CN105080152A

CN105080152A - Robot-ride -bike tracking toy

Info

Publication number: CN105080152A
Application number: CN201410212556.7A
Authority: CN
Inventors: 郭佳
Original assignee: Individual
Current assignee: Individual
Priority date: 2014-05-13
Filing date: 2014-05-13
Publication date: 2015-11-25

Abstract

The invention discloses a robot-ride-bike tracking toy capable of riding along a route preset by people. The toy can advance along the route preset by people no matter angle dimension of turns of the route. The robot stretches or retracts arms to push or pull a handle bar so as to turn a corner. An arm stretching drive device consists of a group of bevel gears. After the robot stretches or retracts the arms, the arms are reset through a reset program, and then the handle bar is centralized, so that the bike of the toy can run along a line. According to a written timing program, flicker frequency of a diode can be controlled through a single-chip microcomputer with a timing function, thus, the robot has a blinking function. No matter which side people stands on, the robot can turn its head to the people while staring the people once the people is detected by a sensor, thereby bringing a real visual perception.

Description

Tracking robot toy by bike

Technical field

The present invention relates to a kind of toy apparatus, the tracking robot toy by bike especially can advanced by bike along projected route.

Background technology

Person of low position's riding toy on toy market, bicycle is driving link, and person of low position is auxiliary member.Although have turning function, do not performed by person of low position's arm, but in advance bicycle front fork is rotated to an angle, realize turning, but actual effect is turn-taked around ground exactly, can not walk according to the projected route of people.The eyes of person of low position carve out, and can not realize nictation.The angle of bend of person of low position's arm is also fixing, not flexible.Though head is rotatable, but needs manual rotation.Though the hand of person of low position has the action of holding handlebar, hand is also fixing dead.The power transmission of car body is rubber band, because of insufficient pressure, often there will be skidding.

Summary of the invention

In order to solve, person of low position's riding toy can not be advanced voluntarily by people's projected route, person of low position can not blink, arm can not automatic telescopic, head can not autorotation, hand can not the free deficiency such as activity, the skidding of car body transmission device; the invention provides one and can realize intelligentized tracking robot toy by bike; this kind of toy has tracking function voluntarily; turning function voluntarily; head is left rotation and right rotation function voluntarily; hand is freely movable, and performs brake function.To realize the effect that people is the owner of car.

The technical scheme that the present invention adopts for its technical problem of solution is:

1. the realization of tracking function

Flow chart

Photoelectric sensor → A D converter (analog-to-digital conversion) → STC89C52 single-chip microcomputer → L298N motor drive ic → each functional module motor

The principle of tracking is by changing the low and high level inputing to motor, realizing the rotating of motor, controls the flexible of arm.Changing level state, is the Push And Release controlling photoelectric sensor.The switch control rule of photoelectric sensor utilizes black in optics can extinction completely, the principle of white extinction hardly.Photoelectric sensor in this device is when the state be in out, and level state is 0.Photoelectric sensor is in the state following (this toy adopts two photoelectric sensors) of motor when opening or closing.

Photoelectric sensor 1	Photoelectric sensor 2	Motor status
			1	1	Do not turn
1	0	Rotate forward
			0	1	Reversion

Note: 1 represents that photoelectric sensor is in off-state, and 0 represents that photoelectric sensor is in open state.

Photoelectric sensor controls the program following (only write main program, intercept from global procedures) of motor when being in different conditions:

Photoelectric sensor is arranged on one piece of plank, to be positioned under car body and horizontally disposed.The spacing of two sensings is by the wide decision of route bar (being generally about 10-17mm), and photoelectric sensor need between (8mm-3mm) apart from ground level, and route bar is clipped between two photoelectric sensors.

2. the realization of function of blinking

The realization of robot function nictation, mainly by controlling the light on and off frequency of diode.The control of diode light on and off frequency, mainly enables the timer function of single-chip microcomputer, control program following (intercepting from global procedures)

3. the realization of arm Telescopic

The Telescopic of arm transfers realization by the positive and negative of motor.Whole drive unit is primarily of motor, intermeshing conical gear, power output shaft composition.Conical gear engagement place must seal and use grease lubrication.The voltage range of motor is at 5v-12v.

4. end rotation functional realiey

The rotated versions of this kind of toy head has left rotation and right rotation, come back, bow, turn while lift/and low first-class.The realization of left rotation and right rotation function is by motor Direct driver, and the anglec of rotation is determined by the delay procedure of single-chip microcomputer, and wherein motor casing is as the neck of robot.The realization of new line function is driven by the motor of body interior, and drive the mechanism come back to be crank and rocker mechanism, rocking bar is wherein cross axle.

Head automatic rotation controls primarily of the photoelectric sensor being contained in ear position, and there is barrier which side, and head, just toward which sideway swivel, passes through monolithic processor resetting program by head righting after rotation.The realization of the low camera function of rotation limit, limit Tai controls primarily of the optoelectronic switch on the crown.

Photoelectric sensor (left side)	Photoelectric sensor (right side)	Photoelectric sensor (top)	Motor (rotation)	Motor (new line)
					1	1	11	\	\
0	1	11	Reversion (left-hand rotation head)	\
					1	0	11	Rotate forward (right-hand rotation head)	\
1	1	01	\	Reversion (new line)
					1	1	10	\	Rotate forward (bowing)
0	1	01	Reversion (left-hand rotation head)	Reversion (new line)
					0	1	10	The same	Rotate forward (bowing)
1	0	01	Rotate forward (right-hand rotation head)	Reversion (new line)
					1	0	10	The same	Rotate forward (bowing)

Note: when this table illustrates that photoelectric sensor is varying level state, the action performed by head.

Control program following (intercepting from global procedures):

5. hand performs the realization of brake function

The driving link of this functional realiey is the spanner of brake, and auxiliary member is finger.Brake spanner was realized by electric magnetisation with separating of brake base, went out to be equipped with a fritter magnet spanner is top, handlebar had electric magnetisation coil.Whether coil is energized and is determined by the folding condition of the sensor being contained in front, and whether the folding condition of sensor has barrier to determine primarily of front.

Control program following (intercepting one section):

Attention: whether sensor herein only detects front with one has barrier, and another sensor must be in high level state all the time.

6. power transmission

This device adopts gear and tooth bar, does like this and can ensure strict gearratio, and can overcome skidding.

7. the control program (complete) realizing repertoire is as follows:

The invention has the beneficial effects as follows: running orbit is arbitrarily set by people, after setting path completes, open toy switch, toy will be advanced along setting path, and when there is barrier in front, rebuffed phenomenon, will not appear in meeting automatic stopping.And people are in which side of toy, robot head will turn to the direction at people place, watches people attentively, gives real visual experience.

Accompanying drawing explanation

Below in conjunction with drawings and embodiments, the present invention will be further described.

Fig. 1 is the general assembly sketch of toy.

Fig. 2 is inner integrated circuit figure.

Fig. 3 is the peripheral circuit diagram of L298N motor drive ic.

Fig. 4 is the drive unit driving arm flexible.

Fig. 5 is the power output shaft driving arm retractor device.

Fig. 6 is the circuit diagram of robot eyes.

Fig. 7 is drive unit.

Fig. 8 is robot principle to pedal.

Fig. 9 is the controlling organization of bowing or coming back of robot.

Figure 10 is that sensor is fixed and transducer spacing adjusting device.

Embodiment

In Fig. 1: 1 is the ear (the head left and right sides) of robot, this position dress photoelectric sensor, the name of sensor is called GZ and GY, for controlling the left and right turn of head.2 is robot shoulder, and respectively there is a photoelectric sensor left and right two on takeing on, and for the execution of the new line or action of bowing that control head, left and right sensor name is GD1 and GD2.3 is the interface of cross axle, is dead eye herein.4 is the eyes of robot.5 is the body cavity of robot, in-built electronic device.6 is assembling place of arm drive unit.7 is handlebar spanner and brake base, and wherein, handlebar needs kinking circle, needs fixed magnet at the top place of spanner, when top magnet and the wicking of coil copper are closed, just achieves brake function of operating a switch.8 is battery fixed positions.9 is rack and pinion drives.10 is drive unit installation place, and drive unit is made up of turbine and worm.11 is the leg of robot, according to principle is: (most quarter butt is less than or equal to all the other two bar sums with most stock sum for the structure condition of crank and rocker mechanism.The adjacent bar of most quarter butt is frame).12 for keeping away barrier sensor mounting location, and sensor name is GQ.13 is the installation site of tracking sensor, and sensor name is G1 and G2.

In Fig. 2: 1 is photoelectric sensor.2 be D A analog-to-digital conversion module.3 is single-chip microcomputers, model STC89C52.4 is crystal oscillating circuits, and electric capacity is 30PF, and crystal oscillator value is 11.0592.5 and 7 is head motors.8 is arm drive motors.6 is car load drive motors.9 is motor drive ics, and model is L298N.

In Fig. 4, drive unit is that 90 degree of conical gears intermesh, because 90 degree of conical gears can realize machine shaft become 90 degree of transmissions with power output shaft, 1 is power output shaft, and is shaft coupling.The lubrication form at gears meshing place is grease lubrication, and seals.Gear is greater than 17 adding the man-hour number of teeth, if be less than 17, Undercutting Phenomenon can occur.

In Fig. 5, the two ends of power output shaft are square, and doing like this can solid and reliable outputting power the connecting with large arm of Absorbable organic halogens again, and centre be cylinder, and the net of gear cooperation place colored be square, move to prevent gear.

In Fig. 6, function nictation of eyes is mainly realized by the light on and off frequency of diode, and the light on and off frequency of diode is controlled by the timing routine of single-chip microcomputer.

In Fig. 7,1 is actuating unit.2 is power sources, and form is turbine and worm combination.3 is pedals.5 is legs of robot.Leg principle is as Fig. 7.

In Fig. 8, the leg of robot and bicycle wheel disc form a crank and rocker mechanism.According to principle be: most quarter butt is less than or equal to all the other two bar sums with most stock sum.The adjacent bar of most quarter butt is frame.

In Fig. 9,1 is support, is exactly 3 in Fig. 1.2 is fixing positions controlling head left rotation and right rotation motor.3 is connecting rods.4 is motor.By controlled motor Spindle rotation angle degree, pull a connecting rod mobile segment distance forward or backward, and then pull the swing of cross axle, thus realize the new line of head or bow.The anglec of rotation of motor main shaft controls primarily of delay procedure, except delay procedure, also can quote angle gyroscope instrument, but cost can have increased slightly, therefore adopts delay procedure.

In Figure 10,1 for slide rail has scale, for fixed light electric transducer height and determine between two sensors distance.2 is dovetail groove slide block, with 1 with the use of, above have lock-screw for location.3 is dovetail groove, for fixation of sensor.

Claims

1. a toy is voluntarily ridden by tracking robot, and it is characterized in that can follow setting path voluntarily advances by bike, turning function is performed by the flexible of arm, and head can left rotation and right rotation be bowed with lifting voluntarily, and hand can perform brake.

2., according to the feature described in claim 1, setting path can be follow voluntarily and advance by bike, carry out route detection by the photoelectric sensor be contained in bottom car, but due to the lines width of setting path different, transducer spacing adjusting device must be had.

3. according to the feature described in claim 2, transducer spacing adjusting device, the dovetail groove slide block cooperatively interacted by one group is formed, wherein identical with the width of robot as the dovetail groove of slide rail, be zero graduation line at its center position, scale take center line as benchmark, bilateral symmetry distribution to the left and right, two other little swallow tail groove slide block fixation of sensor, with lock-screw on small slide block, fixes for position.

4. according to the feature described in claim 1, turning function is performed by the flexible of arm, and the flexible of arm is performed by drive unit, and drive unit is by one group of intermeshing conical gear, and shaft coupling, motor, power output shaft forms.

5., according to the feature described in claim 4, the two ends of power output shaft are wherein square, and centre is cylindrical, and the annular knurl shape of gear cooperation place is pattern.

6. according to the feature described in claim 1, head can left rotation and right rotation and lifting be bowed voluntarily, and head left rotation and right rotation is by motor Direct driver, and namely head is connected with the rotating shaft of motor, and the anglec of rotation is controlled by delay procedure, and lifting bows is controlled by cross mandrel.

7. according to the feature described in claim 6, the symmetrical two ends of cross mandrel are connected with the shoulder of robot by bearing, symmetrical two ends in addition, and one end and head and motor connect, the other end is connected by connecting rod and the rocking bar that is connected with motor rotary shaft, composition double rocker mechanism.

8. according to the feature described in claim 1, hand can perform brake, is to install a fritter magnet at the top place of brake spanner, winding around on handlebar, works as coil electricity, and copper core produces magnetic field, attract magnet, be that brake spanner is separated with brake base, realize brake function.