembly structure of the upper rear shell of left shoulder 201 and the upper front shell of left shoulder 202, a speaker of left shoulder 228 is equipped, a lower end of the speaker of left shoulder 228 is equipped with a connecting rod of left speaker 225 with a first rotation shaft 226 and a second rotation shaft 227, the first rotation shaft 226 and the second rotation shaft 227 are used to activate a speaker assembly, under action of the two rotation shafts, the speaker of left shoulder 228 is provided with a bigger active space; in an assembly structure of the front shell of left shoulder 203 and the rear shell of left shoulder 204, a trunk connector of left servo 205 and an eleventh servo 206 (the same with 206 in
Refer to
In the embodiment, the left leg 4 includes a first U-shaped connector 301, a left thigh 302, a left ankle 303, a left heel 304, a left tail tip of dinosaur 305, a servo assembly for movement of left foot 306, and a left sole 307; the left thigh 302 is securely connected with the U-shaped connector 301 by buckles, the left thigh 302 includes a front shell of left thigh 311 and a rear shell of left thigh 312 which are connected together by screws, a first servo 313 (the same with 313 in
In the embodiment, the upper part of body 7 includes a dinosaur's back 401, a dinosaur's head 403, and a dinosaur's left chest 402 and a dinosaur's right chest 404 which are located on two sides of the dinosaur's back 401; the dinosaur's back 401 includes a main part of dinosaur's back 415, a lower servo shell of dinosaur's back 420 and an upper servo shell of dinosaur's back 421, a twenty-eighth servo 414 (the same with 414 in
As shown in
In the embodiment, under the dinosaur form, the transformable robot includes a dinosaur's head a1, a dinosaur's trunk a6, a dinosaur's left arm a2, a dinosaur's right arm a3, dinosaur's hands a8, and a dinosaur's left leg a4 (corresponding to the left arm 2 under the human form) and a dinosaur's right leg a5 (corresponding to the right arm 3 under the human form) which are set at two sides of a lower end of the dinosaur's trunk a6; a rear end of a dinosaur's trunk a6 is equipped with a dinosaur's tail a10, rear supporting wheels of dinosaur's tail 81 are set at the bottom of the dinosaur's tail a10; there are servos in a dinosaur's left leg a4, a dinosaur's right leg a5 and dinosaur's feet a9, the dinosaur's feet a9 include a servo of dinosaur's left foot 88, a servo of dinosaur's right foot 811, supporting wheels of dinosaur's left foot 84, anti-slip mats of dinosaur's left foot 85, anti-slip mats of dinosaur's right foot 82 and supporting wheels of dinosaur's right foot 83, the dinosaur's left leg a4 include a servo of dinosaur's left thigh 86 and a servo of dinosaur's left calf 87; the dinosaur's right leg a5 include a servo of dinosaur's right thigh 89 and a servo of dinosaur's right calf 810. The dinosaur's tail a10 provides a support point for keeping balance, the dinosaur's feet in front support rollers on their respective side to make them move relative to each other, the dinosaur's foot on the other side exerts a force backwards to realize the robot's overall forward movement. Innovatively combining various movements, although the dinosaur's feet are always in contact with the ground, the robot can be enabled to move forward, backward, or turn, et al. The transformable robot under the dinosaur form can move like it under the human form, and during movement, its center of gravity is stable and it will not topple.
In the embodiment, the servo of dinosaur's left thigh 86 is connected with a servo of dinosaur's left hip joint, a servo rotation shaft is set between the servo of dinosaur's left thigh 86 and the servo of dinosaur's left calf 87; the servo of dinosaur's right thigh 89 is connected with a servo of dinosaur's right hip joint, another servo rotation shaft is set between the servo of dinosaur's right thigh 89 and the servo of dinosaur's right calf 810; the supporting wheels of dinosaur's left foot 84 and the supporting wheels of dinosaur's right foot 83 are hidden in dinosaur's left foot and dinosaur's right foot respectively in an initial state; when the robot moves, the supporting wheels of dinosaur's left foot 84 and the supporting wheels of dinosaur's right foot 83 are stretched out from dinosaur's left foot and dinosaur's right foot and land on ground to support the robot.
Refer to
In the embodiment, the dinosaur's left foot a9 includes a drive servo 881, a fixing shell of front supporting wheel 882, a fixing shell of rear supporting wheel 888 and a supporting frame of dinosaur's left foot 886; the drive servo 881 is set in the supporting frame of dinosaur's left foot 886, a first roller 887 and a second roller 889 are set in the supporting frame of dinosaur's left foot 886; the first roller 887 is set on an outside of the fixing shell of front supporting wheel 882, the second roller 889 is set on an outside of the fixing shell of rear supporting wheel 888; an upper end of the supporting frame of dinosaur's left foot 886 is connected with a side panel 883 by a rotation shaft 885, a torsional spring 884 is set between the rotation shaft 885 and the side panel 883; driven by the drive servo 881, the supporting frame of dinosaur's left foot 886 drives a motion execution unit composed of the fixing shell of front supporting wheel 882 and the fixing shell of rear supporting wheel 888 to fold from inside to outside, at the same time, the supporting frame of dinosaur's left foot 886 drives the side panel 883 to flip outward to provide enough space for folding of the motion execution unit composed of the fixing shell of front supporting wheel 882 and the fixing shell of rear supporting wheel 888, after transformation, the side panel 883 returns to its original position under driven of the rotation shaft 884.
In the embodiment, the drive servo 881 continues to drive the fixing shell of front supporting wheel 882 and the fixing shell of rear supporting wheel 883 to rotate, while continues to lift the side panel 883. At this time, the first roller 887 and the second roller 889 are perpendicular to the forearm, and can directly contact the ground for rolling.
In the embodiment, when the fixing shell of front supporting wheel 882 and the fixing shell of rear supporting wheel 888 rotate to a final position, the side panel 883 returns to its original position because of limitation of the rotation shaft 884; the rotation shaft 884 is connect with the rotation shaft 885, the rotation shaft 885 is also used to connect the side panel 883 and the supporting frame of dinosaur's left foot 886.
Refer to
In the embodiment, when the robot transforms from the dinosaur form to the human form, the foregoing steps are carried out from the step 8 to the step 1.
In the embodiment, in the step 1 to the step 8, under the dinosaur form, opening and closing of robot's mouth, adjusting of neck pitch angle, adjusting of neck angle in left and right, raising and lowering of arms, and forward movement of legs are all controlled by different servos.
Finally refer to
In the embodiment, a walking method of the robot under the dinosaur form includes:
It is not difficult for person having ordinary skill in the art to understand that the transformable robot of the present invention includes any combination of various parts in the specification. Due to space limitations and in order to make the specification be simple and clear, these combinations are not introduced in details. However, after reading the specification, it is self-evident that the scope of the present invention composed of any combination of the various parts in the specification.
| Number | Date | Country | Kind |
|---|---|---|---|
| 202310155983.5 | Feb 2023 | CN | national |
| 202310156005.2 | Feb 2023 | CN | national |
