CN206777852U

CN206777852U - A kind of riding toy of children

Info

Publication number: CN206777852U
Application number: CN201720145221.7U
Authority: CN
Inventors: 孙超; 孙静
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-02-17
Filing date: 2017-02-17
Publication date: 2017-12-22
Anticipated expiration: 2027-02-17

Abstract

The utility model discloses a kind of riding toy of children, including shell, frame, power set, paces drive device, paces adjusting apparatus and transfer are provided with the shell, the paces drive device includes two forelegs, two back legs, lift leg device and swinging kick device, the foreleg and back leg include hoof, shank, thigh and the wing being hinged from bottom to up, are connected between the shank and wing by connecting rod.The utility model is simple in construction, easy to operate, quick, smooth running and tool tractive force, can simulate the natural gait that biology arbitrarily changes direction of travel in traveling substantially, and energy consumption is smaller, beneficial to production and promotes.

Description

A kind of riding toy of children

Technical field

It the utility model is related to a kind of riding toy of children.

Background technology

As long as current various four-footed walking machines both at home and abroad are capable of adjust automatically stride in steering procedure, none is not Controlled and completed by computer.This mode mainly has two big deficiencies, when, it is necessary to work out the calculating processing routine of complexity, it is soft Part quantities is great；Second, the motion control portion of leg needs many electronic components to come coupled computer work, hardware knot Structure is complicated, make it that machine overall cost is high the defects of these two aspects.Represent U.S. of the state-of-the-art robot technology in the current world State's Boston utility companies are a transportation robot " machine towser " (Bigdog) of U.S. army's research and development, and this quadruped robot is complete Controlled entirely by computer, can accurately complete very much turn to stride coordinate, but program and structure be also at present it is most complicated, Cost is high.

The utility model is entirely simple mechanical gear link lever mechanism, here only for illustrating the machine in terms of toy Structure, the various riding toys of visible children are mostly running on wheels toy in the market, such as patent CN96225819.9, CN200520027097.1, and the rare toy walked with leg, although it is various animal-shaped to have some outward appearances, are supported with leg The toy of thing, but essence is also that wheel, rather than walking truly are provided with below leg.Such as patent CN201610538365.9, CN201520092981.7, CN201010298258.6,200720078393.3 be leg formula row Walk, it is that step size does not change when turning to relatively to be used the object for appreciation that wheel is walked and be provided with very big an one of change, defect, Material is thus formed double forelegs when turning to and double back legs to turn to amplitude hardness, causes the hardness on toy foot and ground Friction.The two of defect are that body is knowing from experience generation upper and lower displacement with four legs walking opportunity, can so cause body unstable, this practicality It is new by simple linkage come realize four-footed walking machine turn to when stride it is natural coordinate, preferably solve the above Deficiency.

Utility model content

The utility model is in order to solve the above-mentioned technical problem, there is provided a kind of simple in construction, easy to operate, quick, walking is flat Steady and tool tractive force, the natural gait that biology arbitrarily changes direction of travel in traveling can be simulated substantially, energy consumption is smaller, beneficial to life Production and the riding toy of children promoted.

The utility model is achieved through the following technical solutions：

A kind of riding toy of children, including shell, the shell is interior to be provided with frame, power set, paces drive device, step Adjusting apparatus and transfer are cut down, the paces drive device includes two forelegs, two back legs, lift leg device and swinging kick dress Put, the foreleg and back leg include hoof, shank, thigh and the wing being hinged from bottom to up, lead between the shank and wing Cross connecting rod connection.

The power set include motor, worm screw, worm gear, power transmission shaft and gear train, and the worm gear is located at the power transmission shaft On, the power transmission shaft drives gear train transmission.

The gear train includes first gear group and is respectively arranged on the second gear groups of first gear group both sides, and described the One gear train is provided with two groups and is respectively arranged on the both ends of the power transmission shaft, and the first gear group includes coaxial gear first With gear second, the second gear group includes coaxial gear third and gear fourth.

The gear first, gear third and gear fourth are half knuckle-tooth, and effective tooth position of the gear fourth is in the gear third Anodontia position, effective tooth of the gear first is engaged with effective tooth of gear fourth or gear second and the effective gear of gear third are nibbled Close.

The lift leg device includes four cams, four lift leg push rods and four lift leg nooses to connect one to one, its In, one end of the lift leg noose is connected to the upper end of the thigh, and the other end is connected with the lift leg push rod, the lift leg top Bar is connected with the cam, and the power set drive the cam rotation so as to drive lift leg push rod motion linkage lift leg successively Noose realizes lift leg motion.

The swinging kick device includes four inside cranks, four inside crank sliding blocks, four interior swing rods, four to connect one to one Individual swinging kick connecting rod, four articulated joints and four swinging kick slide rails, wherein, the inside crank is connected on camshaft, the inside crank Sliding block is built in the groove that the inside crank is set, and described interior swing rod one end is connected with crank block, and the other end connects with swinging kick axle Connect, described swinging kick connecting rod one end is connected with interior swing rod, and the other end is connected with articulated joint one end, the articulated joint other end with it is described Swinging kick guide rail is connected, and swinging kick guide rail is built in the guide groove of wing, and the swinging kick device is driven and cam coaxial by power set Crank and connecting rod movement is so as to realizing swinging kick campaign.

The paces adjusting apparatus includes the four wing rollers and four wing body connectors to connect one to one, the wing body Connector is provided with arc chute, and described wing roller one end is fixedly connected with the upper end of the wing, and the other end is built in the arc It is slidably connected in shape chute with arc chute.

The transfer includes front steering device, rear steering device and turns to noose, before the front steering device includes Steering spindle, front steering gear train, front steering moving arm and front steering connecting rod, the front steering connecting rod are arranged on front steering moving arm On, the rear steering device includes rear steering moving arm and rear steering connecting rod, and the rear steering moving arm is set to be turned in the rear It is described to turn to the noose intersection series connection preceding rotation moving arm and the rear rotation moving arm, the front steering on moving arm Axle is moved by front steering gear set drive front steering moving arm to be turned to so as to drive front steering link motion to realize, the forward It is connected to device by the steering noose with the rear steering device, realizes front and rear turn to synchronously.

The front steering connecting rod and the rear steering connecting rod are provided with two and turn to diagonal control arm and a steering tranverse connecting rod, Described one end for turning to diagonal control arm is connected with the steering tranverse connecting rod, and the other end is connected with the wing body connector bottom.

The utility model beneficial effect：A kind of riding toy of children, including shell, the shell is interior to be provided with frame, power Device, paces drive device, paces adjusting apparatus and transfer, paces drive device include two forelegs, two back legs, lift Leg device and swinging kick device, foreleg and back leg include hoof, shank, thigh and the wing being hinged from bottom to up, shank and wing Between connected by connecting rod.The utility model by power set drive paces drive device carry out lift leg, wobbling action so as to Bionical four-footed walking mechanism is set to walk, the utility model is provided with paces adjusting apparatus, and the device can adjust upper and lower displacement and cause Bionical four-footed walking mechanism can simulate the natural gait that biology arbitrarily changes direction of travel in traveling substantially, and energy consumption is smaller, profit In production and promote, and swinging kick device combination transfer, coordinate stride naturally during steering.

Brief description of the drawings

Fig. 1 is a kind of riding toy overall structure diagram of children of the utility model；

Fig. 2 is Fig. 1 top view；

Fig. 3 is a kind of powerplant configuration schematic diagram of the riding toy of children of the utility model；

Fig. 4 is Fig. 3 top view；

Fig. 5 is a kind of lift leg device schematic diagram of the riding toy of children of the utility model；

Fig. 6 is Fig. 5 top view；

Fig. 7 is a kind of swinging kick device schematic top plan view of the riding toy of children of the utility model；

Fig. 8 is a kind of paces adjusting apparatus schematic diagram of the riding toy of children of the utility model.

Fig. 9 is a kind of transfer schematic diagram of the riding toy of children of the utility model.

Wherein, 1- frames, 2- power set, 21- motors, 22- worm screws, 23- worm gears, 24- power transmission shafts, 25- gear first, 26- gear second, 27- gears third, 28- gear fourths, 3- paces drive devices, 31- lift leg devices, 311- cams, 313- lift legs top Bar, 315- lift leg nooses, 32- swinging kick devices, 321- inside cranks, swing rod in 323-, 325- swinging kick connecting rods, 326- swinging kick axles, 327- articulated joints, 329- swinging kick slide rails, 33- hoof, 34- shanks, 35- thighs, 36- connecting rods, 37- wing, 4- paces adjusting apparatus, 41- wing body connectors, 42- arc chutes, 43- wing rollers, 5- transfers, 51- front steering devices, 511- front steering axles, 513- front steering gear trains, 515- front steering moving arms, 517- front steering connecting rods, 52- rear steering devices, 521- rear steerings are stirred Arm, 513- rear steering connecting rods, 53- turn to noose.

Embodiment

As shown in Figure 1 to 9, the utility model discloses a kind of riding toy of children, including shell, shell is interior to be provided with frame 1st, power set 2, paces drive device 3, paces adjusting apparatus 4 and transfer 5, two gear-boxes are provided with frame 1, walked Cutting down drive device includes two forelegs, two back legs, lift leg device 31 and swinging kick device 32, foreleg and back leg include from it is lower to On the hoof 33, shank 34, thigh 35 and the wing 37 that are hinged, connected between shank 35 and wing 37 by connecting rod 36.

Power set 2 drive paces drive device 3 to move, and its power set 2 includes motor 21, worm screw 22, worm gear 23, biography Moving axis 24 and gear train, for worm gear 23 on power transmission shaft 24, power transmission shaft 24 drives the gear train transmission being arranged in gear-box.Tooth Wheel group includes first gear group and is respectively arranged on the second gear group of first gear group both sides, and first gear group is provided with two Group is respectively arranged on the both ends of power transmission shaft 24, i.e., first gear group is provided with two groups, and second gear group is provided with four groups, first gear Group includes coaxial gear first 25 and gear second 26, and second gear group is including coaxial gear the third 27 and gear fourth 28.Gear First 25, gear the third 27 and gear fourth 28 are half knuckle-tooth, and effective tooth position of gear fourth 28 is in the anodontia position of gear the third 27, gear Effective tooth of first 25 engages with effective tooth of gear fourth 28 or the effective gear of gear second 26 and gear the third 27 engages.This is arranged to Drive paces drive device 3 realizes that four legs are acted successively, that is, meets paces rule, " left front leg-right rear leg-right side Foreleg-left back leg " circulates walking motion, so circulation, i.e., when wherein one leg lift leg is taken a step forward, its excess-three bar Leg is landed and steps on step backward simultaneously, then the whole motion process of the complete step of one leg is considered as a cycle, then lifts leg forward Take a step to account for for 1/4 cycle, the step of kicking backward of landing accounted for for 3/4 cycle.Differed for 1/4 cycle successively by paces order per one leg, just very The true walking paces of quadruped are approached, and because there are three legs to land at any time, the stability of walking is significantly better than In a manner of diagonal is walked.

Lift leg device 31 includes four cams, 311, the four lift leg push rods 313 to connect one to one and four lift leg nooses 315, wherein, four cams 311 are coaxial one by one with four groups of second gear groups respectively, and one end of lift leg noose 315 is connected to thigh Upper end, the other end is connected with lift leg push rod 313, and lift leg push rod 313 is connected with cam 311, and power set 2 are successively with moving cam 311 rotations realize lift leg motion so as to drive lift leg push rod 313 to move the motion of linkage lift leg noose 315.The setting realize rise, Backhaul, have a rest and stop the motion of three parts track.

Swinging kick device 32 includes four inside cranks, 321, four inside crank sliding blocks, the four interior swing rods to connect one to one 323rd, four swinging kick connecting rods, 325, four articulated joints 327 and four swinging kick slide rails 329, wherein, inside crank 321 is connected to cam On axle, inside crank sliding block be built in inside crank 321 setting groove in, interior one end of swing rod 323 is connected with crank block, the other end and Swinging kick axle 326 is connected, and swinging kick axle 326 is fixed on 1 in frame, and the one end of swinging kick connecting rod 325 is connected with interior swing rod 323, the other end It is connected with the one end of articulated joint 327, the other end of articulated joint 327 is connected with swinging kick guide rail 329, and swinging kick guide rail 329 is built in wing 37 In guide groove, the swinging kick device drives the crank and connecting rod movement coaxial with cam 311 to realize swinging kick by power set 2 Motion.

Paces adjusting apparatus 4 includes the four wing rollers 43 and four wing body connectors 41 to connect one to one, and wing body connects Fitting 41 is provided with arc chute 42, and the one end of wing roller 43 is fixedly connected with the upper end of wing 37, and the other end is built in arc chute It is slidably connected in 42 with arc chute 42.When the setting sets the leg to pedal ground, wing roller 43 is along sliding above and below the motor adjustment of chute 42 Displacement, the i.e. walking mechanism do not rise and fall from side when walking, so as to realize that the walking mechanism can be horizontal flat Quietly walk.

Transfer 5 includes front steering device 51, rear steering device 52 and turns to noose 53, before front steering device 51 includes Steering spindle 511, front steering gear train 513, front steering moving arm 515 and front steering connecting rod 517, front steering connecting rod 517 are arranged on On front steering moving arm 515, rear steering device 52 includes rear steering moving arm 521 and rear steering connecting rod 523, rear steering moving arm 521 are arranged on rear steering moving arm 515, turn to noose 53 and intersect connect preceding rotation moving arm 515 and rear rotation moving arm 521, front steering axle 511 drives front steering moving arm 515 to move so as to drive front steering connecting rod by front steering gear train 513 517 motions, which are realized, to be turned to, and front steering device 51 is connected by turning to noose 53 with rear steering device 52, is turned to before and after realizing same Step.Front steering connecting rod 517 and rear steering connecting rod 523 are provided with two and turn to diagonal control arm and a steering tranverse connecting rod, turn to oblique One end of connecting rod is connected with turning to tranverse connecting rod, and the other end is connected with the bottom of wing body connector 41.Before two when the setting to turn to Leg or back leg are taken a step the angle difference in direction, and the leg deflection angle in outside is small, and the leg deflection angle of inner side is big.That is front end outer side Leg large profound step, the leg of inner side steps small step, and the two legs of rear side are then with front end on the contrary, such purpose is to reach less Turning radius.During steering in four legs the outside steering angle of foreleg and the steering direction of inner side back leg and angle on the contrary, four inboard legs The steering angle of foreleg is opposite with the steering direction and angle of outside back leg.

The utility model smooth running and tool tractive force, can simulate biology substantially and arbitrarily change direction of travel in traveling Natural gait, energy consumption is smaller, beneficial to production and promotes.This technology can be used for toy for children, recreation facility and robot field.

The technical scheme provided above utility model embodiment is described in detail, used herein specifically individual Example is set forth to the principle and embodiment of the utility model embodiment, and the explanation of above example is only applicable to help Understand the principle of the utility model embodiment；Meanwhile for those of ordinary skill in the art, implement according to the utility model Example, the there will be changes in embodiment and application, in summary, this specification content should not be construed as Limitation to utility model.

Claims

1. a kind of riding toy of children, including shell, it is characterised in that：Frame, power set, paces are provided with the shell to drive Dynamic device, paces adjusting apparatus and transfer, the paces drive device include two forelegs, two back legs, lift leg device With swinging kick device, the foreleg and back leg include the hoof, shank, thigh and the wing that are hinged from bottom to up, the shank and Connected between wing by connecting rod, the lift leg device includes four cams, the four lift leg push rods and four to connect one to one Leg noose is lifted, wherein, one end of the lift leg noose is connected to the upper end of the thigh, and the other end connects with the lift leg push rod Connect, the lift leg push rod is connected with the cam, and the power set drive the cam rotation so as to drive lift leg top successively Bar motion linkage lift leg noose realizes lift leg motion.

A kind of 2. riding toy of children according to claim 1, it is characterised in that：The power set include motor, snail Bar, worm gear, power transmission shaft and gear train, for the worm gear on the power transmission shaft, the power transmission shaft drives gear train transmission.

A kind of 3. riding toy of children according to claim 2, it is characterised in that：The gear train includes first gear group And be respectively arranged on the second gear group of first gear group both sides, the first gear group be provided with two groups be respectively arranged at it is described On the both ends of power transmission shaft, the first gear group includes coaxial gear first and gear second, and the second gear group includes same The gear third and gear fourth of axle.

A kind of 4. riding toy of children according to claim 3, it is characterised in that：The gear first, gear third and gear Fourth is half knuckle-tooth, effective tooth position of the gear fourth in the anodontia position of the gear third, effective tooth of the gear first with Effective tooth engagement of gear fourth or gear second engage with the effective gear of gear third.

A kind of 5. riding toy of children according to claim 1, it is characterised in that：The swinging kick device includes one a pair Four inside cranks, four inside crank sliding blocks, four interior swing rods, four swinging kick connecting rods, four articulated joints and four pendulum that should be connected Leg slide rail, wherein, the inside crank is connected on camshaft, and the inside crank sliding block is built in the groove that the inside crank is set Interior, described interior swing rod one end is connected with crank block, and the other end and swinging kick axis connection, described swinging kick connecting rod one end connects with interior swing rod Connect, the other end is connected with articulated joint one end, and the articulated joint other end is connected with the swinging kick guide rail, and swinging kick guide rail is built in wing Guide groove in, the swinging kick device is driven with the crank and connecting rod movement of cam coaxial by power set so as to realize that swinging kick is transported It is dynamic.

A kind of 6. riding toy of children according to claim 5, it is characterised in that：The paces adjusting apparatus is included one by one The four wing rollers and four wing body connectors of corresponding connection, the wing body connector are provided with arc chute, the wing roller One end is fixedly connected with the upper end of the wing, and the other end is built in the arc chute and is slidably connected with arc chute.

A kind of 7. riding toy of children according to claim 6, it is characterised in that：The transfer fills including front steering Put, rear steering device and steering noose, the front steering device include front steering axle, front steering gear train, front steering moving arm With front steering connecting rod, the front steering connecting rod is arranged on front steering moving arm, and the rear steering device is stirred including rear steering Arm and rear steering connecting rod, the rear steering moving arm are arranged on the rear steering moving arm, and the steering noose intersects series connection Moving arm and the rear rotation moving arm are rotated before described, the front steering axle is stirred by front steering gear set drive front steering Arm is moved so as to drive front steering link motion realization to turn to, and the front steering device passes through the steering noose and described rear turn Connected to device, realize front and rear turn to synchronously.

A kind of 8. riding toy of children according to claim 7, it is characterised in that：The front steering connecting rod and it is described after Steering link is provided with two and turns to diagonal control arm and a steering tranverse connecting rod, described one end for turning to diagonal control arm and the steering Tranverse connecting rod is connected, and the other end is connected with the wing body connector bottom.