CN106493738A - A kind of assiatant child with both legs walk apery educational robot - Google Patents
A kind of assiatant child with both legs walk apery educational robot Download PDFInfo
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- CN106493738A CN106493738A CN201610946274.9A CN201610946274A CN106493738A CN 106493738 A CN106493738 A CN 106493738A CN 201610946274 A CN201610946274 A CN 201610946274A CN 106493738 A CN106493738 A CN 106493738A
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- thigh
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
The invention discloses a kind of assiatant child is with both legs walking apery educational robot, including upper body structure, back and lower body structure；Upper body structure is tower structure, and including the main frame that upper half of human body shape intended by epimorph, main frame includes that head, shoulder and thorax abdomen, back are horizontally disposed with, and the thorax abdomen in upper body structure connects the back；The lower body structure is symmetrical set, including thigh structure, shank structure and foot structure；The present invention can realize that apery is walked, the action of people's knee bends is simulated during walking, and it is further able to simulate the action that the leg of knee bends side is walked forward, the leg of opposite side is not temporarily walked forward, realize that two legs are alternately moved forward, apery degree had obtained the raising of matter more in the past, can stronger, more permanently attract the notice of child, was more convenient for carrying out the explanation of correlation to child, child is improved for the interest of science and technology, strengthens the scientific literacy of child.
Description
Technical field
A kind of the present invention relates to robotics, more particularly to the assiatant child robot of apery walking.
Background technology
With the development of economic society, robot has obtained increasingly extensive application.Although China is also in machine at present
The starting stage of people's application, but the application of robot can bring huge economic interests for all trades and professions.
In preschool education, robot or a fangle.Some kindergartens apply robot model, attract
The notice of child.As robot model is that profile is anthropomorphic, ability to act is not had, therefore child will soon lose
Attention to robot model.Some robots that can advance occurred on market, or complex structure, involve great expense, or
Person does not possess the ability of apery walking.
After two tire policies are decontroled, annual ewborn infant can reach more than 20,000,000, and many father and mother are also increasingly ready for child
The growth and education of son is spent, but also lacks a kind of children education robot for being capable of apery walking in the market.
Content of the invention
It is an object of the invention to provide a kind of simple structure, cost are relatively low and are capable of the children education machine that apery is walked
People, can relatively rotate between its thigh structure and shank structure, connect reliable and stable again.
For achieving the above object, with both legs walking apery educational robot, a kind of assiatant child of the invention includes that upper body is tied
Structure, back and lower body structure；
Upper body structure is tower structure, and including the main frame that upper half of human body shape intended by epimorph, main frame includes head, shoulder
Portion and thorax abdomen, are connected with left back armed lever on the left of shoulder, be connected with armed lever behind the right side on the right side of shoulder, and the bottom of left back armed lever is connected with
Left front armed lever, behind the right side, the bottom of armed lever is connected with right forearm bar, and left and right front armed lever is forward extended out and is connected with therebetween main support
Plate；
The back is horizontally disposed with, and the bottom of the thorax abdomen in upper body structure connects the back；Described lower body structure or so is right
Claim to arrange, including thigh structure, shank structure and foot structure；
Thigh structure includes that left thigh structure and right thigh structure, shank structure include left leg structure and right leg structure, pin
Portion's structure includes left foot structure and right foot part structure；Left thigh structure is symmetrical set with right thigh structure, and left leg is tied
Structure and right leg structure are symmetrical set, and left foot structure and right foot part structure are symmetrical set；Left thigh structure, the right side are big
Leg structure, left leg structure and right leg structure are tower structure；
The top of left thigh structure is connected with the left part of the back, the right-hand member of the top of right thigh structure and the back
Portion is connected；
The bottom of the left thigh structure is rotated with the top of left leg structure by left bearing pin and is connected, the bottom of right thigh structure
Rotated with the top of right leg structure by right bearing pin and be connected；The left bearing pin be fixedly connected with left leg structure and left bearing pin with
Left thigh structure rotates connection, and the right bearing pin is fixedly connected with right leg structure and right bearing pin is rotated with right thigh structure and connected
Connect；
The left thigh structure is provided with left knee motor, left bearing pin described in left knee motor connection；In the right thigh structure
It is provided with right knee motor, right bearing pin described in right knee motor connection；
The foot structure includes the left foot structure being symmetrical set and right foot part structure；Left foot structure includes left foot frame
Frame, is provided with left fixed plate in left foot framework, the left foot framework of left fixed plate front and back is separately installed with left road wheel, each left side
Left driven pulley is separately installed with the wheel shaft of road wheel；Left movable motor is installed in left fixed plate, left movable motor
Left drive pulley is installed on output shaft；Connected by Left Drive belt transmission between left drive pulley and left driven pulley
Connect；The bottom of left road wheel extends downwardly from left foot framework and supports on the ground；
Right foot part structure includes right crus of diaphragm framework, is provided with right fixed plate, the right crus of diaphragm frame of right fixed plate front and back in right crus of diaphragm framework
Frame is separately installed with right road wheel, is separately installed with right driven pulley on the wheel shaft of each right road wheel；Install in right fixed plate
There is right movable motor, right drive pulley is installed on the output shaft of right movable motor；Right drive pulley and right follower belt
It is connected by right driving belt between wheel；The bottom of right road wheel extends downwardly from right crus of diaphragm framework and supports on the ground；
The left part of the back is connected with downwards left contiguous block, and the right part of back is connected with downwards right contiguous block；Thigh is tied
It is provided between structure and shank structure for stablizing two sets of linkages of thigh structure and shank structure；Two sets of linkages are a left side
Linkage and right connecting rod mechanism, left connecting rod mechanism and right connecting rod mechanism are symmetrical arranged；
Left connecting rod mechanism includes that upper left connecting rod and left lower link, the top of upper left connecting rod are hinged with the rearward end of left contiguous block,
The bottom of upper left connecting rod is hinged with left lower link；The top of left leg structure is connected with the left company for protruding left leg structure backward
Joint chair, the bottom of left lower link are hinged with left connecting seat；
Right connecting rod mechanism includes that upper right connecting rod and bottom right connecting rod, the top of upper right connecting rod are hinged with the rearward end of right contiguous block,
The bottom of upper right connecting rod is hinged with bottom right connecting rod；The top of right leg structure is connected with the right company for protruding right leg structure backward
Joint chair, the bottom of bottom right connecting rod are hinged with right connecting seat.
Low after height before the top surface of the main supporting plate be provided with the gradient, and the gradient is less than or equal to 3 degree；The water of the primary tank
Plane section is rounded, and the vertical cross-section of the primary tank center is in minor arc arch.
The top of the left thigh structure is fixedly connected with the left part of the back.
It is provided with the left leg structure for monitoring the relative angle between left thigh structure and left leg structure
Left comer displacement transducer, the bottom of the left thigh structure are hinged with downwards the first left hinge bar, the bottom of the first left hinge bar
The second left hinge bar is hinged with, the bottom of the second left hinge bar connects the left comer displacement transducer；
It is provided with the right leg structure for monitoring the right corner of the relative angle between right thigh structure and right leg structure
Displacement transducer, the bottom of the right thigh structure are hinged with downwards the first right hinge bar, and the bottom of the first right hinge bar is hinged
The bottom for having the second right hinge bar, the second right hinge bar connects the right corner displacement transducer.
The present invention has the advantage that：
The present invention can realize that apery is walked, and simulate people's knee bends during walking（Lift leg）Action, and enter one
Step can simulate the action that the leg of knee bends side is walked forward, the leg of opposite side is not temporarily walked forward, realize two legs
Alternately move forward, apery degree had obtained the raising of matter more in the past, can stronger, more permanently attract the attention of child
Power, is more convenient for carrying out the explanation of correlation to child, improves child for the interest of science and technology, strengthen the scientific literacy of child.
Upper connecting rod, lower link, left thigh structure one parallel four sides row drag link mechanism with left leg structure composition, so as to
Make the more stable reliability of the connection between thigh structure and shank structure.
By angular displacement sensor and its dependency structure, the present invention can accurately between thigh structure and shank structure
Relative rotation angle be monitored and control.
The vertical cross-section of primary tank center is in minor arc arch, and there is more preferable stability compared to during in major arc arch.
Low the gradient is provided with after height before the top surface of main supporting plate such that it is able to prevent the article that carries on main supporting plate when walking forward to advancing slip
Fall, it is ensured that transport safety.When the article carried on main supporting plate is slided backward, can be blocked after running into gear eaves, further protect
Transport safety is demonstrate,proved.In addition, present configuration is relatively simple, it is easy to manufacture, cost is relatively low, is suitable to popularization and application.
Description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the right view of Fig. 1；
Fig. 3 is the enlarged drawing in Fig. 1 at B；
Fig. 4 is the enlarged drawing in Fig. 1 at C；
Fig. 5 is the enlarged drawing in Fig. 2 at D；
Fig. 6 is the schematic diagram of right foot part structure.
Specific embodiment
As shown in Figures 1 to 6, with both legs walking apery educational robot, a kind of assiatant child of the invention includes that upper body is tied
Structure, back 1 and lower body structure；
Upper body structure be tower structure, including epimorph intend upper half of human body shape main frame, main frame include head 2,
Shoulder 3 and thorax abdomen 4, are connected with left back armed lever 5 on the left of shoulder 3, be connected with armed lever 6 behind the right side on the right side of shoulder 3, left back armed lever 5
Bottom is connected with left front armed lever 7, and behind the right side, the bottom of armed lever 6 is connected with right forearm bar 8, and left and right front armed lever 7,8 is forward extended out and two
Main supporting plate 9 is connected between person；
The back 1 is horizontally disposed with, and the bottom of the thorax abdomen 4 in upper body structure connects the back 1；Described lower body structure or so
It is symmetrical arranged, including thigh structure, shank structure and foot structure；
Thigh structure includes that left thigh structure 23 and right thigh structure 24, shank structure include left leg structure 25 and right leg knot
Structure 26, foot structure include left foot structure and right foot part structure；Left thigh structure 23 is symmetrical with right thigh structure 24 to be set
Put, left leg structure 25 and right leg structure 26 are symmetrical set, left foot structure and right foot part structure are symmetrical set；
Left thigh structure 23, right thigh structure 24, left leg structure 25 and right leg structure 26 are tower structure；
The top of left thigh structure 23 is connected with the left part of the back 1, the top of right thigh structure 24 and the back 1
Right part be connected；
The bottom of the left thigh structure 23 is rotated with the top of left leg structure 25 by left bearing pin 27 and is connected, right thigh structure
24 bottom is rotated with the top of right leg structure 26 by right bearing pin 28 and is connected；The left bearing pin 27 is solid with left leg structure 25
Connect calmly and left bearing pin 27 is rotated with left thigh structure 23 and is connected, the right bearing pin 28 is fixedly connected with right leg structure 26 and right
Bearing pin 28 is rotated with right thigh structure 24 and is connected；
The left thigh structure 23 is provided with left knee motor, left bearing pin 27 described in left knee motor connection；The right thigh knot
Structure 24 is provided with right knee motor, right bearing pin 28 described in right knee motor connection；
The foot structure includes the left foot structure being symmetrical set and right foot part structure；Left foot structure includes left foot frame
Frame 29, is provided with left fixed plate 30 in left foot framework 29, and the left foot framework 29 of 30 front and back of left fixed plate is separately installed with a left side
Road wheel 31, is separately installed with left driven pulley 32 on the wheel shaft of each left road wheel 31；Left lateral is installed in left fixed plate 30
Motor is walked, left drive pulley 34 is installed on the output shaft of left movable motor；Left drive pulley 34 and left driven pulley
It is connected by Left Drive belt 33 between 32.The bottom of left road wheel 31 extends downwardly from left foot framework 29 and is supported on ground
On, it is provided with, in left foot framework 29, the left battery being connected with left movable motor；
Right foot part structure includes right crus of diaphragm framework 35, is provided with right fixed plate 36,36 front and back of right fixed plate in right crus of diaphragm framework 35
Right crus of diaphragm framework 35 be separately installed with right road wheel 37, be separately installed with right driven pulley on the wheel shaft of each right road wheel 37
38；Right movable motor is installed in right fixed plate 36, right drive pulley 39 is installed on the output shaft of right movable motor；Right master
It is connected by right driving belt 40 between dynamic belt pulley 39 and right driven pulley 38；Stretch downwards the bottom of right road wheel 37
Go out right crus of diaphragm framework 35 and support on the ground, be provided with, in right crus of diaphragm framework 35, the right battery being connected with right movable motor, left and right
Battery provides electric energy for left and right movable motor.Motor is conventional components with battery, the not shown left and right knee electricity
Machine, left and right movable motor and left and right battery.
Low after height before the top surface of the main supporting plate 9 be provided with the gradient, and the gradient is less than or equal to 3 degree, the main supporting plate 9
Rear end raises up and is provided with gear eaves 41.
The horizontal cross-section of the primary tank 13 is rounded, and the vertical cross-section of 13 center of the primary tank is in minor arc arch.
Through test, the vertical cross-section of 13 center of primary tank is in minor arc arch, and there is more preferable stability compared to during in major arc arch.
Low the gradient is provided with after height before the top surface of main supporting plate 9 such that it is able to prevent from carrying on main supporting plate 9 when walking forward
Article landing forward, it is ensured that transport safety.When the article carried on main supporting plate 9 is slided backward, can be hindered after running into gear eaves 41
Block, further ensure transport safety.
The top of the left thigh structure 23 is fixedly connected with the left part of the back 1.
It is provided with the left leg structure 25 relative between left thigh structure 23 and left leg structure 25 for monitoring
The left comer displacement transducer 42 of angle, the bottom of the left thigh structure 23 are hinged with downwards the first left hinge bar 43, and first is left
The bottom of hinge bar 43 is hinged with the second left hinge bar 44, and the bottom of the second left hinge bar 44 connects the left comer displacement transducer
42；
It is provided with the right leg structure 26 for monitoring the relative angle between right thigh structure 24 and right leg structure 26
Right corner displacement transducer 47, the bottom of the right thigh structure 24 is hinged with downwards the first right hinge bar 45, and first right side is hinged
The bottom of bar 45 is hinged with the second right hinge bar 46, and the bottom of the second right hinge bar 46 connects the right corner displacement transducer 47.
Angular displacement sensor is conventional equipment, and concrete structure is no longer described in detail.
The left part of the back 1 is connected with downwards left contiguous block 48, and the right part of back 1 is connected with downwards right contiguous block
49；It is provided between thigh structure and shank structure for stablizing two sets of linkages of thigh structure and shank structure；Two sets of companies
Linkage is left connecting rod mechanism and right connecting rod mechanism, and left connecting rod mechanism and right connecting rod mechanism are symmetrical arranged；
Left connecting rod mechanism includes upper left connecting rod 50 and left lower link 51, the rear end bottom of the top of upper left connecting rod 50 and left contiguous block 48
Portion is hinged, and the lower left connecting rod 51 of upper left connecting rod 50 is hinged；It is left that the top of left leg structure 25 is connected with protrusion backward
The left connecting seat 52 of shank structure 25, the bottom of left lower link 51 is hinged with left connecting seat 52.
So, upper left connecting rod 50, left lower link 51, left thigh structure 23 and left leg structure 25 just constitute one parallel
Four side row drag link mechanisms, so that can relatively rotate between thigh structure and shank structure, reliablely and stablely can be connected to again
Together.
Right connecting rod mechanism includes upper right connecting rod 53 and bottom right connecting rod 54, after the top of upper right connecting rod 53 and right contiguous block 49
End bottom is hinged, and the bottom of upper right connecting rod 53 is hinged with bottom right connecting rod 54；The top of right leg structure 26 is connected with backward
The right connecting seat of right leg structure 26 is protruded, the bottom of bottom right connecting rod 54 is hinged with right connecting seat.In Fig. 1 and Fig. 2, right connection
Seat is blocked, not shown.
During use, walking before and after robot can be allowed only and not conveying articles, it is also possible to be put into demonstration with defeated in main supporting plate 9
Article is sent, is then alternately started left and right movable motor, and alternating is started left and right knee motor.
The left and right shank structure 25,26 of left and right knee motor driven is rotated relative to thigh structure, so as to simulate people's lift
The action of leg walking.Left and right movable motor drives left and right driven pulley 32,38 to rotate by belt transmission structure, so as to band
Dynamic left and right road wheel 31,37 rotates, and left and right road wheel 31,37 drives a kind of assiatant child of the invention with both legs walking apery
Educational robot is walked forward, and demonstration conveying article is delivered to the position that specifies.
When left and right knee motor is rotated, between left and right thigh structure 23,24 and left and right shank structure 25,26, there is phase
To rotation, relative rotary motion is converted into the pressure of diagonal displacement sensor for the first hinge bar and the second hinge bar, so that
Angular displacement sensor monitors the relative rotation angle between thigh structure and shank structure.
Specifically, when rotating against between left thigh structure 23 and left leg structure 25（Knee bends）When, the left lateral leakage of electricity
Machine drives left road wheel 31 to move forward a segment distance；When rotating against between left thigh structure 23 and left leg structure 25（Knee
Lid bending）During to set angle, left knee motor and left movable motor stopping action starting right knee motor and the right lateral leakage of electricity
Machine.
When rotating against between right thigh structure 24 and right leg structure 26（Knee bends）When, right movable motor drives right
Road wheel 37 moves forward a segment distance；When rotating against between right thigh structure 24 and right leg structure 26（Knee bends）Extremely
During set angle, right knee motor and right movable motor stopping action, left thigh structure 23 and left leg structure 25 during this period
Recover upright state.
While left and right knee motor action, left and right movable motor interoperation, in thigh structure and shank structure
Between rotate against（That is knee bends）While, left and right road wheel 31,37 is also and then moved, and is taken a step so as to simulate people
The action of walking.Certainly, action of the invention still has difference with the action of people's walking, when mainly taking a step to walk, left,
Right road wheel 31,37 is without departing from ground.Nonetheless, action of the invention is compared with the past, and the walking closer to people is moved
Make, apery degree is higher.
Above example is only in order to illustrative and not limiting technical scheme, although reference above-described embodiment is to this
Bright be described in detail, it will be understood by those within the art that：Still the present invention can be modified or be waited
With replacing, any modification or partial replacement without departing from the spirit and scope of the present invention, its all should cover the power in the present invention
In the middle of sharp claimed range.
Claims (4)
1. a kind of assiatant child with both legs walk apery educational robot, it is characterised in that：Including upper body structure, back and the lower part of the body
Structure；
Upper body structure is tower structure, and including the main frame that upper half of human body shape intended by epimorph, main frame includes head, shoulder
Portion and thorax abdomen, are connected with left back armed lever on the left of shoulder, be connected with armed lever behind the right side on the right side of shoulder, and the bottom of left back armed lever is connected with
Left front armed lever, behind the right side, the bottom of armed lever is connected with right forearm bar, and left and right front armed lever is forward extended out and is connected with therebetween main support
Plate；
The back is horizontally disposed with, and the bottom of the thorax abdomen in upper body structure connects the back；Described lower body structure or so is right
Claim to arrange, including thigh structure, shank structure and foot structure；
Thigh structure includes that left thigh structure and right thigh structure, shank structure include left leg structure and right leg structure, pin
Portion's structure includes left foot structure and right foot part structure；Left thigh structure is symmetrical set with right thigh structure, and left leg is tied
Structure and right leg structure are symmetrical set, and left foot structure and right foot part structure are symmetrical set；Left thigh structure, the right side are big
Leg structure, left leg structure and right leg structure are tower structure；
The top of left thigh structure is connected with the left part of the back, the right-hand member of the top of right thigh structure and the back
Portion is connected；
The bottom of the left thigh structure is rotated with the top of left leg structure by left bearing pin and is connected, the bottom of right thigh structure
Rotated with the top of right leg structure by right bearing pin and be connected；The left bearing pin be fixedly connected with left leg structure and left bearing pin with
Left thigh structure rotates connection, and the right bearing pin is fixedly connected with right leg structure and right bearing pin is rotated with right thigh structure and connected
Connect；
The left thigh structure is provided with left knee motor, left bearing pin described in left knee motor connection；In the right thigh structure
It is provided with right knee motor, right bearing pin described in right knee motor connection；
The foot structure includes the left foot structure being symmetrical set and right foot part structure；Left foot structure includes left foot frame
Frame, is provided with left fixed plate in left foot framework, the left foot framework of left fixed plate front and back is separately installed with left road wheel, each left side
Left driven pulley is separately installed with the wheel shaft of road wheel；Left movable motor is installed in left fixed plate, left movable motor
Left drive pulley is installed on output shaft；Connected by Left Drive belt transmission between left drive pulley and left driven pulley
Connect；The bottom of left road wheel extends downwardly from left foot framework and supports on the ground；
Right foot part structure includes right crus of diaphragm framework, is provided with right fixed plate, the right crus of diaphragm frame of right fixed plate front and back in right crus of diaphragm framework
Frame is separately installed with right road wheel, is separately installed with right driven pulley on the wheel shaft of each right road wheel；Install in right fixed plate
There is right movable motor, right drive pulley is installed on the output shaft of right movable motor；Right drive pulley and right follower belt
It is connected by right driving belt between wheel；The bottom of right road wheel extends downwardly from right crus of diaphragm framework and supports on the ground；
The left part of the back is connected with downwards left contiguous block, and the right part of back is connected with downwards right contiguous block；Thigh is tied
It is provided between structure and shank structure for stablizing two sets of linkages of thigh structure and shank structure；Two sets of linkages are a left side
Linkage and right connecting rod mechanism, left connecting rod mechanism and right connecting rod mechanism are symmetrical arranged；
Left connecting rod mechanism includes that upper left connecting rod and left lower link, the top of upper left connecting rod are hinged with the rearward end of left contiguous block,
The bottom of upper left connecting rod is hinged with left lower link；The top of left leg structure is connected with the left company for protruding left leg structure backward
Joint chair, the bottom of left lower link are hinged with left connecting seat；
Right connecting rod mechanism includes that upper right connecting rod and bottom right connecting rod, the top of upper right connecting rod are hinged with the rearward end of right contiguous block,
The bottom of upper right connecting rod is hinged with bottom right connecting rod；The top of right leg structure is connected with the right company for protruding right leg structure backward
Joint chair, the bottom of bottom right connecting rod are hinged with right connecting seat.
2. a kind of assiatant child according to claim 1 with both legs walk apery educational robot, it is characterised in that：Described
Low after height before the top surface of main supporting plate be provided with the gradient, and the gradient is less than or equal to 3 degree；The horizontal cross-section of the primary tank is in circle
Shape, the vertical cross-section of the primary tank center is in minor arc arch.
3. a kind of assiatant child according to claim 1 and 2 with both legs walk apery educational robot, it is characterised in that：
The top of the left thigh structure is fixedly connected with the left part of the back.
4. a kind of assiatant child according to claim 1 and 2 with both legs walk apery educational robot, it is characterised in that：
It is provided with the left leg structure for monitoring the left comer of the relative angle between left thigh structure and left leg structure
Displacement transducer, the bottom of the left thigh structure are hinged with downwards the first left hinge bar, and the bottom of the first left hinge bar is hinged
The bottom for having the second left hinge bar, the second left hinge bar connects the left comer displacement transducer；
It is provided with the right leg structure for monitoring the right corner of the relative angle between right thigh structure and right leg structure
Displacement transducer, the bottom of the right thigh structure are hinged with downwards the first right hinge bar, and the bottom of the first right hinge bar is hinged
The bottom for having the second right hinge bar, the second right hinge bar connects the right corner displacement transducer.
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| CN107416411A (en) * | 2017-08-05 | 2017-12-01 | 瑞安市嘉盛机械有限公司 | Carry work-saving device |
| CN108938337A (en) * | 2017-05-19 | 2018-12-07 | 南京拓步智能科技有限公司 | A kind of ankle rehabilitation assistance type exoskeleton device |
| CN110450878A (en) * | 2019-08-20 | 2019-11-15 | 电子科技大学 | It is a kind of it is novel can Omni-mobile wheel biped robot |
| CN112641594A (en) * | 2020-10-16 | 2021-04-13 | 田四九 | Baby walking training robot |
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