CN1730340A

CN1730340A - Bionic walking mechanical carrier, recreational vehicle and making and using method thereof

Info

Publication number: CN1730340A
Application number: CN 200510014818
Authority: CN
Inventors: 王少玉
Original assignee: Individual
Current assignee: Individual
Priority date: 2005-08-23
Filing date: 2005-08-23
Publication date: 2006-02-08
Anticipated expiration: 2025-08-23
Also published as: CN100404351C

Abstract

The invention relates to a bionic walking carrying mechanical, toy vehicle and method for making and process of using. Comprising walking driving device, riding carrying facilities and pull connector. The walking driving device connects with the front trunk load-supporting frame through an end of the main trunk load-supporting frame by the front trunk swing gear, and forms integral body load-supporting frame or more piece body connected to the integral body load-supporting frame, driving the front trunk motor to drive the front trunk swing gear, and drive the load-supporting frame do oscillating traverse arc motion with the progressive rotation of the front trunk swing gear, The exterior of the walking driving device is bundled ornaments according to the figuration of the walking animal. The invention is in professional design, simple construction, adaptable motion, simple production, well versatility, and is a new pattern activation type, no pollution, and effect less to environment. And, it can be driven by man or electric power, suiting to olds and children, and it can be used in recreational toy in large-scale public entertainment place, and used as toy, delivery vehicle.

Description

Bionic walking mechanical carrier, toy car and method for making and using method

Technical field

The present invention relates to a kind of confession and ride riding mechanical pet toy car and carrier vehicle, relate in particular to a kind of bionic walking mechanical carrier, toy car and method for making and using method.

Background technology

The period of Three Kingdoms before more than 1,000 year, legend west another name for Sichuan Province prime minister Zhuge Liang is for solving army provisions transportation in the army, all what's frequently heard can be repeated in detail to utilize a lot of people of story of Wooden ox and gliding horse transportation army provisions, do not know to have how many people's researchs " Wooden ox and gliding horse " for this story, allows " Wooden ox and gliding horse " to become a reality.People are constantly exploring and research, invented various walking games for play and means of delivery, for example: " self-walking horse " (ZL93229020.5), " simple and easy great-jump-forward Walking toy " (ZL93205905.8), " stream horse " (ZL97242007.X), " mechanical horse " (ZL99203367.5), " Wooden ox and gliding horse device " (ZL200320111285.3) or the like.But all not having to realize according to the walking posture of animal the walking action of bionic animal, only is the similar of profile, and action is the state of mechanical movement.

At present, the walking type toy that can drive on the market has traditional and the two big classes modern times, no matter be traditional simulated animal toy, the electric walking toy of still modern electric drive wheel walking etc., all be appearance similar mostly, the walking action is single, stiff, only is mechanical motion, do not have vigor, rider's impression is less than the sense of movement of walking.

Summary of the invention

Main purpose of the present invention is to solve for riding the problem that exists in riding bionic walking mechanical toy car and the carrier vehicle, provide a kind of can be as bionic walking mechanical carrier, toy car and method for making and the using method of animal walking attitude.

The technical solution adopted for the present invention to solve the technical problems is:

Travel driving unit, taking delivery facility and traction connector forms, travel driving unit is that the end by main trunk carrier is connected with preceding trunk carrier by preceding trunk wobble gear, preceding trunk wobble gear is relative with the end of several preceding trunk carriers connects by several in an end that constitutes integrated carrying frame or main trunk carrier, constitute the more piece body and connect the integrated carrying frame, trunk wobble gear before the other end of preceding trunk carrier fixedly installs, before the trunk wobble gear by adapter shaft and preceding trunk carrier the other end and the top ends of an end of main trunk carrier be connected, preceding trunk wobble gear is meshed with the mouth of preceding trunk motor, trunk wobble gear before the trunk driven by motor before driving, along with the reciprocal circular swing motion of trunk carrier before the reciprocal rotary oscillation drive of preceding trunk wobble gear, the outside of travel driving unit is according to the profile parcel ornament of walking animal.

Main trunk carrier is connected with preceding trunk carrier end separately, constitutes the integrated carrying frame, makes it be made into a single-piece carrier.Main trunk carrier is connected with several mutual separately ends of preceding trunk carrying, promptly connect by an end of a main trunk carrier is relative with the end of several preceding trunk carriers, constitute more piece body bonded assembly integrated carrying frame, make it be made into single-piece more piece body bonded assembly carrier.No matter be the integrated carrying frame, or the more piece body connect the integrated carrying frame all as the trunk body of travel driving unit, both as the carrying support of travel driving unit, again as the supporting bracket of travel driving unit.Preceding trunk wobble gear is not only the attaching parts of main trunk carrier and preceding trunk carrier, also is the turning joint of travel driving unit.The reciprocal circular swing motion of preceding trunk carrier drives travel driving unit and turns to, and finishes the handling maneuver of actuating device.

One end opposing parallel of main trunk carrier fixedly installs motor, and the mouth of motor is meshed with the input end of change-speed box, and the both sides mouth of change-speed box is oppositely arranged main the driving and turns round arm, and the main end of turning round arm that drives fixedly installs axle drive shaft.

Motor and preceding trunk motor can adopt alternating current dynamo or DC machine, select different motors according to actual needs for use.

The relative horizontal fixed in the other end of main trunk carrier is provided with the back leg axle, back leg axle opposing parallel is arranged on main trunk carrier, the symmetrical separately back leg sleeve that be arranged in parallel in the both ends of the back leg axle of the both sides of main trunk carrier is provided with and puts thick stick, drives push-and-pull and turns round arm, femur frame, drives and turn round arm and pendulum chi on the back leg sleeve.One end of pendulum chi fixedly installs ratchet, the other end of pendulum chi is provided with pendulum chi return spring, the other end and the back leg sleeve of the pendulum thick stick of main trunk carrier both sides are connected to a fixed, drive push-and-pull and turn round an end of arm and symmetrical being fixedly installed on the back leg sleeve in the other end of pendulum thick stick, the relative vertical fixing in both sides of main trunk carrier the other end is provided with the pendulum lock support, the end of pendulum lock support fixedly installs the pendulum lock, pendulum lock is passed in one end of pendulum thick stick, the pendulum thick stick of main trunk carrier both sides, drives push-and-pull and turns round arm, femur frame and driving and turn round arm and do reciprocal circular swing motion; Put chi and turn round the reciprocal circular swing motion that arm is turned round in arm, femur frame and driving with pendulum thick stick, driving push-and-pull that the pendulum lock suppresses to put the reciprocal circular swing motion of thick stick and switch main trunk carrier both sides.

Back leg axial cross cross fixation is arranged on the main trunk carrier, on the back leg axle of the both sides of main trunk carrier the back leg sleeve is set, and becomes the turning joint of the hind leg leg of travel driving unit.Pendulum chi and pendulum lock not only suppress the reciprocal circular swing motion of pendulum thick stick, the reciprocal circular swing motion that arm is turned round in arm, femur frame and driving is turned round in pendulum thick stick, the driving push-and-pull of switching main trunk carrier both sides simultaneously, so just forms the hind leg leg back and forth walking set by step of travel driving unit.

One end of pendulum thick stick is provided with chute along pendulum thick stick opposing parallel, the other end of pendulum thick stick fixedly installs the driving push-and-pull and turns round arm, the axle drive shaft of change-speed box both sides inserts in the chute, the axle drive shaft that arm is turned round in the main driving of motor-driven change-speed box drive is along the chute slippage, and axle drive shaft drives the reciprocal circular swing motion in an end of the pendulum thick stick of main trunk carrier both sides along the chute slippage.

Arm one rotation drive axle drive shaft is turned round in main driving swings up and down an end of the pendulum thick stick of carrier both sides, and along with an end of putting thick stick swings up and down, the other end driving back leg sleeve of pendulum thick stick is done the action of reciprocally swinging rotation along the back leg axle.

The end of the back leg sleeve of main trunk carrier both sides relative fixed separately is provided with the femur frame, the back leg sleeve of one end of the femur frame of main trunk carrier both sides and main trunk carrier both sides is connected to a fixed, the other end of arm is turned round in driving and femur frame one end is symmetrical is fixedly installed on the back leg axle sleeve, driving is turned round arm and femur frame and is driven that arm is turned round in push-and-pull and the relative cross fixation of pendulum thick stick is arranged on the back leg axle sleeve, the opposite side of the other end of femur frame fixedly installs driving lever, along with the reciprocal rotary oscillation of the reciprocal circular swing motion drive back leg axle sleeve in an end of pendulum thick stick, back leg axle sleeve one reciprocal rotary oscillation then drives the femur frame along the reciprocal rotary oscillation of back leg axle.

One end and the back leg sleeve of femur frame are connected to a fixed, and an end of femur frame is along with the back leg sleeve is done the reciprocally swinging rotation, and reciprocal circular swing motion is done along the back leg axle in the other end of femur frame.

One end of shin bone frame links with the other end of adapter shaft and femur frame, one side of one end of shin bone frame is provided with driving lever, the end that 2 bars of shin bone frame are turned round arm with driving pull bar and driving push-and-pull links, drive push-and-pull and turn round arm and open up the reciprocal circular swing motion of bar along with what the reciprocal circular swing motion of an end of pendulum thick stick lifted the shin bone frame, the shin bone frame is along the reciprocal circular swing motion in the other end of femur frame.

One end of shin bone frame and the other end of femur frame link, and the driving lever of shin bone frame is driven push-and-pull and turns round arm and lift by driving pull bar, and reciprocal circular swing motion is done along the other end of femur frame in the other end of shin bone frame.

The other end of shin bone frame links with an end of adapter shaft and coffin bone frame, the opposite side of one end of coffin bone frame is provided with driving lever, the driving lever of coffin bone frame links with the driving lever that drives pull bar and femur frame, the coffin bone frame lifts the reciprocal circular swing motion of driving lever of coffin bone frame along with the reciprocal circular swing motion of the driving lever of femur frame, the coffin bone frame is along the reciprocal circular swing motion in the other end of shin bone frame, one end of coffin bone frame is provided with return spring, the reciprocal circular swing motion track of control coffin bone frame.

One end of the other end of shin bone frame and coffin bone frame links, and the driving lever of coffin bone frame is lifted by the driving lever of femur frame by driving pull bar, and reciprocal circular swing motion is done along the other end of shin bone frame in the other end of coffin bone frame.

The other end of coffin bone frame is provided with the hoof wheel, and a side of hoof wheel fixedly installs ratchet, and the top of ratchet is provided with ratchet, the hand of rotation of ratchet and pawl control hoof wheel.

Femur frame, shin bone frame and coffin bone are configured to the hind leg leg of travel driving unit, also are the support frames that supports travel driving unit.Femur frame, shin bone frame and coffin bone frame are turned round arm by driving push-and-pull, are driven lifting of pull bar and driving lever, and femur frame, shin bone frame and coffin bone frame are done the walking action that the hind leg leg is finished in reciprocal circular swing motion.Hoof wheel on the coffin bone frame is set, and is the friction in order to alleviate the limb leg and to land, and matches easier contact, may command direction of travel simultaneously when the limb leg lands with the point that lands.

The other end of preceding trunk carrier relatively vertically is provided with swing arm, the middle part of swing arm links with adapter shaft and preceding trunk carrier, the other end of swing arm is connected with an end that drives pull bar, the end that arm is turned round in the driving of the other end of driving pull bar and the back leg sleeve of main trunk carrier opposite side links the reciprocal circular swing motion in the both ends of swing arm.

The middle part of swing arm is connected with preceding trunk carrier, the reciprocal circular swing motion in the both ends of swing arm, reciprocal circular swing motion by swing arm, by main trunk carrier forward trunk carrier conduction drive power and give the forelimb leg, make the forward and backward limb leg energy synchronous walking of travel driving unit, transmit synchronously simultaneously and drive the step of walking.

The relative horizontal fixed in one end of preceding trunk carrier is provided with the foreleg axle, foreleg axle opposing parallel is arranged on preceding trunk carrier, the symmetrical separately foreleg axle sleeve that be arranged in parallel in both ends of the foreleg axle of the both sides of preceding trunk carrier is provided with the driving push-and-pull and turns round arm, preceding trunk pendulum thick stick, humerus frame, drives and turn round arm and pendulum chi on the foreleg axle sleeve.

On the trunk carrier, on the foreleg axle of the both sides of preceding trunk carrier, the foreleg sleeve is set before foreleg axial cross cross fixation is arranged on, becomes the turning joint of the forelimb leg of travel driving unit.The swinging track of the reciprocal circular swing motion of trunk pendulum thick stick before pendulum chi and pendulum lock suppress, the reciprocal circular swing motion that arm is turned round in arm, humerus frame and driving is turned round in preceding trunk pendulum thick stick, the driving push-and-pull of trunk carrier both sides before switching simultaneously, so just forms the forelimb leg back and forth walking set by step of travel driving unit.

The end of the foreleg axle sleeve of preceding trunk carrier both sides is oppositely arranged the driving push-and-pull separately and turns round arm and pendulum chi, the other end of pendulum chi fixedly installs ratchet, the other end of pendulum chi is provided with pendulum chi return spring, the other end and foreleg axle sleeve that arm is turned round in the driving push-and-pull are connected to a fixed, the foreleg axle sleeve rotates along foreleg axle reciprocally swinging, symmetrical being fixedly installed on the foreleg axle sleeve in the other end of arm turned round in one end of pendulum chi and driving push-and-pull, the relative vertical fixing in both sides of preceding trunk carrier the other end is provided with the pendulum lock support, the end of pendulum lock support fixedly installs the pendulum lock, the pendulum lock is passed in the other end of preceding trunk pendulum thick stick, and arm is turned round in the driving push-and-pull of preceding trunk carrier both sides, the humerus frame, arm is turned round in driving and preceding trunk pendulum thick stick is done reciprocal circular swing motion; Before pendulum chi and pendulum lock suppress the swinging track of the reciprocal circular swing motion of trunk pendulum thick stick and switch before trunk carrier both sides preceding trunk pendulum thick stick, drive push-and-pull and turn round the reciprocal circular swing motion that arm is turned round in arm, humerus frame and driving.

Along with the both ends of swing arm reciprocal circular swing motion foreleg axle sleeve along foreleg axle reciprocally swinging rotation, the rotation of the reciprocally swinging of foreleg axle sleeve then drives the driving push-and-pull that is fixed on the foreleg axle sleeve and turns round arm, pendulum chi, humerus frame, drives and turn round arm and the pendulum lock is done reciprocal circular swing motion.

One end and the foreleg axle sleeve of humerus frame are connected to a fixed, the other end of arm is turned round in driving and humerus frame one end is symmetrical is fixedly installed on the foreleg axle sleeve, drives push-and-pull and turns round arm and put chi and turn round the relative cross fixation of arm with humerus frame and driving and be arranged on the foreleg axle sleeve.

Along with arm is turned round in reciprocal rotary oscillation humerus frame, the driving of foreleg axle sleeve, arm is turned round in the driving push-and-pull and the pendulum chi is done reciprocal circular swing motion.

The end that arm is turned round in the driving of the foreleg axle sleeve of preceding trunk carrier one side links with an end that drives pull bar, driving a other end of pull bar and an end of swing arm links, the end that arm is turned round in the driving of the foreleg axle sleeve of preceding trunk carrier opposite side links with an end that drives pull bar, driving the other end of pull bar and the other end of swing arm links, the both ends of swing arm are along the reciprocal circular swing motion of preceding trunk carrier, and the reciprocal circular swing motion of swing arm then drives the driving of the driving pull bar push-and-pull foreleg axle sleeve at swing arm both ends and turns round the reciprocal circular swing motion of arm.

The reciprocal circular swing motion in the both ends of swing arm, the reciprocal circular swing motion of swing arm makes driving turn round arm by the driving pull bar and does reciprocal circular swing motion, driving is turned round the reciprocal circular swing motion driving foreleg axle sleeve of arm and is done the reciprocally swinging rotation, and the reciprocally swinging rotation of foreleg axle sleeve drives the humerus frame and does reciprocal circular swing motion.

The opposite side of one end of humerus frame fixedly installs driving lever, the end that arm is turned round in the driving push-and-pull links with an end that drives pull bar, the driving lever of a other end of driving pull bar and an end of humerus frame links, and drives push-and-pull and turns round the reciprocal rotary oscillation of driving lever that the swing of arm then drives an end of humerus frame.

On the humerus frame driving lever is set, the driving lever by driving pull bar humerus frame is turned round lifting along adapter shaft of arm and is done reciprocal rotary oscillation along with driving push-and-pull.

One side of the other end of humerus frame fixedly installs driving lever, one end of radius frame links with the other end of adapter shaft and humerus frame, the opposite side of one end of radius frame is provided with driving lever, one end driving lever of humerus frame links with an end that drives pull bar, drive the other end of pull bar and the driving lever of radius frame and link, the driving lever of an end of humerus frame then drives the radius frame along the reciprocal circular swing motion in the other end of humerus frame once reciprocal circular swing motion by the reciprocal circular swing motion of driving lever that drives pull bar push-and-pull radius frame one end.

One end of radius frame links with the other end of adapter shaft and humerus frame, and the driving lever of humerus frame is by driving the reciprocal circular swing motion of driving lever that pull bar lifts the radius frame, and radius frame one end is along the reciprocal rotary oscillation in the other end of humerus frame.

The other end of radius frame links with an end of adapter shaft and coffin bone frame, the opposite side of one end of coffin bone frame is provided with driving lever, the other end driving lever of humerus frame links with an end that drives pull bar, drive the other end of pull bar and the driving lever of coffin bone frame and link, the driving lever of the other end of humerus frame then drives the coffin bone frame along the reciprocal circular swing motion in the other end of radius frame once reciprocal circular swing motion by the reciprocal circular swing motion of driving lever that drives pull bar push-and-pull coffin bone frame one end.

One end of coffin bone frame is provided with return spring, the reciprocal circular swing motion track of control coffin bone frame, and the other end of coffin bone frame is provided with the hoof wheel, and a side of hoof wheel fixedly installs ratchet, and the top of ratchet is provided with ratchet, the hand of rotation of ratchet and pawl control hoof wheel.

Humerus frame, radius frame and coffin bone frame have formed travel driving unit forelimb leg, also are the support frames that supports travel driving unit.Humerus frame, radius frame and coffin bone frame are turned round arm by driving push-and-pull, are driven lifting of pull bar and driving lever, and humerus frame, radius frame and coffin bone frame are done the walking action that the forelimb leg is finished in reciprocal circular swing motion.Hoof wheel on the coffin bone frame is set, and is the friction in order to alleviate the limb leg and to land, and matches easier contact, may command direction of travel simultaneously when the limb leg lands with the point that lands.

The middle part of the main trunk carrier of travel driving unit is provided with traction connector, traction connector links with an end of taking the delivery facility, the bottom of taking the delivery facility is provided with the delivery wheel, and the external overall of travel driving unit is wrapped up ornament, constitutes the profile of different walking animals.

Travel driving unit with take the delivery facility and be connected with each other, make it become a complete means of delivery or a toy taken by traction connector.Travel driving unit is a driving power of taking the delivery facility, takes the delivery facility and relies on the travel driving unit operation of walking.The ornament of parcel travel driving unit can adopt material such as fiber textile, plastic product, metallic material, travel driving unit is rolled into the profile of various different walking animal.

Motor and preceding trunk motor by circuit be arranged on the source switch of taking the delivery facility or the reception actuator that is arranged on the main trunk carrier and be connected, energized is opened motor and preceding trunk motor, travel driving unit finish advance, left-right rotation, simulated sound and the glittering action of light.

Be connected with source switch with preceding trunk motor by the circuit motor, can carry out M/C, finish advance, left-right rotation, simulated sound and the glittering action of light; By circuit motor and preceding trunk motor with receive actuator and be connected, adopt remote-control command device to operate, finish advance, left-right rotation, simulated sound and the glittering action of light.By the sound of loud speaker simulation walking animal, intersperse travel driving unit and take the delivery facility by the light of bulb.

Receive and the RX-2 decoder module is set in the actuator as receiving decoding circuit, receiving amplifying circuit is connected with the decoder module that receives decoding circuit, antenna receives the modulated carrier signal that remote controller sends, after Q4 through receiving amplifying circuit and peripheral circuit amplify, enter the pin 14 and the in-to-in amplifying circuit thereof of decoder module, the output back is sent into decoding scheme by the pin 3 that R8 enters decoder module after amplify inside.

The pin 1 of the IC3 of power supply mu balanced circuit is connected with power supply+B, and the pin 3 of IC3 is connected the voltage of stable power-supplying with the pin 13 of decoder module.The IC4 of analogue simulation sound, optical circuit connects loud speaker and electroluminescent lamp, and the IC4 of analogue simulation sound, optical circuit is connected with+B-source by R10, R11 and D1.

The IC3 of power supply mu balanced circuit is a power supply voltage stabilizing chip.The IC4 of analogue simulation sound and flasher circuit is the simulated sound chip, can adopt the H-28G chip.

The pin 5 of the IC1 of left-right rotation driving circuit is connected with pin 6 with the pin 7 of decoder module with pin 1, the relay L of left-right rotation driving circuit is connected with IC1 with relay R, and preceding trunk motor is connected with relay R by the relay L of circuit with the left-right rotation driving circuit that receives actuator.

The IC1 of left-right rotation driving circuit carries out the left and right instruction that turns to of travel driving unit for driving integrated chip.

The pin 8 of the IC2 of advancing drive circuit is connected with the pin 11 of decoder module, and the relay B of advancing drive circuit is connected with IC2, and motor is connected by the relay B of circuit with the advancing drive circuit that receives actuator.

The IC2 of advancing drive circuit carries out the instruction of walking forward of travel driving unit for driving integrated chip.

The modulated carrier signal that receives by antenna, after Q4 and peripheral circuit amplification, enter the pin 14 and the in-to-in amplifying circuit thereof of RX-2 decoder module, the output back is entered the pin 3 of RX-2 decoder module by R8, after amplifying, inside sends into decoding scheme, signal is after the decoding of RX-2 decoder module, the different instruction that sends according to remote-control command device, export high level from pin 6, pin 7 and the pin 11 of RX-2 decoder module respectively, again after IC1 and the amplification of IC2 guiding, trunk motor steering or motor advance the execution requirement before driving.

The command signal difference that remote-control command device sends, signal is after the decoder module decoding, export high level from pin 6, pin 7 and the pin 11 of decoder module respectively, again after the IC2 of the IC1 of left-right rotation driving circuit and advancing drive circuit guiding is amplified, driving relay L, relay R and relay B does manual work, simultaneously+and B-source trunk motor and motor before relay L, relay R and relay B directly add, preceding trunk motor and motor are done the action that turns to or advance.

Coding module is set as encoding control circuit in the remote-control command device, function is good for R, the strong B of strong L of function and function separately with the pin 14 of coding module, pin 1 is connected with pin 4, the pin 10 of coding module and pin 11 outer meeting resistance R1 and internal circuit produce clock pulse, power supply opens and closes circuit turn-on+B-source, the LED of power light circuit shows energized, + B-source enters the pin 9 of coding module through Q3, the pin 9 of coding module obtains power line voltage and starts working, strong R of function or the strong L of function or the strong B of function provide impulse singla to coding module, behind the encoded inside modules coding, the different coded pulse of pin 8 outputs by coding module, add to the Q2 base stage of transmission circuit through R4, the Q1 of resonance CF signal also adds to the Q2 base stage through the C3 coupling simultaneously, after Q2 amplifies, by C7, C8, the filter circuit that L3 forms, filter high order harmonic, launch modulated carrier signal from antenna, the antenna that receives actuator in active distance receives the modulated carrier signal that remote controller sends, and trunk motor and motor are done the action that turns to or advance before instructing after the decoder module decoding through receiving actuator.

The pin 10 of coding module TX-2 and pin 11 outer meeting resistance R1 and internal circuit produce clock pulse, when a certain function key is connected, the power turn-on that power supply opens and closes circuit carries out work, + B-source enters TX-2 coding module pin 9 through Q3, TX-2 coding module pin 9 is because of obtaining power supply, voltage is started working, after in-line coding, by the different coded pulse of pin 8 outputs, add to the Q2 base stage through R4, the Q1 of resonance CF signal also adds to the Q2 base stage through the C3 coupling simultaneously, after Q2 amplifies, by C7, C8, the filter circuit that L3 forms filters high order harmonic, launches modulated carrier signal from antenna, L, R is a left-right rotation, and B is for advancing.

One end of main trunk carrier is connected with several preceding trunk carriers by several preceding trunk wobble gears, constitute the more piece body and connect the integrated carrying frame, before the trunk wobble gear by adapter shaft and preceding trunk carrier the other end and the top ends of an end of main trunk carrier be connected, the top ends of an end of preceding trunk wobble gear the other end by adapter shaft and preceding trunk carrier and adjacent preceding trunk carrier is connected.The other end of preceding trunk carrier relatively vertically is provided with swing arm, the middle part of swing arm links with adapter shaft and preceding trunk carrier, the bottom of swing arm is connected with an end that drives pull bar, and the end that arm is turned round in the driving of the other end of driving pull bar and the back leg sleeve of main trunk carrier opposite side links.

Main trunk carrier can be connected with several preceding trunk carriers, is combined into a more piece body and connects integrated carrying frame, the walking animal or the insect of available bionical many trunks body or many limbs leg, for example spider, centipede etc.

The end that arm is turned round in the driving of the foreleg axle sleeve of preceding trunk carrier one side links with an end that drives pull bar, driving a other end of pull bar and an end of swing arm links, the end that arm is turned round in the driving of the foreleg axle sleeve of preceding trunk carrier opposite side links with an end that drives pull bar, driving the other end of pull bar and the other end of swing arm links, the both ends of the swing arm of adjacent preceding trunk carrier link by driving pull bar separately, and swing arm is turned round the reciprocal circular swing motion of arm along the driving that preceding trunk carrier swing then drives the driving pull bar push-and-pull foreleg axle sleeve at swing arm both ends.

The middle part of swing arm is connected with preceding trunk carrier, the reciprocal circular swing motion in the both ends of swing arm, reciprocal circular swing motion by swing arm, drive power by main trunk carrier to several preceding trunk carrier conduction and give the forelimb leg, make the forward and backward limb leg energy synchronous walking of more piece body bonded assembly travel driving unit, transmit actuation step simultaneously synchronously.

Main trunk carrier opposing parallel is provided with the interlock bent axle of staggered symmetry, the middle part of interlock bent axle is provided with universal driving shaft, one end of gangbar links with the universal driving shaft of interlock bent axle, the both ends of interlock bent axle are provided with axle drive shaft, axle drive shaft inserts in the chute of pendulum thick stick, take to be provided with on the delivery facility and drive the bent axle support, the end that drives the bent axle support is provided with the driving bent axle, the middle part that drives bent axle is provided with universal driving shaft, the other end of gangbar links with the universal driving shaft that drives bent axle, and the both ends that drive bent axle are provided with the driving pedal separately.

Step and drive pedal drive driving crankshaft revolution, drive bent axle drives gangbar one end synchronously by the universal driving shaft of gangbar the other end universal driving shaft driving interlock crankshaft revolution, interlock bent axle one rotating driveshaft is then along the chute slippage, and axle drive shaft drives the reciprocal circular swing motion in an end of the pendulum thick stick of main trunk carrier both sides along the chute slippage.

Organic assembling by gangbar, universal driving shaft, interlock bent axle, driving bent axle and driving pedal has substituted motor and preceding trunk motor, is driven by electricity and changes the manpower driving into.

Drive push-and-pull and turn round arm along with the reciprocal circular swing motion of an end of pendulum thick stick lifts the reciprocal circular swing motion of driving lever of shin bone frame, the shin bone frame is along the reciprocal circular swing motion in the other end of femur frame.

The end that arm is turned round in the driving of the back leg sleeve of main trunk carrier opposite side links by the other end of drive stay and swing arm, two 1 ends of swing arm link with the end that arm is turned round in the driving of foreleg axle sleeve separately by drive stay, and swing arm is turned round the reciprocal circular swing motion of arm along the driving that preceding trunk carrier one swing then drives the driving pull bar push-and-pull foreleg axle sleeve at swing arm both ends.

The opposite side of one end of humerus frame fixedly installs driving lever, the end that arm is turned round in the driving push-and-pull links with an end that drives pull bar, the driving lever of a other end of driving pull bar and an end of humerus frame links, and drives push-and-pull and turns round the reciprocal circular swing motion of driving lever that the reciprocal circular swing motion of arm then drives an end of humerus frame.

The other end of radius frame links with an end of adapter shaft and coffin bone frame, the opposite side of one end of coffin bone frame is provided with driving lever, the other end driving lever of humerus frame links with an end that drives pull bar, driving the other end of pull bar and the driving lever of coffin bone frame links, the driving lever of the other end of humerus frame then drives the coffin bone frame along the reciprocal circular swing motion in the other end of radius frame once reciprocal circular swing motion by the reciprocal circular swing motion of driving lever that drives pull bar push-and-pull coffin bone frame one end, one end of coffin bone frame is provided with return spring, the reciprocal circular swing motion track of control coffin bone frame.

The main trunk carrier of travel driving unit and preceding trunk carrier adopt section bar to make, trunk wobble gear before the other end of preceding trunk carrier fixedly installs, one end of main trunk carrier fixedly installs preceding trunk motor, be connected with the top ends of adapter shaft an end of the other end of preceding trunk wobble gear and preceding trunk carrier and main trunk carrier, preceding trunk wobble gear is meshed with the mouth of preceding trunk motor, one end of main trunk carrier fixedly installs motor and change-speed box, the mouth of motor is meshed with the input end of change-speed box, the both sides mouth of change-speed box is oppositely arranged main the driving and turns round arm, and the main end of turning round arm that drives fixedly installs axle drive shaft.

The other end of main trunk carrier fixedly installs the back leg axle, back leg axle opposing parallel is arranged on main trunk carrier, the symmetrical separately back leg sleeve that be arranged in parallel in the both ends of back leg axle, the pendulum thick stick is set on the back leg sleeve, drive push-and-pull turn round arm, femur frame, drive turn round arm and and the pendulum chi, the relative vertical fixing in both sides of main trunk carrier the other end is provided with the pendulum lock support, and the end of pendulum lock support fixedly installs the pendulum lock.

The end of the back leg sleeve of main trunk carrier both sides relative fixed separately is provided with the femur frame, one end of shin bone frame links with the other end of adapter shaft and femur frame, the other end of shin bone frame links with an end of adapter shaft and coffin bone frame, one end of coffin bone frame is provided with return spring, the other end of coffin bone frame is provided with the hoof wheel, one side of hoof wheel fixedly installs ratchet, and the top of ratchet is provided with ratchet.

Before the other end of trunk carrier swing arm relatively vertically is set, the both ends that drive pull bar link with the end that arm is turned round in the driving of the back leg sleeve of the bottom of swing arm and opposite side separately.

The relative horizontal fixed in one end of preceding trunk carrier is provided with the foreleg axle, the symmetrical separately foreleg axle sleeve that be arranged in parallel in the both ends of foreleg axle, the driving push-and-pull is set on the foreleg axle sleeve to be turned round arm, pendulum chi, humerus frame, drives and turn round arm and pendulum chi, the relative vertical fixing in both sides of preceding trunk carrier the other end is provided with the pendulum lock support, and the end of pendulum lock support fixedly installs the pendulum lock.

One end and the foreleg axle sleeve of humerus frame are connected to a fixed, and the opposite side of an end of humerus frame fixedly installs driving lever, the both ends that drive pull bar separately with drive push-and-pull and turn round the driving lever of arm and humerus frame and link.

One end of radius frame links with the other end of adapter shaft and humerus frame, and the both ends that drive pull bar link with the driving lever of humerus frame and the driving lever of radius frame separately.

The other end of radius frame links with an end of adapter shaft and coffin bone frame, and the both ends that drive pull bar link with the driving lever of coffin bone frame and the driving lever of humerus frame separately.

One end of coffin bone frame is provided with return spring, and the other end of coffin bone frame is provided with the hoof wheel, and a side of hoof wheel fixedly installs ratchet, and the top of ratchet is provided with ratchet.

Energized, power supply is connected by the source switch that circuit and motor are connected with preceding trunk motor, open and be arranged on the source switch of taking the delivery facility, drive motor and preceding trunk motor, trunk wobble gear before the trunk driven by motor before driving, along with the reciprocal circular swing motion of trunk carrier before the reciprocal rotary oscillation drive of preceding trunk wobble gear, simulate the walking action of the preceding trunk of walking animal.

Drive motor, the mouth drive speed transmission of motor drives main the driving and turns round the arm rotation, the main driving turned round the axle drive shaft of arm along the chute slippage, axle drive shaft drives the reciprocal circular swing motion in an end of the pendulum thick stick of main trunk carrier both sides along the chute slippage, along with the reciprocal rotary oscillation of the reciprocal circular swing motion drive back leg axle sleeve in an end of pendulum thick stick, back leg axle sleeve one reciprocal rotary oscillation then drives the femur frame along the reciprocal circular swing motion of back leg axle, drive push-and-pull and turn round arm along with the reciprocal circular swing motion of an end of pendulum thick stick lifts the reciprocal circular swing motion of driving lever of shin bone frame, the shin bone frame is along the reciprocal circular swing motion in the other end of femur frame.

The driving lever of one end of humerus frame then drives the radius frame along the reciprocal circular swing motion in the other end of humerus frame once reciprocal circular swing motion by the reciprocal circular swing motion of driving lever that drives pull bar push-and-pull radius frame one end, the coffin bone frame is along with the reciprocal circular swing motion of the driving lever of femur frame lifts the reciprocal circular swing motion of driving lever of coffin bone frame, and the coffin bone frame is along the reciprocal circular swing motion in the other end of shin bone frame.

Swing arm is turned round the reciprocal circular swing motion of arm along the driving that the reciprocal circular swing motion of preceding trunk carrier then drives the driving pull bar push-and-pull foreleg axle sleeve at swing arm both ends, drive push-and-pull and turn round the reciprocal circular swing motion of driving lever that the reciprocal circular swing motion of arm then drives an end of humerus frame, the driving lever of one end of humerus frame then drives the radius frame along the reciprocal circular swing motion in the other end of humerus frame once reciprocal circular swing motion by the reciprocal circular swing motion of driving lever that drives pull bar push-and-pull radius frame one end, and the driving lever of the other end of humerus frame then drives the coffin bone frame along the reciprocal circular swing motion in the other end of radius frame once reciprocal circular swing motion by the reciprocal circular swing motion of driving lever that drives pull bar push-and-pull coffin bone frame one end.Travel driving unit finish advance, left-right rotation, simulated sound and the glittering action of light.

Energized, power supply is connected by the reception actuator that circuit and motor on being arranged on main trunk carrier are connected with preceding trunk motor, remote controller connection+B-source, power supply opens and closes circuit turn-on+B-source, the LED of power light circuit shows energized, + B-source enters the pin 9 of coding module through Q3, and the pin 9 of coding module obtains power line voltages and starts working.

Strong R of function or the strong L of function or the strong B of function provide impulse singla to coding module, behind the encoded inside modules coding, the different coded pulse of pin 8 outputs by coding module, add to the Q2 base stage of transmission circuit through R4, simultaneously the Q1 of resonance CF signal also adds to the Q2 base stage through the C3 coupling, after Q2 amplifies, and the filter circuit of forming by C7, C8, L3, filter high order harmonic, launch modulated carrier signal from antenna.

The antenna that receives actuator receives the modulated carrier signal that remote controller sends, after Q4 through receiving amplifying circuit and peripheral circuit amplify, enter decoder module decoding back output, the command signal difference that remote-control command device sends, driving relay L, relay R and relay B does manual work, simultaneously+B-source trunk motor and motor before relay L, relay R and relay B directly add, preceding trunk motor and motor, trunk motor and motor are done the action that turns to or advance before the instruction, travel driving unit finish advance, left-right rotation, simulated sound and the glittering action of light.

When the encoding control circuit of remote-control command device is connected, coding module gets electric then conducting, exports a constant impulse singla by pin 8 after in-line coding, sends into the Q2 base stage through R4, the CF signal of weakening simultaneously, Q1 is through C3, and coupling also adds to the Q2 base stage, the filter circuit of being made up of C7, C8, L3 after Q2 amplifies, filter high order harmonic, launch modulated carrier signal from antenna, in active distance, be received actuator and receive, and begin decoding.After decoder module receives modulation signal, after amplifying, Q4 sends into the pin 14 and the inner amplifying circuit of RX-2 decoder module, decomposite the back and send into the pin 3 of RX-2 decoder module by R8, send into decoding scheme after amplifying, the pin 11 from the RX-2 decoder module after the signal demodulation is exported driving voltages (electric current), after the IC guiding is amplified, the work of driving relay, simultaneously+and B-source, directly add motor and preceding trunk motor through relay, thereby finish the action request that advances and turn to.

The present invention is bionic walking mechanical carrier, toy car and method for making and using method.Reasonable in design, simple in structure, motion is made simply flexibly, and commonality is good, is a kind of later-model drive form, and no waste gas, refuse are discharged, and be pollution-free, do not influence environment, ride comfort, and especially suitable old man and children control use.Manual mode is specially adapted to remote districts and uses, and both can be used as the toy amusement, can transport use as means of delivery again.Simple to operate, safe and reliable, old man and children all can operate freely.As games for play: children can oneself control to handle and advance, turn to the left or to the right, the pulling halter rope just have the happy feeling that drives a cart, can be made into above animal of two legs or the bionic animal of many legs insect, the attitude of walking is true to nature, sight and interesting strong, with the difference of traditional toy maximum is to walk freely as the attitude of real movement thing, can also be as the sports instrument of body-building.As delivery, transportation means: owing to be the machine-walking form, not only the people can take, simultaneously can also deliver weight, not be subjected to the road surface ill effect, the suitable energy lacks, road is rugged, use away from highway and the area that do not have the highway instrument as delivery, transportation.Save the energy, can manual driven or driven by power, but also manual driven and driven by power and use.The games for play that can be used for large-scale public place of entertainment.

Description of drawings

Below in conjunction with drawings and Examples to the detailed description of the invention.

The lateral plan of Fig. 1 travel driving unit

The birds-eye view of Fig. 2 travel driving unit

The scheme drawing of Fig. 3 bionic walking mechanical carrier, toy car

The scheme drawing of Fig. 4 bionic walking mechanical carrier, toy car

The scheme drawing of Fig. 5 bionic walking mechanical carrier, toy car

The transmission circuit scheme drawing of Fig. 6 bionic walking mechanical carrier, toy car

Fig. 7 bionic walking mechanical carrier, toy car accept circuit diagram

The scheme drawing of Fig. 8 more piece body bonded assembly bionic walking mechanical carrier, toy car

1 motor, 2 pendulum thick sticks, 3 shin bone framves, 4 main trunk carriers, arm is turned round in 5 drivings, 6 pendulum locks, 7 drive pull bar, 8 swing arms, 9 preceding trunk carriers, 10 driving levers, 11 axle drive shafts, 12 change-speed boxs, 13 femur framves, 14 ratchets, 15 coffin bone framves, 16 ratchets, 17 humerus framves, 18 foreleg axle sleeves, 19 radius framves, 20 back leg axles, 21 back leg sleeves, 22 pendulum chis, 23 foreleg axles, 24 main drivings are turned round arm, 25 adapter shafts, 26 pendulum chi return springs, 27 chutes, 28 encoding control circuits, 29 power light circuit, 30 transmission circuits, 31 swing arm axis, 32 receive amplifying circuit, 33 power supply mu balanced circuits, 34 pendulum lock supports, 35 analogue simulation sound, optical circuit, 36 gangbar, 37 universal driving shafts, 38 interlock bent axles, 39 drive bent axle, 40 drive pedal, 41 preceding trunk wobble gears, 42 preceding trunk motors, 43 drive push-and-pull turns round arm, 44 hoof wheel, 45 travel driving units, 46 take the delivery facility, 47 traction connectors, 48 delivery wheels, 49 power supplys open and close circuit, 50 drive the bent axle support, and 52 receive actuator, 53 decoder modules, 54 coding modules, 55 advancing drive circuit, 56 left-right rotation driving circuits, 57 preceding trunk pendulum thick sticks

The specific embodiment

Embodiment 1

Travel driving unit (45), taking delivery facility (46) and traction connector (47) forms, travel driving unit (45) is that the end by main trunk carrier (4) is connected with preceding trunk carrier (9) by preceding trunk wobble gear (41), constitute the integrated carrying frame, trunk wobble gear (41) before the other end of preceding trunk carrier (9) fixedly installs, preceding trunk wobble gear (41) is connected with the other end of preceding trunk carrier (9) and the top ends of an end of main trunk carrier (4) by adapter shaft, preceding trunk wobble gear (41) is meshed with the mouth of preceding trunk motor (42), trunk wobble gear (41) before trunk motor (42) drives before driving, along with back and forth circular swing motion of trunk carrier (9) before the reciprocal rotary oscillation drive of preceding trunk wobble gear (41), the outside of travel driving unit (45) is according to the profile parcel ornament of walking animal.

One end opposing parallel of main trunk carrier (4) fixedly installs motor (1), the mouth of motor (1) is connected with the input end of change-speed box (12), the both sides mouth of change-speed box (12) is oppositely arranged main the driving and turns round arm (24), and the main end of turning round arm (24) that drives fixedly installs axle drive shaft (11).

The relative horizontal fixed in the other end of main trunk carrier (4) is provided with back leg axle (20), back leg axle (20) opposing parallel is arranged on main trunk carrier (4), the symmetrical separately back leg sleeve (21) that be arranged in parallel in the both ends of the back leg axle (20) of the both sides of main trunk carrier (4) is provided with and puts thick stick (2), drives push-and-pull and turns round arm (43), femur frame (13), drives and turn round arm (5) and pendulum chi (22) on the back leg sleeve (21).One end of pendulum chi (22) fixedly installs ratchet (14), the other end of pendulum chi (22) is provided with pendulum chi return spring (26), the other end and the back leg sleeve (21) of the pendulum thick stick (2) of main trunk carrier (4) both sides are connected to a fixed, drive push-and-pull and turn round an end of arm (43) and symmetrical being fixedly installed on the back leg sleeve (21) in the other end of Bai Gang (2), the relative vertical fixing in both sides of main trunk carrier (4) the other end is provided with pendulum lock support (34), the end of pendulum lock support (34) fixedly installs pendulum lock (6), pendulum lock (6), the pendulum thick stick (2) of main trunk carrier (4) both sides are passed in one end of pendulum thick stick (2), drive push-and-pull and turn round arm (43), femur frame (13) and driving are turned round arm (5) and are done reciprocal circular swing motion; Pendulum chi (22) and pendulum lock (6) suppress the reciprocal circular swing motion of pendulum thick sticks (2) and switch the pendulum thick stick (2) of main trunk carrier (4) both sides, the reciprocal circular swing motion that arm (5) is turned round in arm (43), femur frame (13) and driving is turned round in the driving push-and-pull.

One end of pendulum thick stick (2) is provided with chute (27) along pendulum thick stick (2) opposing parallel, the other end of pendulum thick stick (2) fixedly installs the driving push-and-pull and turns round arm (43), the axle drive shaft (24) of change-speed box (12) both sides inserts in the chute (27), the axle drive shaft (11) that arm (24) are turned round in the main driving of motor (1) drive speed transmission (12) drive is along chute (27) slippage, and axle drive shaft (11) drives the reciprocal circular swing motion in an end of the pendulum thick stick (2) of main trunk carrier (4) both sides along chute (27) slippage.

The end of the back leg sleeve (21) of main trunk carrier (4) both sides relative fixed separately is provided with femur frame (13), the back leg sleeve (21) of one end of the femur frame (13) of main trunk carrier (4) both sides and main trunk carrier (4) both sides is connected to a fixed, the other end of arm (5) is turned round in driving and femur frame (13) one ends are symmetrical is fixedly installed on the back leg axle sleeve (21), driving is turned round arm (5) and femur frame (13) and is driven push-and-pull and turn round arm (43) and put the relative cross fixation of thick stick (2) and be arranged on the back leg axle sleeve (21), the opposite side of the other end of femur frame (13) fixedly installs driving lever (10), along with the reciprocal circular swing motion in an end of pendulum thick stick (2) drives back and forth rotary oscillation of back leg axle sleeve (21), back leg axle sleeve (21) one reciprocal rotary oscillations then drive femur frame (13) along the reciprocal rotary oscillation of back leg axle (20).

One end of shin bone frame (3) links with adapter shaft (25) the other end with femur frame (13), one side of one end of shin bone frame (3) is provided with driving lever (10), the end that the driving lever (10) of shin bone frame (3) is turned round arm (43) with driving pull bar (7) and driving push-and-pull links, drive push-and-pull and turn round arm (43) along with the reciprocal circular swing motion of an end of pendulum thick stick (2) lifts the back and forth circular swing motion of driving lever (10) of shin bone frame (3), shin bone frame (3) is along the reciprocal circular swing motion in the other end of femur frame (13).

The other end of shin bone frame (3) links with the end of adapter shaft (25) with coffin bone frame (15), the opposite side of one end of coffin bone frame (15) is provided with driving lever (10), the driving lever (10) of coffin bone frame (15) links with driving the driving lever (10) of pull bar (7) with femur frame (13), coffin bone frame (15) lifts the back and forth circular swing motion of driving lever (10) of coffin bone frame (15) along with the reciprocal circular swing motion of the driving lever (10) of femur frame (13), coffin bone frame (15) is along the reciprocal circular swing motion in the other end of shin bone frame (3), one end of coffin bone frame (15) is provided with return spring, the reciprocal circular swing motion track of control coffin bone frame (15).

The other end of coffin bone frame (15) is provided with hoof wheel (44), and a side of hoof wheel (44) fixedly installs ratchet (16), and the top of ratchet (16) is provided with ratchet (14), the hand of rotation of ratchet (16) and ratchet (14) control hoof wheel (44).

The other end of preceding trunk carrier (9) relatively vertically is provided with swing arm (8), and the middle part of swing arm (8) links with adapter shaft and preceding trunk carrier (9), swing arm (8); The other end is connected with an end that drives pull bar (7), and the end that arm (5) is turned round in the driving of the other end of driving pull bar (7) and the back leg sleeve (21) of main trunk carrier (4) opposite side links the reciprocal circular swing motion in both ends of swing arm (8).

The relative horizontal fixed in one end of preceding trunk carrier (9) is provided with foreleg axle (23), foreleg axle (23) opposing parallel is arranged on preceding trunk carrier (9), the symmetrical separately foreleg axle sleeve (18) that be arranged in parallel in both ends of the foreleg axle (23) of the both sides of preceding trunk carrier (9) is provided with the driving push-and-pull and turns round arm (43), preceding trunk pendulum thick stick (57), humerus frame (17), drives and turn round arm (5) and pendulum chi (22) on the foreleg axle sleeve (18).

The end of the foreleg axle sleeve (18) of preceding trunk carrier (9) both sides is oppositely arranged the driving push-and-pull separately and turns round arm (43) and pendulum chi (22), the other end of pendulum chi (22) fixedly installs ratchet (14), the other end of pendulum chi (22) is provided with pendulum chi return spring (26), the other end and foreleg axle sleeve (18) that arm (43) is turned round in the driving push-and-pull are connected to a fixed, foreleg axle sleeve (18) rotates along foreleg axle (23) reciprocally swinging, symmetrical being fixedly installed on the foreleg axle sleeve (18) in the other end of arm (43) turned round in one end of pendulum chi (22) and driving push-and-pull, the relative vertical fixing in both sides of preceding trunk carrier (9) the other end is provided with pendulum lock support (34), the end of pendulum lock support (34) fixedly installs pendulum lock (6), pendulum lock (6) is passed in the other end of preceding trunk pendulum thick stick (57), and arm (43) is turned round in the driving push-and-pull of preceding trunk carrier (9) both sides, humerus frame (17), arm (5) is turned round in driving and preceding trunk pendulum thick stick (57) is done reciprocal circular swing motion; Before pendulum chi (22) and pendulum lock (6) suppress the swinging track of the reciprocal circular swing motion of trunk pendulum thick sticks (57) and switch before preceding trunk pendulum thick stick (57), the driving push-and-pull of trunk carrier (9) both sides turn round the reciprocal circular swing motion that arm (5) is turned round in arm (43), humerus frame (17) and driving.

One end of humerus frame (17) and foreleg axle sleeve (18) are connected to a fixed, the other end of arm (5) is turned round in driving and humerus frame (17) one ends are symmetrical is fixedly installed on the foreleg axle sleeve (18), drives push-and-pull and turns round arm (43) and put chi (22) and turn round the relative cross fixation of arm (5) with humerus frame (17) and driving and be arranged on the foreleg axle sleeve (18).

The end that arm (5) is turned round in the driving of the foreleg axle sleeve (18) of preceding trunk carrier (9) one sides links with an end that drives pull bar (7), driving a other end of pull bar (7) and an end of swing arm (8) links, the end that arm (5) is turned round in the driving of the foreleg axle sleeve (18) of preceding trunk carrier (9) opposite side links with an end that drives pull bar (7), driving the other end of pull bar (7) and the other end of swing arm (8) links, the both ends of swing arm (8) are along back and forth circular swing motion of preceding trunk carrier (9), and the reciprocal circular swing motion of swing arm (8) then drives the driving of driving pull bar (7) the push-and-pull foreleg axle sleeve (18) at swing arm (8) both ends and turns round back and forth circular swing motion of arm (5).

The opposite side of one end of humerus frame (17) fixedly installs driving lever (10), the end that arm (43) is turned round in the driving push-and-pull links with an end that drives pull bar (7), the driving lever (10) of a other end of driving pull bar (7) and an end of humerus frame (17) links, and drives push-and-pull and turns round the reciprocal rotary oscillation of driving lever (10) that the swing of arm (43) then drives an end of humerus frame (17).

One side of the other end of humerus frame (17) fixedly installs driving lever (10), one end of radius frame (19) links with adapter shaft (25) the other end with humerus frame (17), the opposite side of one end of radius frame (19) is provided with driving lever (10), one end driving lever (10) of humerus frame (17) links with an end that drives pull bar (7), drive the other end of pull bar (7) and the driving lever (10) of radius frame (19) and link, the driving lever (10) of an end of humerus frame (17) then drives the other end reciprocal circular swing motion of radius frame (19) along humerus frame (17) once reciprocal circular swing motion by the reciprocal circular swing motion of driving lever (10) that drives pull bar (7) push-and-pull radius frame (19) one ends.

The other end of radius frame (19) links with the end of adapter shaft (25) with coffin bone frame (15), the opposite side of one end of coffin bone frame (15) is provided with driving lever (10), the other end driving lever (10) of humerus frame (17) links with an end that drives pull bar (7), drive the other end of pull bar (7) and the driving lever (10) of coffin bone frame (19) and link, the driving lever (10) of the other end of humerus frame (17) then drives the other end reciprocal circular swing motion of coffin bone frame (15) along radius frame (19) once reciprocal circular swing motion by the reciprocal circular swing motion of driving lever (10) that drives pull bar (7) push-and-pull coffin bone frame (15) one ends.

One end of coffin bone frame (15) is provided with return spring, the reciprocal circular swing motion track of control coffin bone frame (15), the other end of coffin bone frame (15) is provided with hoof wheel (44), one side of hoof wheel (44) fixedly installs ratchet (16), the top of ratchet (16) is provided with ratchet (14), the hand of rotation of ratchet (16) and ratchet (14) control hoof wheel (44).

The middle part of the main trunk carrier (4) of travel driving unit (45) is provided with traction connector (47), traction connector (47) links with an end of taking delivery facility (46), the bottom of taking delivery facility (46) is provided with delivery wheel (48), the external overall of travel driving unit (45) is wrapped up ornament, constitutes the profile of different walking animals.

Motor (1) and preceding trunk motor (41) by circuit be arranged on the source switch (51) of taking delivery facility (46) and be connected, energized is opened motor (1) and preceding trunk motor (41), travel driving unit (45) finish advance, left-right rotation, simulated sound and the glittering action of light, as Fig. 1, Fig. 2, shown in Figure 3.

Embodiment 2

Motor (1) and preceding trunk motor (41) are connected with reception actuator (52) on being arranged on main trunk carrier (4) by circuit, energized is opened motor (1) and preceding trunk motor (41), travel driving unit (45) finish advance, left-right rotation, simulated sound and the glittering action of light, as Fig. 1, Fig. 2, shown in Figure 4.

Embodiment 3

Receive and RX-2 decoder module (53) is set in the actuator (52) as receiving decoding circuit, receiving amplifying circuit (32) is connected with the decoder module (53) that receives decoding circuit, antenna receives the modulated carrier signal that remote controller sends, after Q4 through receiving amplifying circuit (32) and peripheral circuit amplify, enter the pin 14 and the in-to-in amplifying circuit thereof of decoder module (53), the output back is sent into decoding scheme by the pin 3 that R8 enters decoder module (53) after amplify inside.

The pin 1 of the IC3 of power supply mu balanced circuit (33) is connected with power supply+B, and the pin 3 of IC3 is connected the voltage of stable power-supplying with the pin 13 of decoder module (53); The IC4 of analogue simulation sound, optical circuit (35) connects loud speaker and electroluminescent lamp, and the IC4 of analogue simulation sound, optical circuit (35) is connected with+B-source by R10, R11 and D1.

The pin 5 of the IC1 of left-right rotation driving circuit (56) is connected with pin 6 with the pin 7 of decoder module (53) with pin 1, the relay L of left-right rotation driving circuit (56) is connected with IC1 with relay R, and preceding trunk motor (41) is connected with relay R by the relay L of circuit with the left-right rotation driving circuit (56) that receives actuator (52).

The pin 8 of the IC2 of advancing drive circuit (55) is connected with the pin 11 of decoder module (53), the relay B of advancing drive circuit (55) is connected with IC2, and motor (1) is connected by the relay B of circuit with the advancing drive circuit (55) that receives actuator (52).

The command signal difference that remote-control command device sends, signal is after decoder module (53) decoding, export high level from pin 6, pin 7 and the pin 11 of decoder module (53) respectively, again after the IC2 of the IC1 of left-right rotation driving circuit (56) and advancing drive circuit (55) guiding is amplified, driving relay L, relay R and relay B does manual work, simultaneously+and B-source trunk motor (41) and motor (1) before relay L, relay R and relay B directly add, preceding trunk motor (41) and motor (1) are done the action that turns to or advance.

Coding module (54) is set as encoding control circuit (28) in the remote-control command device, function is good for R, the strong L of function and is connected the pin 10 of coding module (54) and pin 11 outer meeting resistance R separately with pin 14, pin 1 and the pin 4 of coding module (54) with the strong B of function _IProduce clock pulse with internal circuit, power supply opens and closes circuit (49) conducting+B-source, the LED of power light circuit (29) shows energized, + B-source enters the pin 9 of coding module (54) through Q3, the pin 9 of coding module (54) obtains power line voltage and starts working, strong R of function or the strong L of function or the strong B of function provide impulse singla to coding module (54), after encoded module (54) in-line coding, the different coded pulse of pin 8 outputs by coding module (54), add to the Q2 base stage of transmission circuit (30) through R4, the Q1 of resonance CF signal also adds to the Q2 base stage through the C3 coupling simultaneously, after Q2 amplifies, by C7, C8, the filter circuit that L3 forms, filter high order harmonic, launch modulated carrier signal from antenna, the antenna that receives actuator (52) in active distance receives the modulated carrier signal that remote controller sends, trunk motor (41) and motor (1) are done the action that turns to or advance before instructing after decoder module (53) decoding through receiving actuator (52), as Fig. 6, shown in Figure 7.

Embodiment 4

One end of main trunk carrier (4) is connected with 2 preceding trunk carriers (9) by 2 preceding trunk wobble gears (41), constitute the more piece body and connect the integrated carrying frame, before trunk wobble gear (41) be connected with the other end of preceding trunk carrier (9) and the top ends of an end of main trunk carrier (4) by adapter shaft, the top ends of an end of preceding trunk wobble gear (41) the other end by adapter shaft and preceding trunk carrier (9) and adjacent preceding trunk carrier (9) is connected.The other end of preceding trunk carrier (9) relatively vertically is provided with swing arm (8), the middle part of swing arm (8) links with adapter shaft and preceding trunk carrier (9), the bottom of swing arm (8) is connected with an end that drives pull bar (7), and the end that arm (5) is turned round in the driving of the other end of driving pull bar (7) and the back leg sleeve (21) of main trunk carrier (4) opposite side links.

The end that arm (5) is turned round in the driving of the foreleg axle sleeve (18) of preceding trunk carrier (9) one sides links with an end that drives pull bar (7), driving a other end of pull bar (7) and an end of swing arm (8) links, the end that arm (5) is turned round in the driving of the foreleg axle sleeve (18) of preceding trunk carrier (9) opposite side links with an end that drives pull bar (7), driving the other end of pull bar (7) and the other end of swing arm (8) links, the both ends of the swing arm (8) of adjacent preceding trunk carrier (9) link by driving pull bar (7) separately, swing arm (8) is turned round back and forth circular swing motion of arm (5) along the driving that preceding trunk carrier (9) swing then drives driving pull bar (7) the push-and-pull foreleg axle sleeve (18) at swing arm (8) both ends, as Fig. 1, Fig. 2, shown in Figure 8.

Embodiment 5

Main trunk carrier (4) opposing parallel is provided with the interlock bent axle (38) of staggered symmetry, the middle part of interlock bent axle (38) is provided with universal driving shaft (37), one end of gangbar (36) links with the universal driving shaft (37) of interlock bent axle (38), the both ends of interlock bent axle (38) are provided with axle drive shaft (11), axle drive shaft (11) inserts in the chute (27) of pendulum thick stick (2), take to be provided with on the delivery facility (46) and drive bent axle support (50), the end that drives bent axle support (50) is provided with and drives bent axle (39), the middle part that drives bent axle (39) is provided with universal driving shaft (37), the other end of gangbar (36) links with the universal driving shaft (37) that drives bent axle (39), and the both ends that drive bent axle (39) are provided with separately and drive pedal (40).

Step and drive pedal (40) drive driving bent axle (39) rotation, drive bent axle (39) drives gangbar (36) one ends synchronously by the universal driving shaft (37) of gangbar (36) the other end universal driving shaft (37) driving interlock bent axle (38) rotation, interlock bent axle (38) one rotating driveshafts (11) are then along chute (27) slippage, and axle drive shaft (11) drives the reciprocal circular swing motion in an end of the pendulum thick stick (2) of main trunk carrier (4) both sides along chute (27) slippage.

Drive push-and-pull and turn round arm (43) along with the reciprocal circular swing motion of an end of pendulum thick stick (2) lifts the back and forth circular swing motion of driving lever (10) of shin bone frame (3), shin bone frame (3) is along the reciprocal circular swing motion in the other end of femur frame (13).

The end that arm (5) is turned round in the driving of the back leg sleeve (21) of main trunk carrier (4) opposite side links by drive stay (7) the other end with swing arm (8), two 1 ends of swing arm (8) link with the end that arm (5) is turned round in the driving of foreleg axle sleeve (18) separately by drive stay (7), and swing arm (8) is turned round back and forth circular swing motion of arm (5) along the driving that preceding trunk carrier (9) one swings then drive driving pull bar (7) the push-and-pull foreleg axle sleeve (18) at swing arm (8) both ends.

The opposite side of one end of humerus frame (17) fixedly installs driving lever (10), the end that arm (43) is turned round in the driving push-and-pull links with an end that drives pull bar (7), the driving lever (10) of a other end of driving pull bar (7) and an end of humerus frame (17) links, and drives push-and-pull and turns round the back and forth circular swing motion of driving lever (10) that the reciprocal circular swing motion of arm (43) then drives an end of humerus frame (17).

The other end of radius frame (19) links with the end of adapter shaft (25) with coffin bone frame (15), the opposite side of one end of coffin bone frame (15) is provided with driving lever (10), the other end driving lever (10) of humerus frame (17) links with an end that drives pull bar (7), driving the other end of pull bar (7) and the driving lever (10) of coffin bone frame (19) links, the driving lever (10) of the other end of humerus frame (17) then drives the other end reciprocal circular swing motion of coffin bone frame (15) along radius frame (19) once reciprocal circular swing motion by the reciprocal circular swing motion of driving lever (10) that drives pull bar (7) push-and-pull coffin bone frame (15) one ends, one end of coffin bone frame (15) is provided with return spring, the reciprocal circular swing motion track of control coffin bone frame (15).

The other end of coffin bone frame (15) is provided with hoof wheel (44), and a side of hoof wheel (44) fixedly installs ratchet (16), and the top of ratchet (16) is provided with ratchet (14), the hand of rotation of ratchet (16) and ratchet (14) control hoof wheel (44), as shown in Figure 5.

Embodiment 6

The main trunk carrier (4) of travel driving unit (45) and preceding trunk carrier (9) adopt section bar to make, trunk wobble gear (41) before the other end of preceding trunk carrier (9) fixedly installs, one end of main trunk carrier (4) fixedly installs preceding trunk motor (42), with adapter shaft preceding trunk wobble gear (41) is connected with the other end of preceding trunk carrier (9) and the top ends of an end of main trunk carrier (4), preceding trunk wobble gear (41) is connected with the mouth of preceding trunk motor (42), one end of main trunk carrier (4) fixedly installs motor (1) and change-speed box (12), the mouth of motor (1) is connected with the input end of change-speed box (12), the both sides mouth of change-speed box (12) is oppositely arranged main the driving and turns round arm (24), and the main end of turning round arm (24) that drives fixedly installs axle drive shaft (11).

The other end of main trunk carrier (4) fixedly installs back leg axle (20), back leg axle (20) opposing parallel is arranged on trunk carrier (4), the symmetrical separately back leg sleeve (21) that be arranged in parallel in the both ends of back leg axle (20), pendulum thick stick (2) is set on the back leg sleeve (21), drive push-and-pull turn round arm (43), femur frame (13), drive turn round arm (5) and and pendulum chi (22), the relative vertical fixing in both sides of main trunk carrier (4) the other end is provided with pendulum lock support (34), and the end of pendulum lock support (34) fixedly installs pendulum lock (6).

The end of the back leg sleeve (21) of main trunk carrier (4) both sides relative fixed separately is provided with femur frame (13), one end of shin bone frame (3) links with adapter shaft (25) the other end with femur frame (13), the other end of shin bone frame (3) links with the end of adapter shaft (25) with coffin bone frame (15), one end of coffin bone frame (15) is provided with return spring, the other end of coffin bone frame (15) is provided with hoof wheel (44), one side of hoof wheel (44) fixedly installs ratchet (16), and the top of ratchet (16) is provided with ratchet (14).

Before the other end of trunk carrier (9) swing arm (8) relatively vertically is set, the both ends that drive pull bar (7) link with the end that arm (5) is turned round in the driving of the back leg sleeve (21) of the bottom of swing arm (8) and opposite side separately.

The relative horizontal fixed in one end of preceding trunk carrier (9) is provided with foreleg axle (23), the symmetrical separately foreleg axle sleeve (18) that be arranged in parallel in the both ends of foreleg axle (23), the driving push-and-pull is set on the foreleg axle sleeve (18) to be turned round arm (43), pendulum chi (22), humerus frame (17), drives and turn round arm (5) and pendulum chi (22), the relative vertical fixing in both sides of preceding trunk carrier (9) the other end is provided with pendulum lock support (34), and the end of pendulum lock support (34) fixedly installs pendulum lock (6).

One end of humerus frame (17) and foreleg axle sleeve (18) are connected to a fixed, the opposite side of one end of humerus frame (17) fixedly installs driving lever (10), the both ends that drive pull bar (7) separately with drive push-and-pull and turn round the driving lever (10) of arm (43) and humerus frame (17) and link.

One end of radius frame (19) links with adapter shaft (25) the other end with humerus frame (17), and the both ends that drive pull bar (7) link with the driving lever (10) of humerus frame (17) and the driving lever (10) of radius frame (19) separately.

The other end of radius frame (19) links with the end of adapter shaft (25) with coffin bone frame (15), and the both ends that drive pull bar (7) link with the driving lever (10) of coffin bone frame (15) and the driving lever (10) of humerus frame (17) separately;

One end of coffin bone frame (15) is provided with return spring, and the other end of coffin bone frame (15) is provided with hoof wheel (44), and a side of hoof wheel (44) fixedly installs ratchet (16), and the top of ratchet (16) is provided with ratchet (14).

Embodiment 7

Embodiment 8

Energized, power supply is connected by the source switch (51) that circuit and motor (1) are connected with preceding trunk motor (41), open and be arranged on the source switch (51) of taking delivery facility (46), drive motor (1) and preceding trunk motor (41), trunk wobble gear (41) before trunk motor (42) drives before driving, along with back and forth circular swing motion of trunk carrier (9) before the reciprocal rotary oscillation drive of preceding trunk wobble gear (41), simulate the walking action of the preceding trunk of walking animal.

Drive motor (1), the mouth drive speed transmission (12) of motor (1) drives main the driving and turns round arm (24) rotation, the main driving turned round the axle drive shaft (11) of arm (24) along chute (27) slippage, axle drive shaft (11) drives the reciprocal circular swing motion in an end of the pendulum thick stick (2) of main trunk carrier (4) both sides along chute (27) slippage, along with the reciprocal circular swing motion in an end of pendulum thick stick (2) drives back and forth rotary oscillation of back leg axle sleeve (21), back leg axle sleeve (21) one reciprocal rotary oscillations then drive femur frame (13) along back and forth circular swing motion of back leg axle (20), drive push-and-pull and turn round arm (43) along with the reciprocal circular swing motion of an end of pendulum thick stick (2) lifts the back and forth circular swing motion of driving lever (10) of shin bone frame (3), shin bone frame (3) is along the reciprocal circular swing motion in the other end of femur frame (13).

The driving lever (10) of one end of humerus frame (17) then drives the other end reciprocal circular swing motion of radius frame (19) along humerus frame (17) once reciprocal circular swing motion by the reciprocal circular swing motion of driving lever (10) that drives pull bar (7) push-and-pull radius frame (19) one ends, coffin bone frame (15) is along with the reciprocal circular swing motion of the driving lever (10) of femur frame (13) lifts the back and forth circular swing motion of driving lever (10) of coffin bone frame (15), and coffin bone frame (15) is along the reciprocal circular swing motion in the other end of shin bone frame (3).

Swing arm (8) is turned round back and forth circular swing motion of arm (5) along the driving that the reciprocal circular swing motion of preceding trunk carrier (9) then drives driving pull bar (7) the push-and-pull foreleg axle sleeve (18) at swing arm (8) both ends, drive push-and-pull and turn round the back and forth circular swing motion of driving lever (10) that the reciprocal circular swing motion of arm (43) then drives an end of humerus frame (17), the driving lever (10) of one end of humerus frame (17) then drives the other end reciprocal circular swing motion of radius frame (19) along humerus frame (17) once reciprocal circular swing motion by the reciprocal circular swing motion of driving lever (10) that drives pull bar (7) push-and-pull radius frame (19) one ends, and the driving lever (10) of the other end of humerus frame (17) then drives the other end reciprocal circular swing motion of coffin bone frame (15) along radius frame (19) once reciprocal circular swing motion by the reciprocal circular swing motion of driving lever (10) that drives pull bar (7) push-and-pull coffin bone frame (15) one ends; Travel driving unit (45) finish advance, left-right rotation, simulated sound and the glittering action of light, as Fig. 1, Fig. 2, shown in Figure 3.

Embodiment 9

Energized, power supply is connected by the reception actuator (52) that circuit and motor (1) on being arranged on main trunk carrier (4) are connected with preceding trunk motor (41), remote controller connection+B-source, power supply opens and closes circuit (49) conducting+B-source, the LED of power light circuit (29) shows energized, + B-source enters the pin 9 of coding module (54) through Q3, and the pin 9 of coding module (54) obtains power line voltages and starts working.

Strong R of function or the strong L of function or the strong B of function provide impulse singla to coding module (54), after encoded module (54) in-line coding, the different coded pulse of pin 8 outputs by coding module (54), add to the Q2 base stage of transmission circuit (30) through R4, simultaneously the Q1 of resonance CF signal also adds to the Q2 base stage through the C3 coupling, after Q2 amplifies, and the filter circuit of forming by C7, C8, L3, filter high order harmonic, launch modulated carrier signal from antenna.

The antenna that receives actuator (52) receives the modulated carrier signal that remote controller sends, after Q4 through receiving amplifying circuit (32) and peripheral circuit amplify, enter decoder module (53) decoding back output, the command signal difference that remote-control command device sends, drive relay L, relay R and relay B do manual work, simultaneously+B-source is through relay L, trunk motor (41) and motor (1) before relay R and relay B directly add, preceding trunk motor (41) and motor (1), trunk motor (41) and motor (1) are done the action that turns to or advance before the instruction, travel driving unit (45) is finished and is advanced, left-right rotation, the action that simulated sound and light are glittering is as Fig. 1, Fig. 2, Fig. 4, Fig. 6, shown in Figure 7.

Claims

1, a bionic walking mechanical carriage, toy cars, which comprises travel drive means (45), Carriage ride facility (46) and a traction connector (47), with travel drive means (45) is Main trunk carrier (4) through the front end portion of the swing gear trunk (41) and front trunk carrying frame (9) Connected to form an integral carrying frame or the main trunk carrying frame (4) by one end of a plurality of pre-footer Dry swing gear (41) with a plurality of front torso carrier (9) opposite the end connected to form multi-section Connect the whole carrier body, the front trunk carrying frame (9) fixed to the other end of the swing gear front torso Wheel (41), the front torso swing gear (41) by connecting the shaft and the front trunk carrying frame (9) is another The end portion and the main trunk carrying frame (4) of the distal end portion of one end portion connected to the front torso swing gear (41) The front trunk motor (42) to the output terminal engagement, driving the front trunk motor (42) driven before the trunk Swing gear (41), with the front torso swing gear (41) driven by the reciprocating rotation of the swing front torso Order Carrier (9) reciprocally swing arc, travel drive means (45) external walking animals according to the shape of Wrapping ornament; main trunk carrying frame (4) is fixed to an end portion opposite, parallel, motor (1), electric Machine (1) the output of the transmission (12) engages the input terminal of the transmission (12) on both sides of the input End disposed opposite the main drive of the torque arm (24), the main driving torque arm (24) fixed to the end of the drive shaft (11); main trunk carrying frame (4) relative to the other end of the horizontal legs fixed to shaft (20), after Leg axis (20) parallel to the main trunk opposite carrier (4), the main trunk carrying frame (4) on both sides of The hind leg shaft (20) opposite the respective ends of said legs parallel to the sleeve shaft (21) and hind legs, the sleeve shaft (21) Set on the swing bar (2), the drive torque arm sliding (43), share the skeleton (13), the driving torque arm (5) and swing Feet (22); pendulum foot (22) fixed to one end of the pawl (14), pendulum foot (22) of the other end of the Reset spring pendulum foot portion (26), the main trunk carrying frame (4) on both sides of the pendulum lever (2) the other end portion The hind sleeve shaft (21) connected to the fixed driving sliding torque arm (43) with one end of pendulum bar (2) The other end portion of said legs fixed to the sleeve shaft (21), the main trunk carrying frame (4) other The end portion fixed to opposite sides of the vertical swing lock bracket (34), swing lock bracket (34) fixed to the end portion Setting swing lock (6), swing bar (2) through the swing end portion of the lock (6), the main trunk carrying frame (4) two The side of the pendulum lever (2), the drive torque arm sliding (43), share the skeleton (13) and the drive torque arm (5) to make Complex arc swing; pendulum foot (22) and swing lock (6) inhibition swing bar (2) of the arc of the pendulum swing back and forth Trajectory as well as to switch the main trunk carrier (4) on both sides of the pendulum bar (2), the drive torque arm sliding (43), Stock skeleton (13) and the drive torque arm (5) reciprocating swing arc; swing bar (2) placed along one end of Bar (2) opposite parallel chutes (27), swing bar (2) fixed to the other end of push-pull drive Torsion arm (43), the transmission (12) on both sides of the drive shaft (24) into the chute (27), the motor (1) Drive transmission (12) driven by the main drive torque arm (24) of the shaft (11) along the chute (27) slip, The drive shaft (11) along the chute (27) drive the main trunk carrier slip (4) on both sides of the pendulum lever (2) of the Reciprocating swing arc end portion; main trunk carrying frame (4) on both sides of the hind legs of the sleeve shaft (21) of the end portion Since relatively fixed set stock skeleton (13), the main trunk carrying frame (4) on both sides share the skeleton (13) One end portion of the main trunk carrying frame (4) on both sides of the legs sleeve shaft (21) connected to the stationary phase, the drive torque arm (5) The other end portion of the stock frame (13) opposite said one end portion fixed to the rear leg sleeve (21) , The driving torque arm (5) and femoral skeleton (13) and the drive torque arm sliding (43) and swing bar (2) phase Fixed to the legs of the cross shaft (21), the stock frame (13) of the other end portion of the other side Fixed setting lever (10), with the pendulum lever (2) end portion of the swing arc reciprocating drive shaft legs (21) reciprocating rotary swing and hind sleeve (21) is driven by a reciprocating rotary swing shares skeleton (13) Along the hind leg shaft (20) reciprocating rotary oscillating; shin skeleton (3) connected to one end of a shaft (25) and shares Skeleton (13) is coupled to another end of the tibia skeleton (3) one side of one end of the lever (10), Shin skeleton (3) of the lever (10) with a driving push-pull rod (7) and the drive torque sliding arm (43) of the end of the Unit is coupled, the driving sliding torque arm (43) with the swing lever (2) end portion of the swing arc provided a reciprocating Pull shin skeleton (3) of the lever (10) back and forth swinging arc, shin skeleton (3) along a stock skeleton (13) The other end portion of the swing arc back and forth; shin skeleton (3) connected to the other end portion of the shaft (25) and the coffin bone Frame (15) is coupled at one end portion, shoe skeleton (15) one end portion of the other side of the lever (10), Hoof skeleton (15) of the lever (10) with a push-pull rod drive (7) and shares the skeleton (13) of the lever (10) To link the hoof skeleton (15) With the stock skeleton (13) of the lever (10) back and forth swing arc to mention Pull shoe skeleton (15) of the lever (10) back and forth swinging arc, shoe frame (15) along the shin skeleton (3) The other end portion of the swing arc back and forth, shoe frame (15) at one end portion of the reset spring, the control hoof bone Frame (15) reciprocating swing arc trajectory; shoe frame (15) of the other end portion of the wheel shoe (44), Shoe wheel (44) fixed to one side of the ratchet (16), the ratchet (16) of the upper portion of the pawl (14), Ratchet (16) and the pawl (14) Control shoe wheel (44) rotation direction; front torso carrier (9) The other end portion of the swing arm relative to the vertical set (8), the swing arm (8) with the connection shaft and the center of the trunk before the order Carrier (9) is coupled, the swing arm (8) the other end of the driving push-pull rod (7) is connected to one end of Next, drive push-pull rod (7) and the other end portion of the main trunk carrying frame (4) on the other side legs sleeve shaft (21) driving torque arm (5) is coupled the end of the swing arm (8) ends of reciprocating swing arc; Front torso carrier (9) opposite the one end fixed to the front legs horizontal shaft (23), the front leg shaft (23) Relative to the carriage frame parallel to the front trunk (9), front trunk carrying frame (9) on both sides of the front leg shaft (23) Respective opposite ends of said sleeve parallel to the front legs (18), the front leg sleeve (18) is provided with drive Sliding torque arm (43), the former torso swing bar (57), humerus frame (17), the drive torque arm (5) and a slew foot (22); front trunk carrying frame (9) on both sides of the front leg sleeve (18) opposite to the end of each drive Movable sliding torque arm (43) and the pendulum foot (22), pendulum foot (22) fixed to the other end of the pawl (14), Pendulum foot (22) of the other end portion of the pendulum foot reset spring (26), drive push-pull torque arm (43) of the other End portion of the front leg sleeve (18) is fixed connected to the front leg sleeve (18) along the front leg shaft (23) reciprocally Rotating swinging pendulum foot (22) push one end of the drive torque arm (43) relative to said other end portion of Sleeve fixed to the front leg (18), the front torso carrier (9) relative to the other end portion of the vertical sides Straight fixed to swing lock bracket (34), swing lock bracket (34) fixed to the end of swing lock (6), the first Torso swing bar (57) passes through the other end of swing lock (6), the front drive carrier (9) on both sides of the driving Sliding torque arm (43), humerus frame (17), the drive torque arm (5) and front torso swing bar (57) reciprocating Swing arc; pendulum foot (22) and the swing lock (6) inhibition of the torso swing bar (57) reciprocating swing arc Swing trajectory and torso before switching carrier (9) on both sides of the front torso swing bar (57), the drive to push Pull the torque arm (43), humerus frame (17) and the drive torque arm (5) reciprocating arc swing; humerus frame (17) One end portion of the front leg sleeve (18) is connected to the fixed driving torque arm (5) and the other end portion of the humerus Frame (17) opposite said one end portion fixed to the front leg sleeve (18), the driving torque arm sliding (43) And slew-foot (22) and the humeral frame (17) and the drive torque arm (5) relative to the cross shaft fixedly disposed on the front legs Sleeve (18); front torso carrier (9) side of the front leg sleeve (18) of the driving torque arm (5) Push one end of the drive rod (7) is coupled at one end portion, the driving push-pull rod (7) the other end of the Portion and the arm (8) is coupled at one end portion, the front trunk carrying frame (9) the other side of the front leg sleeve (18) Driving torque arm (5) push one end of the drive rod (7) is coupled at one end portion, the driving sliding Lever (7) and the other end arm (8) is coupled to the other end, the swing arm (8) along both ends of Front torso carrier (9) reciprocally arc swing arm (8) is driven by a reciprocating arm swing arc (8) at both ends of drive push-pull rod (7) Sliding sleeve front leg (18) of the driving torque arm (5) Reciprocating Swing arc; humerus frame (17) one end portion fixed to the other side of the lever (10), drive push-pull Torsion arm (43) push one end of the drive rod (7) is coupled at one end portion, the driving push-pull rod (7) The other end portion of the humerus frame (17) one end portion of the lever (10) is coupled, the driving torque arm sliding (43) is driven by the swing frame humerus (17) one end portion of the lever (10) swings back and forth rotation; Humerus frame (17) on one side of the other end portion fixed to the lever (10), radial frame (19) at one end A connecting shaft portion (25) and the humeral frame (17) is coupled to the other end portion, the radial skeleton (19) 1 The other end portion side lever (10), humerus frame (17) one end of the lever (10) with the driving push Lever (7) is coupled at one end portion, the driving push-pull rod (7) and the other end portion of the radial skeleton (19) The lever (10) to link the humerus frame (17) at one end portion of the lever (10) a reciprocating swing arc Moving through the push-pull rod drive (7) radial sliding skeleton (19) at one end portion of the lever (10) back and forth arc The radial wobble drive frame (19) along the humerus frame (17) of the other end portion of the swing reciprocally rotated; radial Frame (19) connected to the other end portion of the shaft (25) and the shoe frame (15) is coupled at one end portion, shoe Skeleton (15) one end portion of the other side of the lever (10), humerus frame (17) of the other end portion of dial Lever (10) and the drive push-pull rod (7) is coupled at one end portion, the driving push-pull rod (7) the other end of the Shoe skeleton portion (19) of the lever (10) is coupled, humerus frame (17) of the other end portion of the lever (10) an arc swing back and forth through the drive push-pull rod (7) sliding shoe skeleton (15) at one end portion Lever (10) is driven back and forth swinging arc shoe skeleton (15) along a radial frame (19) of the other end portion Reciprocating swing arc; shoe frame (15) at one end portion of the reset spring, the control shoe frame (15) Reciprocating swing arc track shoe frame (15) of the other end portion of the wheel shoe (44), wheel shoe (44) Fixed to one side of the ratchet wheel (16), the ratchet (16) of the upper portion of the pawl (14), the ratchet (16) And a pawl (14) Control shoe wheel (44) rotation direction; travel drive means (45) of the main trunk Carrying frame (4) is arranged in the middle traction connector (47), pulling the connector (47) and take the carriage Facilities (46) is coupled at one end portion, take the carrier facility (46) of the lower portion of the carriage wheel (48), Travel drive means (45) outside of the whole package decoration, walking animals constitute different shape; Motor (1) and the front torso motor (41) through the line facility provided in the carriage ride (46) electric Source switch (51) provided in the main trunk or carrier (4) on the receive driver (52) is connected to Electric power is turned on (1) and the front trunk motor (41), travel drive means (45) is completed Forward, turning left and right, analogue sound and lights flashing action. ...

2, bionic walking mechanical carrier according to claim 1, toy car, it is characterized in that being provided with in the described reception actuator (52) RX-2 decoder module (53) as receiving decoding circuit, receiving amplifying circuit (32) is connected with the decoder module (53) that receives decoding circuit, antenna receives the modulated carrier signal that remote controller sends, after Q4 through receiving amplifying circuit (32) and peripheral circuit amplify, enter the pin 14 and the in-to-in amplifying circuit thereof of decoder module (53), the output back is sent into decoding scheme by the pin 3 that R8 enters decoder module (53) after amplify inside; The pin 1 of the IC3 of power supply mu balanced circuit (33) is connected with power supply+B, and the pin 3 of IC3 is connected the voltage of stable power-supplying with the pin 13 of decoder module (53); The IC4 of analogue simulation sound, optical circuit (35) connects loud speaker and electroluminescent lamp, and the IC4 of analogue simulation sound, optical circuit (35) is connected with+B-source by R10, R11 and D1; The pin 5 of the IC1 of left-right rotation driving circuit (56) is connected with pin 6 with the pin 7 of decoder module (53) with pin 1, the relay L of left-right rotation driving circuit (56) is connected with IC1 with relay R, and preceding trunk motor (41) is connected with relay R by the relay L of circuit with the left-right rotation driving circuit (56) that receives actuator (52); The pin 8 of the IC2 of advancing drive circuit (55) is connected with the pin 11 of decoder module (53), the relay B of advancing drive circuit (55) is connected with IC2, and motor (1) is connected by the relay B of circuit with the advancing drive circuit (55) that receives actuator (52); The command signal difference that remote-control command device sends, signal is after decoder module (53) decoding, export high level from pin 6, pin 7 and the pin 11 of decoder module (53) respectively, again after the IC2 of the IC1 of left-right rotation driving circuit (56) and advancing drive circuit (55) guiding is amplified, driving relay L, relay R and relay B does manual work, simultaneously+and B-source trunk motor (41) and motor (1) before relay L, relay R and relay B directly add, preceding trunk motor (41) and motor (1) are done the action that turns to or advance; Coding module (54) is set as encoding control circuit (28) in the remote controller, function is good for R, the strong B of strong L of function and function separately with the pin 14 of coding module (54), pin 1 is connected with pin 4, the pin 10 of coding module (54) and pin 11 outer meeting resistance R1 and internal circuit produce clock pulse, power supply opens and closes circuit (49) conducting+B-source, the LED of power light circuit (29) shows energized, + B-source enters the pin 9 of coding module (54) through Q3, the pin 9 of coding module (54) obtains power line voltage and starts working, strong R of function or the strong L of function or the strong B of function provide impulse singla to coding module (54), after encoded module (54) in-line coding, the different coded pulse of pin 8 outputs by coding module (54), add to the Q2 base stage of transmission circuit (30) through R4, the Q1 of resonance CF signal also adds to the Q2 base stage through the C3 coupling simultaneously, after Q2 amplifies, by C7, C8, the filter circuit that L3 forms, filter high order harmonic, launch modulated carrier signal from antenna, the antenna that receives actuator (52) in active distance receives the modulated carrier signal that remote controller sends, and trunk motor (41) and motor (1) are done the action that turns to or advance before instructing after decoder module (53) decoding through receiving actuator (52).

3, bionic walking mechanical carrier according to claim 1, toy car, an end that it is characterized in that described main trunk carrier (4) is connected with several preceding trunk carriers (9) by several preceding trunk wobble gears (41), constitute the more piece body and connect the integrated carrying frame, before trunk wobble gear (41) be connected with the other end of preceding trunk carrier (9) and the top ends of an end of main trunk carrier (4) by adapter shaft, the top ends of an end of preceding trunk wobble gear (41) the other end by adapter shaft and preceding trunk carrier (9) and adjacent preceding trunk carrier (9) is connected; The other end of preceding trunk carrier (9) relatively vertically is provided with swing arm (8), the middle part of swing arm (8) links with adapter shaft and preceding trunk carrier (9), the bottom of swing arm (8) is connected with an end that drives pull bar (7), and the end that arm (5) is turned round in the driving of the other end of driving pull bar (7) and the back leg sleeve (21) of main trunk carrier (4) opposite side links; The end that arm (5) is turned round in the driving of the foreleg axle sleeve (18) of preceding trunk carrier (9) one sides links with an end that drives pull bar (7), driving a other end of pull bar (7) and an end of swing arm (8) links, the end that arm (5) is turned round in the driving of the foreleg axle sleeve (18) of preceding trunk carrier (9) opposite side links with an end that drives pull bar (7), driving the other end of pull bar (7) and the other end of swing arm (8) links, the both ends of the swing arm (8) of adjacent preceding trunk carrier (9) link by driving pull bar (7) separately, and swing arm (8) is turned round back and forth circular swing motion of arm (5) along the driving that preceding trunk carrier (9) swing then drives driving pull bar (7) the push-and-pull foreleg axle sleeve (18) at swing arm (8) both ends.

4, bionic walking mechanical carrier according to claim 1, toy car, it is characterized in that described main trunk carrier (4) opposing parallel is provided with the interlock bent axle (38) of staggered symmetry, the middle part of interlock bent axle (38) is provided with universal driving shaft (37), one end of gangbar (36) links with the universal driving shaft (37) of interlock bent axle (38), the both ends of interlock bent axle (38) are provided with axle drive shaft (11), axle drive shaft (11) inserts in the chute (27) of pendulum thick stick (2), take to be provided with on the delivery facility (46) and drive bent axle support (50), the end that drives bent axle support (50) is provided with and drives bent axle (39), the middle part that drives bent axle (39) is provided with universal driving shaft (37), the other end of gangbar (36) links with the universal driving shaft (37) that drives bent axle (39), and the both ends that drive bent axle (39) are provided with separately and drive pedal (40); Step and drive pedal (40) drive driving bent axle (39) rotation, drive bent axle (39) drives gangbar (36) one ends synchronously by the universal driving shaft (37) of gangbar (36) the other end universal driving shaft (37) driving interlock bent axle (38) rotation, interlock bent axle (38) one rotating driveshafts (11) are then along chute (27) slippage, and axle drive shaft (11) drives the reciprocal circular swing motion in an end of the pendulum thick stick (2) of main trunk carrier (4) both sides along chute (27) slippage; Drive push-and-pull and turn round arm (43) along with the reciprocal circular swing motion of an end of pendulum thick stick (2) lifts the back and forth circular swing motion of driving lever (10) of shin bone frame (3), shin bone frame (3) is along the reciprocal circular swing motion in the other end of femur frame (13); The other end of shin bone frame (3) links with the end of adapter shaft (25) with coffin bone frame (15), the opposite side of one end of coffin bone frame (15) is provided with driving lever (10), the driving lever (10) of coffin bone frame (15) links with driving the driving lever (10) of pull bar (7) with femur frame (13), coffin bone frame (15) lifts the back and forth circular swing motion of driving lever (10) of coffin bone frame (15) along with the reciprocal circular swing motion of the driving lever (10) of femur frame (13), coffin bone frame (15) is along the reciprocal circular swing motion in the other end of shin bone frame (3), one end of coffin bone frame (15) is provided with return spring, the reciprocal circular swing motion track of control coffin bone frame (15); The other end of coffin bone frame (15) is provided with hoof wheel (44), and a side of hoof wheel (44) fixedly installs ratchet (16), and the top of ratchet (16) is provided with ratchet (14), the hand of rotation of ratchet (16) and ratchet (14) control hoof wheel (44); The end that arm (5) is turned round in the driving of the back leg sleeve (21) of main trunk carrier (4) opposite side links by drive stay (7) the other end with swing arm (8), two 1 ends of swing arm (8) link with the end that arm (5) is turned round in the driving of foreleg axle sleeve (18) separately by drive stay (7), and swing arm (8) is turned round back and forth circular swing motion of arm (5) along the driving that preceding trunk carrier (9) one swings then drive driving pull bar (7) the push-and-pull foreleg axle sleeve (18) at swing arm (8) both ends; The opposite side of one end of humerus frame (17) fixedly installs driving lever (10), the end that arm (43) is turned round in the driving push-and-pull links with an end that drives pull bar (7), the driving lever (10) of a other end of driving pull bar (7) and an end of humerus frame (17) links, and drives push-and-pull and turns round the back and forth circular swing motion of driving lever (10) that the reciprocal circular swing motion of arm (43) then drives an end of humerus frame (17); One side of the other end of humerus frame (17) fixedly installs driving lever (10), one end of radius frame (19) links with adapter shaft (25) the other end with humerus frame (17), the opposite side of one end of radius frame (19) is provided with driving lever (10), one end driving lever (10) of humerus frame (17) links with an end that drives pull bar (7), drive the other end of pull bar (7) and the driving lever (10) of radius frame (19) and link, the driving lever (10) of an end of humerus frame (17) then drives the other end reciprocal circular swing motion of radius frame (19) along humerus frame (17) once reciprocal circular swing motion by the reciprocal circular swing motion of driving lever (10) that drives pull bar (7) push-and-pull radius frame (19) one ends; The other end of radius frame (19) links with the end of adapter shaft (25) with coffin bone frame (15), the opposite side of one end of coffin bone frame (15) is provided with driving lever (10), the other end driving lever (10) of humerus frame (17) links with an end that drives pull bar (7), driving the other end of pull bar (7) and the driving lever (10) of coffin bone frame (19) links, the driving lever (10) of the other end of humerus frame (17) then drives the other end reciprocal circular swing motion of coffin bone frame (15) along radius frame (19) once reciprocal circular swing motion by the reciprocal circular swing motion of driving lever (10) that drives pull bar (7) push-and-pull coffin bone frame (15) one ends, one end of coffin bone frame (15) is provided with return spring, the reciprocal circular swing motion track of control coffin bone frame (15); The other end of coffin bone frame (15) is provided with hoof wheel (44), and a side of hoof wheel (44) fixedly installs ratchet (16), and the top of ratchet (16) is provided with ratchet (14), the hand of rotation of ratchet (16) and ratchet (14) control hoof wheel (44).

5, a kind of bionic walking mechanical carrier, the method for making of toy car, the main trunk carrier (4) and the preceding trunk carrier (9) that it is characterized in that travel driving unit (45) adopt section bar to make, trunk wobble gear (41) before the other end of preceding trunk carrier (9) fixedly installs, one end of main trunk carrier (4) fixedly installs preceding trunk motor (42), with adapter shaft preceding trunk wobble gear (41) is connected with the other end of preceding trunk carrier (9) and the top ends of an end of main trunk carrier (4), preceding trunk wobble gear (41) is meshed with the mouth of preceding trunk motor (42), one end of main trunk carrier (4) fixedly installs motor (1) and change-speed box (12), the mouth of motor (1) is meshed with the input end of change-speed box (12), the both sides mouth of change-speed box (12) is oppositely arranged main the driving and turns round arm (24), and the main end of turning round arm (24) that drives fixedly installs axle drive shaft (11); The other end of main trunk carrier (4) fixedly installs back leg axle (20), back leg axle (20) opposing parallel is arranged on main trunk carrier (4), the symmetrical separately back leg sleeve (21) that be arranged in parallel in the both ends of back leg axle (20), being provided with and putting thick stick (2), drive push-and-pull on the back leg sleeve (21) turns round arm (43), femur frame (13), drives and turn round arm (5) and pendulum chi (22), the relative vertical fixing in both sides of main trunk carrier (4) the other end is provided with pendulum lock support (34), and the end of pendulum lock support (34) fixedly installs Pendulum lock (6)The end of the back leg sleeve (21) of main trunk carrier (4) both sides relative fixed separately is provided with femur frame (13), one end of shin bone frame (3) links with adapter shaft (25) the other end with femur frame (13), the other end of shin bone frame (3) links with the end of adapter shaft (25) with coffin bone frame (15), one end of coffin bone frame (15) is provided with return spring, the other end of coffin bone frame (15) is provided with hoof wheel (44), one side of hoof wheel (44) fixedly installs ratchet (16), and the top of ratchet (16) is provided with ratchet (14); Before the other end of trunk carrier (9) swing arm (8) relatively vertically is set, the both ends that drive pull bar (7) link with the end that arm (5) is turned round in the driving of the back leg sleeve (21) of the bottom of swing arm (8) and opposite side separately; The relative horizontal fixed in one end of preceding trunk carrier (9) is provided with foreleg axle (23), the symmetrical separately foreleg axle sleeve (18) that be arranged in parallel in the both ends of foreleg axle (23), the driving push-and-pull is set on the foreleg axle sleeve (18) to be turned round arm (43), pendulum chi (22), humerus frame (17), drives and turn round arm (5) and pendulum chi (22), the relative vertical fixing in both sides of preceding trunk carrier (9) the other end is provided with pendulum lock support (34), and the end of pendulum lock support (34) fixedly installs pendulum lock (6); One end of humerus frame (17) and foreleg axle sleeve (18) are connected to a fixed, the opposite side of one end of humerus frame (17) fixedly installs driving lever (10), the both ends that drive pull bar (7) separately with drive push-and-pull and turn round the driving lever (10) of arm (43) and humerus frame (17) and link; One end of radius frame (19) links with adapter shaft (25) the other end with humerus frame (17), and the both ends that drive pull bar (7) link with the driving lever (10) of humerus frame (17) and the driving lever (10) of radius frame (19) separately; The other end of radius frame (19) links with the end of adapter shaft (25) with coffin bone frame (15), and the both ends that drive pull bar (7) link with the driving lever (10) of coffin bone frame (15) and the driving lever (10) of humerus frame (17) separately; One end of coffin bone frame (15) is provided with return spring, and the other end of coffin bone frame (15) is provided with hoof wheel (44), and a side of hoof wheel (44) fixedly installs ratchet (16), and the top of ratchet (16) is provided with ratchet (14); The middle part of the main trunk carrier (4) of travel driving unit (45) is provided with traction connector (47), traction connector (47) links with an end of taking delivery facility (46), the bottom of taking delivery facility (46) is provided with delivery wheel (48), the external overall of travel driving unit (45) is wrapped up ornament, constitutes the profile of different walking animals; Motor (1) and preceding trunk motor (41) by circuit be arranged on the source switch (51) of taking delivery facility (46) or the reception actuator (52) that is arranged on the main trunk carrier (4) and be connected, energized is opened motor (1) and preceding trunk motor (41), travel driving unit (45) finish advance, left-right rotation, simulated sound and the glittering action of light.

6, a kind of bionic walking mechanical carrier, the using method of toy car, it is characterized in that energized, power supply is connected by the source switch (51) that circuit and motor (1) are connected with preceding trunk motor (41), open and be arranged on the source switch (51) of taking delivery facility (46), drive motor (1) and preceding trunk motor (41), trunk wobble gear (41) before trunk motor (42) drives before driving, along with back and forth circular swing motion of trunk carrier (9) before the reciprocal rotary oscillation drive of preceding trunk wobble gear (41), simulate the walking action of the preceding trunk of walking animal; Drive motor (1), the mouth drive speed transmission (12) of motor (1) drives main the driving and turns round arm (24) rotation, the main driving turned round the axle drive shaft (11) of arm (24) along chute (27) slippage, axle drive shaft (11) drives the reciprocal circular swing motion in an end of the pendulum thick stick (2) of main trunk carrier (4) both sides along chute (27) slippage, along with the reciprocal circular swing motion in an end of pendulum thick stick (2) drives back and forth rotary oscillation of back leg axle sleeve (21), back leg axle sleeve (21) one reciprocal rotary oscillations then drive femur frame (13) along back and forth circular swing motion of back leg axle (20), drive push-and-pull and turn round arm (43) along with the reciprocal circular swing motion of an end of pendulum thick stick (2) lifts the back and forth circular swing motion of driving lever (10) of shin bone frame (3), shin bone frame (3) is along the reciprocal circular swing motion in the other end of femur frame (13); The driving lever (10) of one end of humerus frame (17) then drives the other end reciprocal circular swing motion of radius frame (19) along humerus frame (17) once reciprocal circular swing motion by the reciprocal circular swing motion of driving lever (10) that drives pull bar (7) push-and-pull radius frame (19) one ends, coffin bone frame (15) is along with the reciprocal circular swing motion of the driving lever (10) of femur frame (13) lifts the back and forth circular swing motion of driving lever (10) of coffin bone frame (15), and coffin bone frame (15) is along the reciprocal circular swing motion in the other end of shin bone frame (3); Swing arm (8) is turned round back and forth circular swing motion of arm (5) along the driving that the reciprocal rotary oscillation of preceding trunk carrier (9) then drives driving pull bar (7) the push-and-pull foreleg axle sleeve (18) at swing arm (8) both ends, drive push-and-pull and turn round the back and forth circular swing motion of driving lever (10) that the reciprocal circular swing motion of arm (43) then drives an end of humerus frame (17), the driving lever (10) of one end of humerus frame (17) then drives the other end reciprocal circular swing motion of radius frame (19) along humerus frame (17) once reciprocal circular swing motion by the reciprocal circular swing motion of driving lever (10) that drives pull bar (7) push-and-pull radius frame (19) one ends, and the driving lever (10) of the other end of humerus frame (17) then drives the other end reciprocal circular swing motion of coffin bone frame (15) along radius frame (19) once reciprocal circular swing motion by the reciprocal circular swing motion of driving lever (10) that drives pull bar (7) push-and-pull coffin bone frame (15) one ends; Travel driving unit (45) finish advance, left-right rotation, simulated sound and the glittering action of light.

7, the using method of a kind of bionic walking mechanical carrier, toy car, it is characterized in that energized, power supply is connected by the reception actuator (52) that circuit and motor (1) on being arranged on main trunk carrier (4) are connected with preceding trunk motor (41), remote controller connection+B-source, power supply opens and closes circuit (49) conducting+B-source, the LED of power light circuit (29) shows energized, + B-source enters the pin 9 of coding module (54) through Q3, and the pin 9 of coding module (54) obtains power line voltages and starts working; Strong R of function or the strong L of function or the strong B of function provide impulse singla to coding module (54), after encoded module (54) in-line coding, the different coded pulse of pin 8 outputs by coding module (54), add to the Q2 base stage of transmission circuit (30) through R4, simultaneously the Q1 of resonance CF signal also adds to the Q2 base stage through the C3 coupling, after Q2 amplifies, and the filter circuit of forming by C7, C8, L3, filter high order harmonic, launch modulated carrier signal from antenna; The antenna that receives actuator (52) receives the modulated carrier signal that remote controller sends, after Q4 through receiving amplifying circuit (32) and peripheral circuit amplify, enter decoder module (53) decoding back output, the command signal difference that remote-control command device sends, drive relay L, relay R and relay B do manual work, simultaneously+B-source is through relay L, trunk motor (41) and motor (1) before relay R and relay B directly add, preceding trunk motor (41) and motor (1), trunk motor (41) and motor (1) are done the action that turns to or advance before the instruction, and travel driving unit (45) is finished and advanced, left-right rotation, the action that simulated sound and light are glittering.