TRANSFORMABLE ROBOT AND TRANSFORMING METHOD THEREOF

Abstract

A transformable robot and a transforming method thereof are provided. The transformable robot under a human form includes a head, a trunk, an upper part of body, a left arm, a right arm, and 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 equipped by servos. Driven by the servos, the transformable robot can transform from a human form to a dinosaur form and transform from a dinosaur form to a human form, there are various postures under the human form and dinosaur form. The robot is equipped with a dinosaur's tail, the dinosaur's feet in front support rollers on their respective side, and the dinosaur's foot on the other side exerts a force backwards.

Claims

1. A transformable robot, under a human form, comprising a head, a trunk, an upper part of body, a left arm, a right arm, a left leg, and a right leg, wherein the left arm and the right arm are set symmetrically on both sides of the trunk, and the left leg and the right leg are set symmetrically on both sides of a lower end of the trunk, wherein 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 is allowed to transform from the human form to a dinosaur form and transform from the dinosaur form to the human form, and there are various postures under the human form and the dinosaur form.

2. The transformable robot according to the claim 1, wherein the head comprises a front shell of head sculpt, eyes, and a back shell of head sculpt, wherein a printed circuit board (PCB) is set between the eyes and the back shell of head sculpt, and 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.

3. The transformable robot according to the claim 1, wherein the trunk comprises 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, wherein the front chest shell, the left rear chest shell, the right rear chest shell, the upper rear waist shell, the front waist shell, and the lower rear waist shell 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.

4. The transformable robot according to the claim 1, wherein the left arm comprises a shoulder structure, an upper arm structure, a forearm structure, and a hand structure; the shoulder structure comprises 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, wherein the upper rear shell of left shoulder, the upper front shell of left shoulder, the front shell of left shoulder, and the rear shell of left shoulder 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 first rotation shaft and the second rotation shaft, an active space of the speaker of left shoulder is enlarged; 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 comprises a front shell of left upper arm and a rear shell of left upper arm, wherein the front shell of left upper arm and the rear shell of left upper arm 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 comprises a rear shell of left forearm and a front shell of left forearm, wherein the rear shell of left forearm and the front shell of left forearm are connected together by screws, and 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 comprises a front shell of left hand, a rear shell of left hand, and a fourteenth servo, wherein 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, and the fourteenth servo is located in an assembly structure of the front shell of left hand and the rear shell of left hand.

5. The transformable robot according to the claim 1, wherein the left leg comprises 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 comprises a front shell of left thigh and a rear shell of left thigh, wherein the front shell of left thigh and the rear shell of left thigh 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, and 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 comprises 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, wherein 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 comprises an inner baffle of rear shell of left calf and a rear shell of left calf, wherein the inner baffle of rear shell of left calf and the rear shell of left calf 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, the holes are equipped with a connecting rod of cable trunking of left tail tip and a left drive connecting rod, and 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 comprises 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, wherein the inner baffle of left tail, the connecting plate of left tail tip, the swinging base of left tail tip, and the shell of left tail tip are connected together by screws, and 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 comprises a fourth servo connector of left leg, a fifth servo connector of left leg, a third servo and a fourth servo, wherein 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, and a guide plate of jacking block of left leg is connected to the fifth servo connector of left leg by screws; the left sole comprises a front lower shell of left foot and an upper shell of left foot, wherein 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, and the front support plate of left foot and the rear support plate of left foot are equipped with Al-teeth of foot.

6. The transformable robot according to the claim 1, wherein the upper part of body comprises a dinosaur's back, a dinosaur's head, a dinosaur's left chest, and a dinosaur's right chest, wherein the dinosaur's left chest and the dinosaur's right chest are located on two sides of the dinosaur's back; the dinosaur's back comprises a main part of dinosaur's back, a lower servo shell of dinosaur's back and an upper servo shell of dinosaur's back, wherein 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, wherein the servo sleeve of dinosaur's back 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; a 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, and 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, and 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 comprises 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, wherein 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, and 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, and 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, and 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 are set between the dinosaur's back and the dinosaur's right chest.

7. The transformable robot according to the claim 1, wherein 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 a 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 comprise 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 comprises a servo of dinosaur's left thigh and a servo of dinosaur's left calf; the dinosaur's right leg comprises a servo of dinosaur's right thigh and a servo of dinosaur's right calf.

8. The transformable robot according to the claim 7, wherein the servo of dinosaur's left thigh is connected with a servo of dinosaur's left hip joint, and 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, and 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 transformable robot moves, the supporting wheels of dinosaur's left foot and the supporting wheels of dinosaur's right foot are stretched out from the dinosaur's left foot and the dinosaur's right foot and land on ground to support the transformable robot.

9. The transformable robot according to the claim 8, wherein the dinosaur's left foot comprises 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, and 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, and 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, and 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, and at the same time, the supporting frame of dinosaur's left foot drives the side panel to flip outward to provide an 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 an original position under driven of the rotation shaft.

10. A transforming method of a transformable robot, applied to the transformable robot according to claim 1, comprising the following transformation steps: step 1, driven by a first servo, a sixth servo, a tenth servo and a fifteenth servo, the transformable robot under the human form transforms from a standing posture to a body bending posture; during a transforming process, both legs bend downward, and both arms extend forward, then the transformable robot transforms from the standing posture to a hands and feet on ground posture; step 2, under control of a twenty-first servo, a twenty-second servo, a twenty-fourth servo and a twenty-fifth servo, rear shells of calf and heels are opened; step 3, under control of a thirtieth servo, the dinosaur's head is lifted, the transformable robot transforms from a posture that the dinosaur's head is lifting to a posture that the dinosaur's head is tilting forward, and further to a posture that the dinosaur's neck is extending; step 4, under control of a twenty-sixth servo and a twenty-seventh servo, the transformable robot transforms from the posture that the dinosaur's neck is extending to a posture that the dinosaur's upper part of body is tilting forward, and under control of a twenty-eighth servo and a twenty-ninth servo, a shell of dinosaur's left chest and a shell of dinosaur's right chest are combined to form a dinosaur's chest; step 5, a fourteenth servo and a nineteenth servo respectively control wrists of the transformable robot's hands, making the wrists of the transformable robot's hands retract; step 6, under control of a second servo and a seventh servo, and assistance of adjusting posture under continuous control of the first servo and the sixth servo, the transformable robot's posture changes from a posture that a dinosaur's tail is extending to a posture that the dinosaur's tail is preliminarily forming, and then to a posture that the dinosaur's tail is lifting; step 7, under control of a twentieth servo and a twenty-third servo, the transformable robot's posture changes from the posture that the dinosaur's tail is lifting to a posture that the dinosaur's tail is exposing, and finally to a posture that the dinosaur's tail is completely formed; step 8, under control of the twenty-first servo, the twenty-second servo, the twenty-third servo and the twenty-fourth servo, the transformable robot transforms from the posture that the dinosaur's tail is completely formed to the dinosaur form, the transformation is completed; when the transformable 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 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.

11. The transforming method of the transformable robot according to the claim 10, wherein, a walking method of the transformable robot under the dinosaur form comprises: step 1, a servo of dinosaur's left foot drives supporting wheels of dinosaur's left foot to be on ground, supporting the transformable robot, at the same time, dinosaur's right foot doesn't act, and anti-slip mats of dinosaur's right foot is on ground; step 2, a servo of dinosaur's left thigh rotates to make a servo of dinosaur's left hip joint of a dinosaur's left leg rotate forward at an angle, as well as to make a servo of dinosaur's left calf rotate backward at an angle; a servo of dinosaur's right thigh rotates to make a servo of dinosaur's right hip joint of a dinosaur's right leg rotate backward at an angle, as well as to make a servo of dinosaur's right calf rotate forward at an angle; the above actions are carried out simultaneously, making the dinosaur's right foot and the transformable robot move forward relatively; step 3, a servo of dinosaur's right foot drives supporting wheels of dinosaur's right foot to be on ground, supporting the transformable robot, at the same time, the servo of dinosaur's left foot drives the supporting wheels of dinosaur's left foot to retract, and anti-slip mats of dinosaur's left foot is on ground; step 4, the servo of dinosaur's right thigh rotates to make the servo of dinosaur's right hip joint of the dinosaur's right leg rotate forward at an angle, as well as to make the servo of dinosaur's right calf rotate backward at an angle; the servo of dinosaur's left thigh rotates to make the servo of dinosaur's left hip joint of the dinosaur's left leg rotate backward at an angle, as well as to make the servo of dinosaur's left calf rotate forward at an angle; the above actions are carried out simultaneously, making the dinosaur's left foot and the transformable robot move forward relatively; step 5, the servo of dinosaur's left foot drives the supporting wheels of dinosaur's left foot to be on ground, supporting the transformable robot, at the same time, the servo of dinosaur's right foot drives the supporting wheels of dinosaur's right foot to retract, and the anti-slip mats of dinosaur's right foot is on ground; step 6, the step 2 is repeated, and the transformable robot walks forward by repeating the steps 2-6.

12. The transforming method of the transformable robot according to the claim 10, wherein in the transformable robot, the head comprises a front shell of head sculpt, eyes, and a back shell of head sculpt, wherein a printed circuit board (PCB) is set between the eyes and the back shell of head sculpt, and 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.

13. The transforming method of the transformable robot according to the claim 10, wherein in the transformable robot, the trunk comprises 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, wherein the front chest shell, the left rear chest shell, the right rear chest shell, the upper rear waist shell, the front waist shell, and the lower rear waist shell 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, the fifteenth servo, a shaft sleeve of right shoulder, the 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.

14. The transforming method of the transformable robot according to the claim 10, wherein in the transformable robot, the left arm comprises a shoulder structure, an upper arm structure, a forearm structure, and a hand structure; the shoulder structure comprises 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, wherein the upper rear shell of left shoulder, the upper front shell of left shoulder, the front shell of left shoulder, and the rear shell of left shoulder 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 first rotation shaft and the second rotation shaft, an active space of the speaker of left shoulder is enlarged; 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 comprises a front shell of left upper arm and a rear shell of left upper arm, wherein the front shell of left upper arm and the rear shell of left upper arm 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 comprises a rear shell of left forearm and a front shell of left forearm, wherein the rear shell of left forearm and the front shell of left forearm are connected together by screws, and 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 comprises a front shell of left hand, a rear shell of left hand, and the fourteenth servo, wherein 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, and the fourteenth servo is located in an assembly structure of the front shell of left hand and the rear shell of left hand.

15. The transforming method of the transformable robot according to the claim 10, wherein in the transformable robot, the left leg comprises 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 comprises a front shell of left thigh and a rear shell of left thigh, wherein the front shell of left thigh and the rear shell of left thigh are connected together by screws, the first servo and the second servo are equipped in an assembly structure of the front shell of left thigh and the rear shell of left thigh, and 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 comprises an inner baffle of front shell of left calf, a front shell of left calf, a metal dome of left leg, the twenty-first servo, and an Al-alloy frame of left leg, wherein 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 comprises an inner baffle of rear shell of left calf and a rear shell of left calf, wherein the inner baffle of rear shell of left calf and the rear shell of left calf 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, the holes are equipped with a connecting rod of cable trunking of left tail tip and a left drive connecting rod, and 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 comprises 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, wherein the inner baffle of left tail, the connecting plate of left tail tip, the swinging base of left tail tip, and the shell of left tail tip are connected together by screws, and 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 the 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 comprises a fourth servo connector of left leg, a fifth servo connector of left leg, a third servo and a fourth servo, wherein 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, and a guide plate of jacking block of left leg is connected to the fifth servo connector of left leg by screws; the left sole comprises a front lower shell of left foot and an upper shell of left foot, wherein 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, and the front support plate of left foot and the rear support plate of left foot are equipped with Al-teeth of foot.

16. The transforming method of the transformable robot according to the claim 10, wherein in the transformable robot, the upper part of body comprises a dinosaur's back, a dinosaur's head, a dinosaur's left chest, and a dinosaur's right chest, wherein the dinosaur's left chest and the dinosaur's right chest are located on two sides of the dinosaur's back; the dinosaur's back comprises a main part of dinosaur's back, a lower servo shell of dinosaur's back and an upper servo shell of dinosaur's back, wherein the twenty-eighth servo, the twenty-ninth servo, and the 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, wherein the servo sleeve of dinosaur's back 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; a bottom of the main part of dinosaur's back is equipped with a lower decorative cover of dinosaur's back; the shell of dinosaur's left chest and the 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, and 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, and 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 comprises 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, wherein 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, and 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, and 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, and 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 are set between the dinosaur's back and the dinosaur's right chest.

17. The transforming method of the transformable robot according to the claim 10, wherein in the transformable robot, under the dinosaur form, a rear end of a dinosaur's trunk is equipped with the dinosaur's tail, rear supporting wheels of dinosaur's tail are set at a 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 comprise 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 comprises a servo of dinosaur's left thigh and a servo of dinosaur's left calf; the dinosaur's right leg comprises a servo of dinosaur's right thigh and a servo of dinosaur's right calf.

18. The transforming method of the transformable robot according to the claim 17, wherein in the transformable robot, the servo of dinosaur's left thigh is connected with a servo of dinosaur's left hip joint, and 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, and 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 transformable robot moves, the supporting wheels of dinosaur's left foot and the supporting wheels of dinosaur's right foot are stretched out from the dinosaur's left foot and the dinosaur's right foot and land on ground to support the transformable robot.

19. The transforming method of the transformable robot according to the claim 18, wherein in the transformable robot, the dinosaur's left foot comprises 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, and 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, and 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, and 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, and at the same time, the supporting frame of dinosaur's left foot drives the side panel to flip outward to provide an 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 an original position under driven of the rotation shaft.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0034] FIG. 1 is a structural schematic diagram of a preferred embodiment of a transformable robot according to the present invention.

[0035] FIG. 2 is an exploded view of the preferred embodiment shown in FIG. 1 of the transformable robot according to the present invention.

[0036] FIG. 3 is an exploded view of a head in the preferred embodiment shown in FIG. 1 of the transformable robot according to the present invention.

[0037] FIG. 4 is an exploded view of a trunk in the preferred embodiment shown in FIG. 1 of the transformable robot according to the present invention.

[0038] FIG. 5 is an exploded view of a left arm in the preferred embodiment shown in FIG. 2 of the transformable robot according to the present invention.

[0039] FIG. 6 is an exploded view of a left leg in the preferred embodiment shown in FIG. 1 of the transformable robot according to the present invention.

[0040] FIG. 7 is a further exploded view of the preferred embodiment shown in FIG. 6 of the transformable robot according to the present invention.

[0041] FIG. 8 is an exploded view of an upper part of body in the preferred embodiment shown in FIG. 1 of the transformable robot according to the present invention.

[0042] FIG. 9 is a further exploded view of the preferred embodiment shown in FIG. 8 of the transformable robot according to the present invention.

[0043] FIG. 10 is a structural schematic diagram of an inner frame in the preferred embodiment shown in FIG. 1 of the transformable robot according to the present invention.

[0044] FIG. 11 is a structural schematic diagram of an inner frame of the upper part of body in the preferred embodiment shown in FIG. 10 of the transformable robot according to the present invention.

[0045] FIG. 12 is a structural schematic diagram of an inner frame of feet in the preferred embodiment shown in FIG. 10 of the transformable robot according to the present invention.

[0046] FIG. 13 is a diagram of an initial state of the preferred embodiment shown in FIG. 1 of the transformable robot according to the present invention.

[0047] FIG. 14 is a diagram of a body bending posture transformed from the preferred embodiment shown in FIG. 13 of the transformable robot according to the present invention.

[0048] FIG. 15 is a diagram of a posture that rear shells of calf and heels are opened transformed from the preferred embodiment shown in FIG. 14 of the transformable robot according to the present invention.

[0049] FIG. 16 is a diagram of a posture that a dinosaur's neck is extending transformed from the preferred embodiment shown in FIG. 15 of the transformable robot according to the present invention.

[0050] FIG. 17 is a diagram of a posture that a dinosaur's upper part of body is tilting forward transformed from the preferred embodiment shown in FIG. 16 of the transformable robot according to the present invention.

[0051] FIG. 18 is a diagram of a posture that the dinosaur's upper part of body is continuing to tilt forward transformed from the preferred embodiment shown in FIG. 17 of the transformable robot according to the present invention.

[0052] FIG. 19 is a diagram of a posture that a shell of dinosaur's left chest and a shell of dinosaur's right chest combine to form dinosaur's chest transformed from the preferred embodiment shown in FIG. 18 of the transformable robot according to the present invention.

[0053] FIG. 20 is a diagram of a posture that wrists of the robot's hands retract transformed from the preferred embodiment shown in FIG. 19 of the transformable robot according to the present invention.

[0054] FIG. 21 is a diagram of a posture that a dinosaur's tail is preliminarily forming transformed from the preferred embodiment shown in FIG. 20 of the transformable robot according to the present invention.

[0055] FIG. 22 is a diagram of a posture that the dinosaur's tail is lifting transformed from the preferred embodiment shown in FIG. 21 of the transformable robot according to the present invention.

[0056] FIG. 23 is a diagram of a posture that the dinosaur's tail is exposing transformed from the preferred embodiment shown in FIG. 22 of the transformable robot according to the present invention.

[0057] FIG. 24 is a diagram of a posture that the dinosaur's tail is completely formed transformed from the preferred embodiment shown in FIG. 23 of the transformable robot according to the present invention.

[0058] FIG. 25 is a diagram of a dinosaur form transformed from the preferred embodiment shown in FIG. 24 of the transformable robot according to the present invention.

[0059] FIG. 26 is a diagram of a standing posture of the robot under the dinosaur form of the preferred embodiment shown in FIG. 25 of the transformable robot according to the present invention.

[0060] FIG. 27 is a structural schematic diagram of bottom of the preferred embodiment shown in FIG. 26 of the transformable robot according to the present invention.

[0061] FIG. 28 is a diagram of an inner frame of the preferred embodiment shown in FIG. 26 of the transformable robot according to the present invention.

[0062] FIG. 29 is an exploded view of a dinosaur's feet of the preferred embodiment shown in FIG. 28 of the transformable robot according to the present invention.

[0063] FIG. 30 is a structural schematic diagram of bottom of the preferred embodiment shown in FIG. 29 of the transformable robot according to the present invention.

[0064] FIG. 31 is a diagram of a state that the robot moves forward relatively of the preferred embodiment shown in FIG. 26 of the transformable robot according to the present invention.

DETAILED DESCRIPTION OF THE EMBODIMENTS

[0065] 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.

[0066] A structural schematic diagram of a whole transformable robot of the present invention is shown in FIG. 1 and FIG. 2.

[0067] 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.

[0068] An exploded view of the head in the preferred embodiment shown in FIG. 1 of the transformable robot according to the present invention is shown in FIG. 3.

[0069] 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.

[0070] An exploded view of the trunk in the preferred embodiment shown in FIG. 1 of the transformable robot according to the present invention is shown in FIG. 4.

[0071] 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.

[0072] Refer to FIG. 5 which shows an exploded view of the left arm in the preferred embodiment shown in FIG. 1 of the transformable robot according to the present invention.

[0073] 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 FIG. 10) are equipped; the upper arm structure includes a front shell of left upper arm 207 and a rear shell of left upper arm 208 which are connected together by screws, an upper end of an assembly structure of the front shell of left upper arm 207 and the rear shell of left upper arm 208 is equipped with a servo horn of left upper arm 224, a lower end of the assembly structure of the front shell of left upper arm 207 and the rear shell of left upper arm 208 is equipped with a thirteenth servo 229 (the same with 229 in FIG. 10); the forearm structure includes a rear shell of left forearm 209 and a front shell of left forearm 210 which are connected together by screws, an outside of the rear shell of left forearm 209 is connected to a turning cover of left forearm 211 by a third rotation shaft 230 and a first torsional spring 231; a lower end of an assembly structure of the rear shell of left forearm 209 and the front shell of left forearm 210 is equipped with a front claw 212 and a rear claw 213; the hand structure includes a front shell of left hand 214, a rear shell of left hand 215, and a fourteenth servo 223 (the same with 223 in FIG. 10), the front shell of left hand 214 is connected to a first roller 221 by a clamping slot or a rotation shaft, the rear shell of left hand 215 is connected to a second roller 222 by a clamping slot or a rotation shaft, the front shell of left hand 214 and the rear shell of left hand 215 are connected together by screws or buckles, the fourteenth servo 223 (the same with 223 in FIG. 10) is located in an assembly structure of the front shell of left hand 214 and the rear shell of left hand 215.

[0074] Refer to FIG. 6 and FIG. 7 which show exploded views of the left arm in the preferred embodiment shown in FIG. 1 of the transformable robot according to the present invention.

[0075] 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 FIG. 10) and a second servo 314 (the same with 314 in FIG. 10) are equipped in an assembly structure of the front shell of left thigh 311 and the rear shell of left thigh 312, the first servo 313 (the same with 313 in FIG. 10) and the second servo 314 (the same with 314 in FIG. 10) are securely connected together by a first servo connector of left leg 315 and a second servo connector of left leg 316; the left ankle 303 includes an inner baffle of front shell of left calf 346, a front shell of left calf 347, a metal dome of left leg 348, a twenty-first servo 351 (the same with 351 in FIG. 10), and an Al-alloy frame of left leg 352, the metal dome of left leg 348 is connected to the front shell of left calf 347 by a first rotation shaft of left leg 349 and a first torsional spring of left leg 350, the twenty-first servo 351 (the same with 351 in FIG. 10) is set in a groove on the front shell of left calf 347; the left heel 304 includes an inner baffle of rear shell of left calf 317 and a rear shell of left calf 318 which are connected together by screws, a baffle of rear shell of left calf 319 is connected to the rear shell of left calf 318 by a rotation shaft or a clamping slot; there are holes on the rear shell of left calf 318, and the holes are equipped with a connecting rod of cable trunking of left tail tip 320 and a left drive connecting rod 321, the connecting rod of cable trunking of left tail tip 320 is equipped with a tail roller of left foot 322 by a rotation shaft or a clamping slot; an assembly structure of a driven plate of rear shell of left calf 323, a lines cover of rear shell of left calf 324, and a servo horn of rear shell of left calf 325, as also as a first tail cable clip of left leg 353 and a second tail cable clip of left leg 354 are equipped in the rear shell of left calf 354; the left tail tip of dinosaur 305 includes an inner baffle of left tail 326, a connecting plate of left tail tip 327, a swinging base of left tail tip 328, and a shell of left tail tip 329 which are connected together by screws, the swinging base of left tail tip 328 is connected with the connecting plate of left tail tip 327 by a rotation shaft; a third servo connector of left leg 330 is connected to the swinging base of left tail tip 328 by screws, and a twentieth servo 332 (the same with 332 in FIG. 10) is equipped on the third servo connector of left leg 330; a first spring of left leg 331 is set between the inner baffle of left tail 326 and the swinging base of left tail tip 328; the servo assembly for movement of left foot 306 includes a fourth servo connector of left leg 336, a fifth servo connector of left leg 337, a third servo 339 (the same with 339 in FIG. 10) and a fourth servo 340 (the same with 340 in FIG. 10), the third servo 339 (the same with 339 in FIG. 10) and the fourth servo 340 (the same with 340 in FIG. 10) are securely connected together by the fourth servo connector of left leg 336, the fifth servo connector of left leg 337 and screws, a guide plate of jacking block of left leg 338 is connected to the fifth servo connector of left leg 337 by screws; the left sole 307 includes a front lower shell of left foot 341 and an upper shell of left foot 345, the front lower shell of left foot 341 and the upper shell of left foot 345 are supported by a front support plate of left foot 342 and a rear support plate of left foot 343, the front support plate of left foot 342 and the rear support plate of left foot 343 are equipped with Al-teeth of foot 344.

[0076] FIG. 8 and FIG. 9 show exploded views the upper part of body in the preferred embodiment shown in FIG. 1 of the transformable robot according to the present invention.

[0077] 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 FIG. 11), a twenty-ninth servo 450 (the same with 450 in FIG. 10), and a thirtieth servo 422 (the same with 422 in FIG. 11) are equipped in the main part of dinosaur's back 415, the twenty-eighth servo 414 (the same with 414 in FIG. 11) and the twenty-ninth servo 450 (the same with 450 in FIG. 11) are fixed on an upper end of the main part of dinosaur's back 415 by a servo sleeve of dinosaur's back 410 which is equipped with a lower baffle of dinosaur's back 411 and a pull rod of baffle 412, the thirtieth servo 422 (the same with 422 in FIG. 11) is fixed on a lower end of the main part of dinosaur's back 415 by a servo cap of dinosaur's back 413; the bottom of the main part of dinosaur's back 415 is equipped with a lower decorative cover of dinosaur's back 417; a shell of dinosaur's left chest 427 and a shell of dinosaur's right chest 423 are set on two sides of the main part of dinosaur's back 415, the shell of dinosaur's left chest 427 is equipped with a dinosaur's left claw 428, the shell of dinosaur's right chest 423 is equipped with a dinosaur's right claw 424; a drive plate of left wing 425 and a driven plate of left wing 426 are equipped between the main part of dinosaur's back 415 and the shell of dinosaur's left chest 427, a drive plate of right wing 416 and a driven plate of right wing 419 are equipped between the main part of dinosaur's back 415 and the shell of dinosaur's right chest 423, a servo horn of right wing 418 is equipped between the drive plate of right wing 416 and the driven plate of right wing 419; the dinosaur's head 403 includes a left shell of dinosaur's head 439, a right inner shell of dinosaur's head 430, a left inner shell of dinosaur's head 438, and a right shell of dinosaur's head 429, the right inner shell of dinosaur's head 430 and the left inner shell of dinosaur's head 438 are set in an assembly structure of the left shell of dinosaur's head 439 and the right shell of dinosaur's head 429; dinosaur's upper teeth 431, dinosaur's eyes 432, a thirty-third servo 433 (the same with 433 in FIG. 11), an LED 434, a flamethrower 435, and dinosaur's lower teeth 436 are equipped between the right inner shell of dinosaur's head 430 and the left inner shell of dinosaur's head 438, a lower end of the dinosaur's lower teeth 436 is connected to a dinosaur's lower jaw 437; a lower end of the assembly structure of the left shell of dinosaur's head 439 and the right shell of dinosaur's head 429 is connected with an assembly structure of a right shell of dinosaur's neck 440 and a left shell of dinosaur's neck 441, a right inner shell of dinosaur's neck 442 and a left inner shell of dinosaur's neck 443 are set in the assembly structure of the right shell of dinosaur's neck 440 and the left shell of dinosaur's neck 441; a thirty-second servo 444 (the same with 444 in FIG. 11) and a thirty-first servo 445 (the same with 445 in FIG. 11) are set between the right inner shell of dinosaur's neck 442 and the left inner shell of dinosaur's neck 443, an end of the right inner shell of dinosaur's neck 442 and an end of the left inner shell of dinosaur's neck 443 are connected by a connecting sleeve of dinosaur's neck 446; an end of the assembly structure of the right shell of dinosaur's neck 440 and the left shell of dinosaur's neck 441 is connected with a left shell of dinosaur's shoulder 447, a middle shell of dinosaur's shoulder 448, and a right shell of dinosaur's shoulder 449; the servo horn of right wing 418 and the driven plate of right wing 419 are set between the dinosaur's back 401 and the dinosaur's right chest 404.

[0078] As shown in FIG. 10-FIG. 12, the transformable robot in the present invention is equipped with thirty-four servos for driving the robot to transform from the human form to the dinosaur form (as well as from the dinosaur form to the human form), according to FIGS., a total of 40 numbers from 313 to 940 are used to represent these servos, and these servos are called first servo, second servo, third servo . . . forty servo respectively, for example, in FIG. 10, the first servo is represented by 313, the second servo is represented by 314, the third servo is represented by 339, and so on.

[0079] FIG. 26-FIG. 28 show diagrams of a standing posture of the robot under the dinosaur form of the preferred embodiment shown in FIG. 25 of the transformable robot according to the present invention.

[0080] 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.

[0081] 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.

[0082] Refer to FIG. 29-FIG. 30 which show exploded view of a dinosaur's feet of the preferred embodiment shown in FIG. 28 of the transformable robot according to the present invention.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] Refer to FIG. 10-FIG. 12, and FIG. 13-FIG. 25, a second aspect of the present invention provides a transforming method of transformable robot, applied to the transformable robot, the transforming method includes: [0087] step 1, driven by the first servo 313, a sixth servo 906, the tenth servo 522 and the fifteenth servo 520, the transformable robot under a human form transforms from a standing posture (as shown in FIG. 13) to a body bending posture (as shown in FIG. 14); during the transforming process, both legs bend downward, and both arms extend forward, then the transformable robot transforms from the standing posture to a hands and feet on ground posture; [0088] step 2, under control of the twenty-first servo 351, a twenty-second servo 922, a twenty-fourth servo 924 and a twenty-fifth servo 925, rear shells of calf and heels are opened (as shown in FIG. 15); [0089] step 3, under control of the thirtieth servo 422, the dinosaur's head is lifted, the transformable robot transforms from a posture that the dinosaur's head is lifting (as shown in FIG. 16) to a posture that the dinosaur's head is tilting forward (as shown in FIG. 17), and further to a posture that the dinosaur's neck is extending (as shown in FIG. 18); [0090] step 4, under control of a twenty-sixth servo 926 and a twenty-seventh servo 524, the transformable robot transforms from the posture that the dinosaur's neck is extending (as shown in FIG. 18) to a posture that the dinosaur's upper part of body is tilting forward (as shown in FIG. 19), and under control of the twenty-eighth servo 414 and the twenty-ninth servo 450, the shell of dinosaur's left chest and the shell of dinosaur's right chest are combined to form dinosaur's chest; [0091] step 5, the fourteenth servo 223 and nineteenth servo 919 respectively control wrists of the robot's hands, making the wrists of the robot's hands retract (as shown in FIG. 20); [0092] step 6, under control of the second servo 314 and a seventh servo 907, and assistance of adjusting posture under continuous control of the first servo 313 and a sixth servo 906, the robot's posture changes from a posture that the dinosaur's tail is extending to a posture that the dinosaur's tail is preliminarily forming (as shown in FIG. 21), and then to a posture that the dinosaur's tail is lifting (as shown in FIG. 22); [0093] step 7, under control of the twentieth servo 332 and a twenty-third servo 923, the robot's posture changes from the posture that the dinosaur's tail is lifting to a posture that the dinosaur's tail is exposing (as shown in FIG. 23), and finally to a posture that the dinosaur's tail is completely formed (as shown in FIG. 24); [0094] step 8, under control of the twenty-first servo 351, a twenty-second servo 922, a twenty-third servo 923 and a twenty-fourth servo 924, the robot transforms from the posture that the dinosaur's tail is completely formed to the dinosaur form (as shown in FIG. 25), the transformation is completed.

[0095] 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.

[0096] 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.

[0097] Finally refer to FIG. 31 which shows a diagram of a state that the robot moves forward relatively of the preferred embodiment shown in FIG. 26 of the transformable robot according to the present invention.

[0098] In the embodiment, a walking method of the robot under the dinosaur form includes: [0099] step 1, the servo of dinosaur's left foot 88 drives the supporting wheels of dinosaur's left foot 84 to be on ground, supporting the robot, at the same time, the dinosaur's right foot doesn't act, and the anti-slip mats of dinosaur's right foot 82 is on ground; [0100] step 2, the servo of dinosaur's left thigh 86 rotates to make the servo of dinosaur's left hip joint of the dinosaur's left leg rotate forward at an angle, as well as to make the servo of dinosaur's left calf 87 rotate backward at an angle; the servo of dinosaur's right thigh 89 rotates to make the servo of dinosaur's right hip joint of the dinosaur's right leg rotate backward at an angle, as well as to make the servo of dinosaur's right calf 810 rotate forward at an angle; the above actions are carried out simultaneously, making the dinosaur's right foot and the robot move forward relatively; [0101] step 3, the servo of dinosaur's right foot 811 drives the supporting wheels of dinosaur's right foot 83 to be on ground, supporting the robot, at the same time, the servo of dinosaur's left foot 88 drives the supporting wheels of dinosaur's left foot 84 to retract, and the anti-slip mats of dinosaur's left foot 85 is on ground; [0102] step 4, the servo of dinosaur's right thigh 89 rotates to make the servo of dinosaur's right hip joint of the dinosaur's right leg rotate forward at an angle, as well as to make the servo of dinosaur's right calf 810 rotate backward at an angle; the servo of dinosaur's left thigh 86 rotates to make the servo of dinosaur's left hip joint of the dinosaur's left leg rotate backward at an angle, as well as to make the servo of dinosaur's left calf 87 rotate forward at an angle; the above actions are carried out simultaneously, making the dinosaur's left foot and the robot move forward relatively; [0103] step 5, the servo of dinosaur's left foot 88 drives the supporting wheels of dinosaur's left foot 84 to be on ground, supporting the robot, at the same time, the servo of dinosaur's right foot 811 drives the supporting wheels of dinosaur's right foot 83 to retract, and the anti-slip mats of dinosaur's right foot 82 is on ground; [0104] step 6, the step 2 is repeated, and the robot walks forward by repeating the steps 2-6.

[0105] 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.