CN201231795Y

CN201231795Y - Walking device of intelligent robot pushing cart

Info

Publication number: CN201231795Y
Application number: CNU2008200775965U
Authority: CN
Inventors: 孙洪兴
Original assignee: Individual
Current assignee: Individual
Priority date: 2008-06-23
Filing date: 2008-06-23
Publication date: 2009-05-06
Anticipated expiration: 2018-06-23

Abstract

The utility model provides a skeleton upper joint for an intelligent robot push-pull vehicle running device; a dc deceleration motor is mounted on a motor bracket between the two thighs of the robot; two crankshafts are symmetrically mounted; the upper ends of the two thighs are respectively mounted on thigh shafts on both sides of the motor bracket; the upper ends of thigh connecting rods and leg connecting legs are mounted on crankshafts on both sides; the lower ends of the thigh connecting rods are mounted on the middle-lower part of the thighs; the lower ends of the leg connecting rods are mounted on the upper parts of legs; the lower ends of thighs are connected with the upper ends of legs to form knee joints; feet are connected with the lower ends of legs to form ankle joints. The dc deceleration motor and a detector are connected with a control circuit. The skeleton upper joint for an intelligent robot push-pull vehicle running device is more intelligent and interesting.

Description

Intelligent robot push-and-pull vehicle running gear

Technical field

The utility model relates to a kind of children travel articles for use, particularly intelligent robot push-and-pull vehicle running gear.

Background technology

Existing robot generally all adopts several motor-driven, it is the motor in each joint, complex structure, cost is very high, the single motor-driven of the employing that has, but pin can not lifted, rub ground easily, therefore this robot is made into semicircle with sole, has not only reduced pin and ground-surface friction face, nor attractive in appearance.This in addition robot does not have shock absorber, and the moment total weight of landing drops on the pin, and heavy pounding on the ground, because robot is to be rigidly connected with pulling a cart, the people sits very uncomfortable onboard.This in addition children articles for use of travelling generally do not have intelligent apparatus, and are interesting not good enough.

Summary of the invention

The purpose of this utility model is at the deficiencies in the prior art, provides a kind of interest strong intelligent robot push-and-pull vehicle running gear.

The utility model is realized by following technical measures: the trunk top coupling head of intelligent robot push-and-pull vehicle running gear, DC speed-reducing is contained on the electric machine support between two thighs of robot, two bent axle symmetry potential difference 180 degree are installed on the output shaft at DC speed-reducing two ends, the upper end of two thighs is installed in respectively on the thigh axle of electric machine support both sides, the upper end of big leg connecting rod and little leg connecting rod is installed on the bent axle of both sides, the lower end of big leg connecting rod is installed in the middle and lower part of thigh, the lower end of little leg connecting rod is installed in the top of shank, the lower end of thigh is connected with the upper end of shank, forms knee joint; Pin is connected with the lower end of shank, forms ankle-joint; The lower end connecting pin of stage clip, the upper end is fixed on the shank, and DC speed-reducing and detector connect control circuit.

The connection of above-mentioned control circuit is: the LR1 in the circuit diagram is the preceding detector in the structure connection diagram, and LR2 is the back detector.Integrated circuit U1, integrated circuit U2 forms the reversing bistable circuit, preceding detector LR1 links to each other with 1 pin of integrated circuit U1 and passes through resistance R 1 ground connection, back detector LR2 links to each other with 6 pin of integrated circuit U2 and passes through R2 ground connection, 4 pin of integrated circuit U2 link to each other with the base stage of transistor T 1 by current-limiting resistance R3, the collecting electrode of transistor T 1 links to each other with relay J 1, the grounded emitter of transistor T 1, start reset capacitance C be connected on integrated circuit U2 6 pin and+12V between, DC speed-reducing M1 is connected on relay J 1-1, on relay J 1-2 intermediate contact 2 pin, relay J 1-2 normally closed contact 1 pin is connected on 2 pin of K switch 1, relay J 1-1 normally closed contact 1 pin ground connection, the pin of K switch 1 connects+12V.

Its principle of work is: detector is housed respectively on robot and the car body, and when robot was pulled a cart, preceding detector was contained in the front, back detector is contained in the back of car body, detector is contained in the back of car body before during go-cart, and back detector is contained in the back of robot, and head is connected by spring with trunk.When the clear of front and back, turn on the power switch K1, because the start reset response of capacitor C, make the 4 pin output low levels of integrated circuit U2, transistor T 1 ends, relay J 1 not adhesive, and the normally closed contact of relay J 1-1, relay J 1-2 is the forward connection, DC speed-reducing M1 just changes, and robot advances.Before detector 3 when detecting the place ahead obstacle being arranged, detector LR1 exports high level, make 4 pin output the becoming high level of integrated circuit U2, transistor T 1 conducting, 1 adhesive of relay relay J, the reverse connection of the closed composition of the open contact of relay J 1-1, relay J 1-2, DC speed-reducing M1 counter-rotating makes robot become by advancing and retreats.When back detector 14 had detected obstacle, detector LR2 exported high level, made the 4 pin output low levels of integrated circuit U2, and transistor T 1 ends, and relay relay J 1 discharges, and DC speed-reducing M1 begins again just to change, and robot advances by retreating to become.

Described bent axle symmetry of rotation 180 degree are installed on the output shaft on motor two sides, when bent axle rotates, by big leg connecting rod, little leg connecting rod, drive thigh, shank swing, because of bent axle is that symmetry of rotation 180 degree are installed the motion so left and right sides two legs is alternately taken a step.For pin is landed steadily, be provided with the ankle-joint axle of pin, and stage clip, the lower end connecting pin of stage clip, the upper end is fixed on the shank.During walking, behind the pin built on stilts, by the ankle-joint axle, with the effect of stage clip, tiptoe is lifted, heel at first lands when landing, by the weight compression press spring of robot self, played the effect of buffering, because the effect of ankle-joint axle, make the sole plane parallel to the ground in whole walking lands process, sole plane and ground-surface friction force have been increased greatly, when lifting pin, because the antagonistic force of stage clip, further increase the torsion of motor, played the purpose of economize on electricity.

Description of drawings

Accompanying drawing of the present utility model has:

Fig. 1 is the intelligent robot walking structure scheme drawing of pulling a cart.

Fig. 2 is an intelligent robot go-cart walking structure scheme drawing.

Fig. 3 is that the intelligent robot bent axle connects scheme drawing.

Fig. 4 is an intelligent robot push-and-pull vehicle control circuit connection diagram.

The specific embodiment

Embodiment 1: with reference to Fig. 1 is the embodiment that pulls a cart to walk of the present utility model, the trunk 17 top coupling heads 19 of intelligent robot push-and-pull vehicle running gear, DC speed-reducing 2 is contained on the electric machine support between two thighs of robot, two bent axle 11 symmetrical potential difference 180 degree are installed on the output shaft 12 at DC speed-reducing 2 two ends, the upper end of two thighs 5 is installed in respectively on the thigh axle 15 of electric machine support both sides, the upper end of big leg connecting rod 4 and shank connecting rod 6 is installed on the bent axle 11 of both sides, the lower end of big leg connecting rod 4 is installed in the middle and lower part of thigh 5, the lower end of shank connecting rod 6 is installed in the top of shank 7, the lower end of thigh 5 is connected with the upper end of shank 7, forms knee joint; Pin 9 is connected with the lower end of shank 7, forms ankle-joint; The lower end connecting pin 9 of stage clip 10, upper end are fixed on the shank 7, and DC speed-reducing 2 and detector connect control circuit.

The connection of above-mentioned control circuit is: the LR1 in the circuit diagram is the preceding detector in the structure connection diagram, and LR2 is the back detector.Integrated circuit U1, integrated circuit U2 forms the reversing bistable circuit, preceding detector LR1 links to each other with 1 pin of integrated circuit U1 and passes through R1 ground connection, back detector LR2 links to each other with 6 pin of integrated circuit U2 and passes through R2 ground connection, 4 pin of integrated circuit U2 link to each other with the base stage of transistor T 1 by current-limiting resistance R3, the collecting electrode of transistor T 1 links to each other with relay J 1, the grounded emitter of transistor T 1, start reset capacitance C be connected on integrated circuit U2 6 pin and+12V between, DC speed-reducing M1 is connected on relay J 1-1, on relay J 1-2 intermediate contact 2 pin, relay J 1-2 normally closed contact 1 pin is connected on 2 pin of K switch 1, relay J 1-1 normally closed contact 1 pin ground connection, the pin of K switch 1 connects+12V.

Robot is installed in the place ahead of car, and arm 1 is crooked backward, and hand catches handlebar 13 to be the shape of pulling a cart.Preceding detector 3 is contained in the front, and back detector 14 is contained in the back of car body.

Head 19 is connected by spring 18 with trunk 17, because the effect of spring, the walk entertaining of looking smug or conceited of robot is splendid.Back case 16 mainly plays the visual balance effect with electric machine casing except that detector is installed.

Car is made up of seat 20, wheel 21, handlebar 13.

Embodiment 2: with reference to Fig. 2 is go-cart walking embodiment of the present utility model, and keystone configuration is as described in the embodiment 1, and its robot is installed in the rear of car, and arm 1 stretches forward, and it is the go-cart shape that hand is caught handlebar 13.Preceding detector 3 is contained in the back of car body, and back detector 14 is contained in the back of robot.

Claims

1, a kind of intelligent robot push-and-pull vehicle running gear, the trunk of robot (17) top coupling head (19), it is characterized in that DC speed-reducing (2) is contained on the electric machine support between two thighs of robot, symmetrical potential difference 180 degree of two bent axles (11) are installed on the output shaft (12) at DC speed-reducing (2) two ends, the upper end of two thighs (5) is installed in respectively on the thigh axle (15) of electric machine support both sides, the upper end of big leg connecting rod (4) and little leg connecting rod (6) is installed on the bent axle (11) of both sides, big leg connecting rod (4) lower end is installed in the middle and lower part of thigh (5), the lower end of little leg connecting rod (6) is installed in the top of shank (7), the lower end of thigh (5) is connected with the upper end of shank (7), forms knee joint; Pin (9) is connected with the lower end of shank (7), forms ankle-joint; The lower end connecting pin (9) of stage clip (10), upper end are fixed on the shank (7), and DC speed-reducing (2) and detector connect control circuit.

2, intelligent robot push-and-pull vehicle running gear according to claim 1, the connection that it is characterized in that described control circuit is: integrated circuit U1, integrated circuit U2 forms the reversing bistable circuit, preceding detector LR1 links to each other with 1 pin of integrated circuit U1 and passes through resistance R 1 ground connection, back detector LR2 links to each other with 6 pin of integrated circuit U2 and passes through resistance R 2 ground connection, 4 pin of integrated circuit U2 link to each other with the base stage of transistor T 1 by current-limiting resistance R3, the collecting electrode of transistor T 1 links to each other with relay J 1, the grounded emitter of transistor T 1, start reset capacitance C be connected on integrated circuit U2 6 pin and+12V between, DC speed-reducing M1 is connected on relay J 1-1, on relay J 1-2 intermediate contact 2 pin, relay J 1-2 normally closed contact 1 pin is connected on 2 pin of K switch 1, relay J 1-1 normally closed contact 1 pin ground connection, the pin of K switch 1 connects+12V.