CN106237624A - A kind of intelligent walking toy robot - Google Patents
A kind of intelligent walking toy robot Download PDFInfo
- Publication number
- CN106237624A CN106237624A CN201610831828.0A CN201610831828A CN106237624A CN 106237624 A CN106237624 A CN 106237624A CN 201610831828 A CN201610831828 A CN 201610831828A CN 106237624 A CN106237624 A CN 106237624A
- Authority
- CN
- China
- Prior art keywords
- shank
- power source
- thigh
- connecting rod
- revolute pair
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H11/00—Self-movable toy figures
- A63H11/18—Figure toys which perform a realistic walking motion
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H29/00—Drive mechanisms for toys in general
- A63H29/22—Electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
A kind of intelligent walking toy robot, including power source mechanism, little leg mechanism, big leg mechanism and Sole mechanism, the guide rail sleeve of described little leg mechanism is sleeved on guide rod, guide rod is connected on the first shank sliding sleeve, first shank sliding sleeve is sleeved on power source connecting rod, the guide rod other end is fixedly connected on shank guide-track groove, shank link one end is connected on sole part, the shank link other end is connected on shank slide block, shank sliding sleeve is arranged in shank guide-track groove, thigh the first lever one end of described big leg mechanism is connected to the other end on thigh slide block and props up connecting rod one end with thigh and be connected, thigh props up the connecting rod other end and is connected on thigh sliding sleeve, thigh sliding sleeve is sleeved on thick link, thick link one end is connected on fuselage, the thick link other end is connected in the middle part of shank link.Present configuration is simple, rationally distributed, bearing capacity strong, convenient for assembly.
Description
Technical field
The present invention relates to mechanical field, specifically a kind of intelligent walking toy robot.
Background technology
Robot is the installations automatically performing work.It both can accept mankind commander, can run again and compile in advance
The program of row, it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as, produce the work of industry, building industry, or danger.Walking robot is to have humanoid machine anthropomorphous
People is also referred to as nature walking robot.The walking mechanism of robot is divided into wheeled, lower limb formula, crawler type etc. by move mode.But, it
Each there is corresponding defect, wheeled construction robot speed is fast, control flexibly, but leaping over obstacles is limited in one's ability；
Robot of Tui Shi mechanism is adaptable, controls complexity, and energy consumption is big；Caterpillar mobile robot weight is big, and energy consumption is high.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, it is provided that a kind of intelligent walking toy robot.
To achieve these goals, present invention employs techniques below scheme:
A kind of intelligent walking toy robot, including power source mechanism, little leg mechanism, big leg mechanism, Sole mechanism and
Single-chip microcomputer,
Described power source mechanism includes that motor, fuselage, diagonal control arm, power source sliding sleeve, power source expansion link, expansion link are with turning
The collar, power source connecting rod and power source guide-track groove, motor is fixed on fuselage, and diagonal control arm one end is fixing with motor shaft to be connected,
With motor shaft the most point-blank, power source sliding sleeve is sleeved on diagonal control arm diagonal control arm, and power source expansion link one end is fixed on
Expansion link is with on pivoted housing ring, and expansion link is contained in pivoted housing ring set between two limited blocks of diagonal control arm end, power source expansion link
The other end is fixed on power source sliding sleeve, and power source connecting rod is vertical with motor shaft, and it is sliding that power source connecting rod one end is fixed on power source
Putting, the power source connecting rod other end is connected on power source guide-track groove,
Little leg mechanism includes that shank the first support bar, guide rail sleeve, guide rod, the first shank sliding sleeve, shank guide-track groove, shank are sliding
Block and shank link, shank the first support bar one end is fixed on fuselage, and shank the first support bar other end is fixed on guide rail
Putting, guide rail sleeve is sleeved on guide rod, and guide rod is parallel with motor shaft, and it is sliding that guide rod is connected to the first shank by revolute pair one
Putting, the first shank sliding sleeve is sleeved on power source connecting rod, and the guide rod other end is fixedly connected on shank guide-track groove, shank link
One end is connected on sole part by revolute pair five, and the shank link other end is connected on shank slide block by revolute pair four, little
Lower limb sliding sleeve is arranged in shank guide-track groove,
Big leg mechanism include thigh the first support bar, thigh sliding sleeve, thick link, thigh slide block, thigh the first lever with
And thigh props up connecting rod, thigh the first support bar one end is fixed on fuselage, and thigh the first support bar other end passes through revolute pair ten
One is connected to thigh the first its intermediate part, and thigh the first lever one end is connected on thigh slide block by revolute pair 12, thigh
Slide block is arranged in power source guide-track groove, and thigh the first lever other end props up connecting rod one end even by revolute pair 13 and thigh
Connecing, thigh is propped up the connecting rod other end and is connected on thigh sliding sleeve by revolute pair 14, and thigh sliding sleeve is sleeved on thick link, greatly
Leg connecting rod one end is connected on fuselage by revolute pair 15, and the thick link other end is connected to shank link by revolute pair eight
Middle part,
Described Sole mechanism includes arc guide rail, the first tiptoe connecting rod, the second tiptoe connecting rod, sole part, tiptoe expansion link
And boss slider, arc guide rail one end is fixed on thick link and the center of circle of arc guide rail is in the position of revolute pair eight
On, first tiptoe connecting rod one end is connected on arc guide rail by revolute pair nine, and the first tiptoe connecting rod other end passes through revolute pair
Ten are connected with second tiptoe connecting rod one end, and the second tiptoe connecting rod other end is connected on sole part by revolute pair 21, foot
Point expansion link one end is connected on shank link by revolute pair 22, and the tiptoe expansion link other end is by revolute pair ten and the
One tiptoe connecting rod and the second tiptoe connecting rod are simultaneously connected with, and shank link is fixed with boss slider, and boss slider is inlaid in circular arc
In guide rail, the distance of boss slider to revolute pair eight is equal to the radius of arc guide rail,
Single-chip microcomputer is connected with motor, power source expansion link and tiptoe expansion link and controls the rotating speed of motor and stretches with power source
Bar and the length of tiptoe expansion link.
Compared with prior art, the beneficial effect that the present invention possesses:
Motion as power source, is divided into two-way by linkage only with a servomotor by the present invention, respectively
Drive thigh and the reciprocating motion of shank, simple in construction, rationally distributed so that the range of activity of robot leg is big, carrying energy
Power is strong, the most convenient for assembly.
Accompanying drawing explanation
Fig. 1 is the markd structural representation of intelligent walking toy robot of the present invention.
Fig. 2 is the unmarked structural representation of intelligent walking toy robot of the present invention.
Fig. 3 is the structural representation of power source mechanism of the present invention.
Detailed description of the invention
Below by embodiment, technical scheme is further elaborated.
Embodiment 1
Intelligent walking toy robot, including power source mechanism, little leg mechanism, big leg mechanism, Sole mechanism and monolithic
Machine,
Described power source mechanism includes motor 1, fuselage 2, diagonal control arm 3, power source sliding sleeve 4, power source expansion link 5, stretches
Bar is with pivoted housing ring 51, power source connecting rod 6 and power source guide-track groove 7, and motor 1 is fixed on fuselage 2, diagonal control arm 3 one end and electricity
Arbor 8 is fixing to be connected, and with motor shaft 8 the most point-blank, power source sliding sleeve 4 is sleeved on diagonal control arm 3 diagonal control arm 3, power
Source expansion link 5 one end is fixed on expansion link with on pivoted housing ring 51, and expansion link is sleeved on two of diagonal control arm 3 end with pivoted housing ring 51
Between limited block 52, power source expansion link 5 other end is fixed on power source sliding sleeve 4, and power source connecting rod 6 is vertical with motor shaft 8,
Power source connecting rod 6 one end is fixed on power source sliding sleeve 4, and power source connecting rod 6 other end is connected on power source guide-track groove 7,
Little leg mechanism includes shank the first support bar 11, guide rail sleeve 12, guide rod the 13, first shank sliding sleeve 14, shank guide rail
Groove 10, shank slide block 16 and shank link 17, shank the first support bar 11 one end is fixed on fuselage 2, and shank first supports
Bar 11 other end is fixed on guide rail sleeve 12, and guide rail sleeve 12 is sleeved on guide rod 13, and guide rod 13 is parallel with motor shaft 8, guide rod 13
One end is connected on the first shank sliding sleeve 14 by revolute pair 1, and the first shank sliding sleeve 14 is sleeved on power source connecting rod 6,
Guide rod 13 other end is fixedly connected on shank guide-track groove 10, and shank link 17 one end is connected to sole by revolute pair 5 105
On part 33, shank link 17 other end is connected on shank slide block 16 by revolute pair 4 104, and shank sliding sleeve is arranged on shank and leads
In rail groove 10,
Big leg mechanism includes thigh the first support bar 20, thigh sliding sleeve 21, thick link 22, thigh slide block 23, thigh the
One lever 24 and thigh prop up connecting rod 25, and thigh the first support bar 20 one end is fixed on fuselage 2, and thigh the first support bar 20 is another
One end is connected in the middle part of thigh the first lever 24 by revolute pair 11, and revolute pair ten is passed through in thigh the first lever 24 one end
2 112 are connected on thigh slide block 23, and thigh slide block 23 is arranged in power source guide-track groove 7, thigh the first lever 24 other end
Propping up connecting rod 25 one end by revolute pair 13 with thigh to be connected, thigh props up connecting rod 25 other end by revolute pair 14 even
Being connected on thigh sliding sleeve 21, thigh sliding sleeve 21 is sleeved on thick link 22, and revolute pair 15 is passed through in thick link 22 one end
Being connected on fuselage 2, thick link 22 other end is connected in the middle part of shank link 17 by revolute pair 8 108,
Described Sole mechanism includes arc guide rail the 30, first tiptoe connecting rod the 31, second tiptoe connecting rod 32, sole part 33, foot
Point expansion link 34 and boss slider 35, arc guide rail 30 one end is fixed on thick link 22 and the center of circle of arc guide rail 30
Being on the position of revolute pair 8 108, first tiptoe connecting rod 31 one end is connected on arc guide rail 30 by revolute pair 9 109,
First tiptoe connecting rod 31 other end is connected with second tiptoe connecting rod 32 one end by revolute pair 10, and the second tiptoe connecting rod 32 is another
One end is connected on sole part 33 by revolute pair 21, and tiptoe expansion link 34 one end is by revolute pair 22 even
Being connected on shank link 17, tiptoe expansion link 34 other end passes through revolute pair 10 and the first tiptoe connecting rod 31 and the second tiptoe
Connecting rod 32 is simultaneously connected with, and shank link 17 is fixed with boss slider 35, and boss slider 35 is inlaid in arc guide rail 30, protruding
Slide block 35 arrives the distance radius equal to arc guide rail 30 of revolute pair 8 108,
Single-chip microcomputer is connected with motor 1, power source expansion link 5 and tiptoe expansion link 34 and controls rotating speed and the power of motor 1
Source expansion link 5 and the length of tiptoe expansion link 34.
Claims (1)
1. an intelligent walking toy robot, it is characterised in that include power source mechanism, little leg mechanism, big leg mechanism, sole
Mechanism and single-chip microcomputer,
Described power source mechanism includes that motor, fuselage, diagonal control arm, power source sliding sleeve, power source expansion link, expansion link are with pivoted housing
Ring, power source connecting rod and power source guide-track groove, motor is fixed on fuselage, and diagonal control arm one end is fixing with motor shaft to be connected, tiltedly
With motor shaft the most point-blank, power source sliding sleeve is sleeved on diagonal control arm connecting rod, and power source expansion link one end is fixed on stretches
Contracting bar is with on pivoted housing ring, and expansion link is contained in pivoted housing ring set between two limited blocks of diagonal control arm end, and power source expansion link is another
One end is fixed on power source sliding sleeve, and power source connecting rod is vertical with motor shaft, and power source connecting rod one end is fixed on power source sliding sleeve
On, the power source connecting rod other end is connected on power source guide-track groove,
Little leg mechanism include shank the first support bar, guide rail sleeve, guide rod, the first shank sliding sleeve, shank guide-track groove, shank slide block with
And shank link, shank the first support bar one end is fixed on fuselage, and shank the first support bar other end is fixed on guide rail sleeve,
Guide rail sleeve is sleeved on guide rod, and guide rod is parallel with motor shaft, and guide rod is connected on the first shank sliding sleeve by revolute pair one,
First shank sliding sleeve is sleeved on power source connecting rod, and the guide rod other end is fixedly connected on shank guide-track groove, shank link one end
Being connected on sole part by revolute pair five, the shank link other end is connected on shank slide block by revolute pair four, and shank is sliding
Set is arranged in shank guide-track groove,
Big leg mechanism includes thigh the first support bar, thigh sliding sleeve, thick link, thigh slide block, thigh the first lever and big
Lower limb props up connecting rod, and thigh the first support bar one end is fixed on fuselage, and thigh the first support bar other end is by revolute pair 11 even
Being connected on thigh the first its intermediate part, thigh the first lever one end is connected on thigh slide block by revolute pair 12, thigh slide block
Being arranged in power source guide-track groove, thigh the first lever other end props up connecting rod one end by revolute pair 13 with thigh and is connected, greatly
Lower limb is propped up the connecting rod other end and is connected on thigh sliding sleeve by revolute pair 14, and thigh sliding sleeve is sleeved on thick link, and thigh is even
Bar one end is connected on fuselage by revolute pair 15, and the thick link other end is connected in shank link by revolute pair eight
Portion,
Described Sole mechanism include arc guide rail, the first tiptoe connecting rod, the second tiptoe connecting rod, sole part, tiptoe expansion link and
Boss slider, arc guide rail one end is fixed on thick link and the center of circle of arc guide rail is on the position of revolute pair eight,
First tiptoe connecting rod one end is connected on arc guide rail by revolute pair nine, the first tiptoe connecting rod other end by revolute pair ten with
Second tiptoe connecting rod one end connects, and the second tiptoe connecting rod other end is connected on sole part by revolute pair 21, and tiptoe is stretched
Contracting bar one end is connected on shank link by revolute pair 22, and the tiptoe expansion link other end passes through revolute pair ten and the first foot
Point connecting rod and the second tiptoe connecting rod are simultaneously connected with, and shank link is fixed with boss slider, and boss slider is inlaid in arc guide rail
In, the distance of boss slider to revolute pair eight is equal to the radius of arc guide rail,
Single-chip microcomputer be connected with motor, power source expansion link and tiptoe expansion link and control the rotating speed of motor and power source expansion link and
The length of tiptoe expansion link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610831828.0A CN106237624A (en) | 2016-09-19 | 2016-09-19 | A kind of intelligent walking toy robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610831828.0A CN106237624A (en) | 2016-09-19 | 2016-09-19 | A kind of intelligent walking toy robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106237624A true CN106237624A (en) | 2016-12-21 |
Family
ID=57598989
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610831828.0A Pending CN106237624A (en) | 2016-09-19 | 2016-09-19 | A kind of intelligent walking toy robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106237624A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1363788A (en) * | 2001-01-01 | 2002-08-14 | 熊介良 | 'Menneimasi pendulum arm' and stalking mechanical leg |
| JP2003340771A (en) * | 2002-05-21 | 2003-12-02 | Toyota Motor Corp | Robot |
| CN202590366U (en) * | 2012-04-23 | 2012-12-12 | 李洪鹏 | Toy robot |
| CN103006416A (en) * | 2013-01-04 | 2013-04-03 | 哈尔滨工程大学 | Mechanical lower-limb rehabilitation robot walker device |
| CN104890756A (en) * | 2015-06-09 | 2015-09-09 | 江苏科技大学 | Mechanical structure of three-dimensional human-simulated biped walking robot and walking method |
| CN105292296A (en) * | 2015-10-21 | 2016-02-03 | 山东大学 | Bionic running four-leg robot |
-
2016
- 2016-09-19 CN CN201610831828.0A patent/CN106237624A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1363788A (en) * | 2001-01-01 | 2002-08-14 | 熊介良 | 'Menneimasi pendulum arm' and stalking mechanical leg |
| JP2003340771A (en) * | 2002-05-21 | 2003-12-02 | Toyota Motor Corp | Robot |
| CN202590366U (en) * | 2012-04-23 | 2012-12-12 | 李洪鹏 | Toy robot |
| CN103006416A (en) * | 2013-01-04 | 2013-04-03 | 哈尔滨工程大学 | Mechanical lower-limb rehabilitation robot walker device |
| CN104890756A (en) * | 2015-06-09 | 2015-09-09 | 江苏科技大学 | Mechanical structure of three-dimensional human-simulated biped walking robot and walking method |
| CN105292296A (en) * | 2015-10-21 | 2016-02-03 | 山东大学 | Bionic running four-leg robot |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161221 |