CN209683461U - A kind of perambulator is slow to be opened and slow stops control system - Google Patents

Abstract

Delay to open to delay the utility model relates to a kind of perambulator and stops control system, including foot pedal, driver and differential mechanism, foot pedal sends starting or cutoff command reaches driver, driver is equipped with circuit for controlling motor, circuit for controlling motor drives direct current generator M1 in differential mechanism, the circuit for controlling motor includes single-chip microcontroller, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, resistance R6, resistance R7, triode Q1, triode Q2, triode Q7, triode Q8, triode Q9, triode Q10, field effect transistor Q3, field effect transistor Q4, field effect transistor Q5 and field effect transistor Q6, the utility model control system is by the dual improvement to circuit for controlling motor and differential mechanism, preferably control direct current generator and power transmitting, it can effectively realize that perambulator is slow Slow turn-on and slow brake are realized gear and are protected, and guarantee children's safety, meet perambulator safety requirements.

Description

A kind of perambulator is slow to be opened and slow stops control system

Technical field

The utility model relates to perambulator fields, and in particular to a kind of perambulator is slow to be opened and slow stop control system.

Background technique

Electric children vehicle, is a kind of children's perambulator that is suitable for playing to children and use, these children's perambulators usually by vehicle frame, The composition such as power supply, foot-operated, driver, motor, children trample lower foot-operated drive control circuit motor in driver with foot Starting, motor drive differential mechanism to complete the relevant actions such as perambulator advance, retrogressing, Brake stop again.

For the driving circuit in driver, direct current generator is directly by motor-drive circuit to direct current generator when starting Direct-electrifying starting, direct current generator again by differential mechanism drive vehicle wheel rotation, the not certain buffering of direct quick start motor, And mainly there is dilute driving circuit both ends power supply and short-circuit type put to brake two kinds the mode of direct current generator parking, it is so-called dilute to put drive It moves circuit both ends power supply to refer to directly cutting off driving circuit power supply, allows motor freely to stall, due to rotor and differential mechanism The inertia of equal mechanical parts, motor meeting continuous running certain time could stop, being used on electric vehicle, car can slide A distance could stop, and coasting distance is according to the factors such as different motors and differential mechanism specification and vehicle body self weight, this side Formula is the disadvantage is that coasting distance is too far not easy to control；And the braking of another short-circuit type refers to being exactly in motor stalling driving Terminal shortcircuit, this mode of braking is used on electric vehicle can check vehicle quickly, but be easy to cause differential mechanism damage and driver It leans forward.

For differential mechanism, it has been the power transfer mechanism of transmitting direct current generator power, and perambulator is in turning, outboard wheels Longer than the distance that inboard wheel is passed by, if two sides wheel is all fixed on same rigid pivoted, two-wheeled angular speed is equal, then vehicle Necessarily there is the phenomenon that sliding when rolling in wheel, therefore perambulator differential mechanism comes into being and rolls left and right wheels with different rotating speeds, The difference of distance is made up with different revolving speeds, but existing perambulator differential mechanism does not have self-locking function, works as motor stalls Afterwards when Brake stop (i.e.), due to effect of inertia, perambulator also will continue to the gear to move ahead in gear-box, and driving motor turns in turn Dynamic, perambulator will brake by ground friction and additional arrestment mechanism, if things go on like this can cause to damage to motor, differential mechanism Characteristic when structure design is there is no in view of perambulator parking.

And since children are young, body is also in the stage of development, and psychology, physiology are also immature, the safety of perambulator Be placed on first of numerous perambulator indexs, although the speed of perambulator generally all can be partially slow, the unexpected advance of perambulator, retrogressing, Brake stop still can frighten children, and children's safety can be even threatened when serious.

Utility model content

In view of the above-mentioned problems existing in the prior art, the purpose of this utility model is that from drive circuit and differential mechanism knot Improved on structure obtain a kind of perambulator it is slow open it is slow stop control system, specific technical solution is as follows:

A kind of perambulator is slow open it is slow stop control system, including foot pedal, driver and differential mechanism, foot pedal sends starting or stops Vehicle instruction reaches driver, and driver is equipped with circuit for controlling motor, and circuit for controlling motor drives direct current generator M1 in differential mechanism, institute Stating circuit for controlling motor includes single-chip microcontroller, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, resistance R6, resistance R7, three Pole pipe Q1, triode Q2, triode Q7, triode Q8, triode Q9, triode Q10, field effect transistor Q3, field-effect are brilliant The port PWM-F of body pipe Q4, field effect transistor Q5 and field effect transistor Q6, single-chip microcontroller connect resistance R1, resistance R1 connection Triode Q2 base stage, triode Q2 emitter is grounded and collector connects resistance R3, resistance R5, resistance R3 connection resistance R4 mono- End, triode Q9 collector, field effect transistor Q3, field effect transistor Q5, triode Q10 collector, resistance R5 connection three Pole pipe Q9 base stage, triode Q7 base stage, triode Q9 emitter, triode Q7 emitter connection field effect transistor Q3, field effect Answer transistor Q4, field effect transistor Q3, the one end field effect transistor Q4 connection direct current generator M1, the port PWM-B of single-chip microcontroller Resistance R2 is connected, resistance R2 connecting triode Q1 base stage, triode Q1 emitter is grounded and collector connects resistance R4, resistance R6, resistance R6 connecting triode Q8 base stage, triode Q10 base stage, triode Q8 grounded collector, triode Q8 emitter, three Pole pipe Q10 emitter connects field effect transistor Q5, field effect transistor Q6, field effect transistor Q5, field effect transistor Q6 Connect the direct current generator M1 other end, field effect transistor Q4, field effect transistor Q6 connection resistance R7, resistance R7 ground connection.

As a kind of preferred embodiment of the utility model, the differential mechanism include differential casing, direct current generator, worm screw, Worm gear, first gear, second gear, gear housing, planetary gear, planet axis, bevel gear, left output shaft and right output shaft, it is poor Fast device housing central section installs direct current generator, and direct current generator output shaft protrudes into and is fixedly connected with worm screw inside differential casing, and worm screw nibbles Worm gear is closed, worm gear and first gear coaxial arrangement, first gear engage second gear, and second gear is fixedly connected with gear housing One, second gear and gear housing composition inner cavity install planetary gear, planet axis, bevel gear, planetary gear there are two and Concentric installation planet axis at center, the rotational installation of planet axis both ends is in gear housing, and there are two bevel gears and fixation connects respectively Left output shaft, right output shaft one end are connect, two planetary gears of upper and lower sides engage two bevel gears of left and right sides, planet tooth respectively The sense of rotation of wheel and the sense of rotation of bevel gear are mutually perpendicular to, the sense of rotation phase in planetary gear revolution direction and bevel gear Together.

As a kind of preferred embodiment of the utility model, left output shaft is identical with right output axle construction, left output shaft, the right side Front shaft sleeve is installed between output shaft and bevel gear, front shaft sleeve include the first positioning region being arranged from the front to the back, the second positioning region, Cylindrical portion is equipped with the shrinkage pool matched with the first positioning region, the second positioning region outer profile, left output shaft, the right side at bevel gear center Output shaft front end is equipped with bolt axle, and the cross section of bolt axle is the non-circular of arc side and rectilinear(-al), and cylindrical portion is equipped at center The non-circular cavity matched with bolt axle outer profile, front shaft sleeve front are packed into shrinkage pool by the first positioning region, the second positioning region Middle connection bevel gear, front shaft sleeve rear are fitted into non-circular cavity by bolt axle and connect left output shaft, right output shaft.

As a kind of preferred embodiment of the utility model, successively suit first is flat from front to back for the cylindrical portion peripheral side Pad, ripple spring washer, the second plain cushion, annulus, the first plain cushion front end are in contact with bevel gear；Rear end is in contact with ripple spring washer, the Two plain cushion front ends are in contact with ripple spring washer；Rear end is in contact with annulus.

As a kind of preferred embodiment of the utility model, after the left output shaft, right output shaft rear end interference fit suit Axle sleeve, the cross section of part is also rectangular after rear axle housing, and the shrinkage pool matched with rear axle housing outer profile is equipped at shaft coupling center, Rear axle housing is fitted into shrinkage pool, and shaft coupling connects axle.

As a kind of preferred embodiment of the utility model, triode Q1, triode Q2, triode Q9, triode Q10 are NPN type triode, triode Q7, triode Q8 are PNP type triode, field effect transistor Q3, field effect transistor Q4, field effect Answering transistor Q5, field effect transistor Q6 is all metal-oxide-semiconductor.

As a kind of preferred embodiment of the utility model, metal-oxide-semiconductor Q3, metal-oxide-semiconductor Q5 are P-channel metal-oxide-semiconductor, metal-oxide-semiconductor Q4, MOS Pipe Q6 is N-channel MOS pipe.

The utility model has the beneficial effects that the utility model control system passes through pair to circuit for controlling motor and differential mechanism Improve again, preferably control direct current generator and power transmitting, can effectively realize perambulator slowly start with slow brake, to tooth Wheel realizes protection, and guarantees children's safety, meets perambulator safety requirements.

Detailed description of the invention

Fig. 1 is the whole control block of the utility model；

Fig. 2 is the circuit diagram of the circuit for controlling motor of the utility model；

Fig. 3 is single-chip microcontroller two-port output waveform figure when the direct current generator of the utility model rotates forward delay startup；

Fig. 4 is that the direct current generator of the utility model rotates forward slow stopping time single-chip microcontroller two-port output waveform figure；

Fig. 5 is topology theory figure when the direct current generator of the utility model rotates forward；

Fig. 6 is effective voltage waveform diagram when the direct current generator of the utility model rotates forward；

Single-chip microcontroller two-port output waveform figure when Fig. 7 is the direct current generator reversion delay startup of the utility model；

Fig. 8 is that the direct current generator of the utility model inverts slow stopping time single-chip microcontroller two-port output waveform figure；

Topology theory figure when Fig. 9 is the direct current generator reversion of the utility model；

Effective voltage waveform diagram when Figure 10 is the direct current generator reversion of the utility model；

Figure 11 is the perspective view of the differential mechanism of the utility model；

Figure 12 is that the differential mechanism of the utility model hides the perspective view after differential casing；

Figure 13 is the top view of the differential mechanism of the utility model；

Figure 14 is the cross-sectional view in the direction A-A in Figure 13；

Figure 15 is the cross-sectional view in the direction B-B in Figure 13；

Figure 16 is the scheme of installation of the second gear of the differential mechanism of the utility model, gear housing；

Figure 17 is second gear, gear housing, planetary gear, the planet axis, bevel gear of the differential mechanism of the utility model Exploded view；

Figure 18 is the bevel gear of the differential mechanism of the utility model, front shaft sleeve, the first plain cushion, ripple spring washer, the second plain cushion, circle The assembling schematic diagram of ring；

Figure 19 is the bevel gear of the differential mechanism of the utility model, front shaft sleeve, the first plain cushion, ripple spring washer, the second plain cushion, circle The cross-sectional view of ring；

Figure 20 is the bevel gear of the differential mechanism of the utility model, front shaft sleeve, the first plain cushion, ripple spring washer, the second plain cushion, circle The exploded view of ring；

Figure 21 is the perspective view of the front shaft sleeve of the differential mechanism of the differential mechanism of the utility model；

Figure 22 is the cross-sectional view of the bolt axle of the differential mechanism of the utility model；

Figure 23 is the rear axle housing of the differential mechanism of the utility model and the exploded view of shaft coupling；

Figure 24 is the rear axle housing of the differential mechanism of the utility model and the cross-sectional view of shaft coupling.

Specific embodiment

With reference to the accompanying drawing, specific embodiments of the utility model will be further explained:

It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only For ease of description the utility model and simplify description, rather than the position of indication or suggestion meaning or element must have it is specific Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary, It can be the connection inside two elements.For the ordinary skill in the art, it is above-mentioned that concrete condition understanding can be regarded The concrete meaning of term in the present invention.

As shown in Figure 1, a kind of perambulator, which delays to open to delay, stops control system, including foot pedal 01, driver 02 and differential mechanism 03, foot Pedal 01 divides to start foot pedal and parking foot pedal, and after children step on foot pedal 01, foot pedal 01 can pass through conducting wire or bluetooth Or the modes such as wireless send starting or cutoff command reaches driver 02, pcb board are housed, pcb board is equipped with electricity inside driver 02 Machine control circuit, circuit for controlling motor drive direct current generator M1 in differential mechanism.

The circuit for controlling motor include single-chip microcontroller, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, resistance R6, Resistance R7, triode Q1, triode Q2, triode Q7, triode Q8, triode Q9, triode Q10, field effect transistor Q3, The port PWM-F of field effect transistor Q4, field effect transistor Q5, field effect transistor Q6, single-chip microcontroller connect the one end resistance R1, Resistance R1 other end connecting triode Q2 base stage, triode Q2 emitter is grounded and collector connects resistance R3, resistance R5, resistance The one end R3 connection resistance R4, triode Q9 collector, field effect transistor Q3 drain electrode, field effect transistor Q5 drain electrode, triode Q10 collector, the one end resistance R5 connecting triode Q9 base stage, triode Q7 base stage, triode Q9 emitter, triode Q7 transmitting Pole connects field effect transistor Q3 grid, field effect transistor Q4 grid, field effect transistor Q3 source electrode, field effect transistor Q4 Drain electrode connection one end direct current generator M1, the port PWM-B of single-chip microcontroller connect the one end resistance R2, resistance R2 other end connecting triode Q1 base stage, triode Q1 emitter is grounded and collector connects the resistance R4 other end, the one end resistance R6, the one end resistance R6 connection three Pole pipe Q8 base stage, triode Q10 base stage, triode Q8 grounded collector, triode Q8 emitter, triode Q10 emitter connect Connect field effect transistor Q5 grid, field effect transistor Q6 grid, field effect transistor Q5 source electrode, field effect transistor Q6 drain electrode The direct current generator M1 other end is connected, field effect transistor Q4 source electrode, field effect transistor Q6 source electrode connect the one end resistance R7, resistance R7 other end ground connection.

Specifically, field effect transistor Q3, field effect transistor Q4, field effect transistor Q5, field effect transistor Q6 are For metal-oxide-semiconductor, metal-oxide-semiconductor Q3, metal-oxide-semiconductor Q5 are P-channel metal-oxide-semiconductor, and metal-oxide-semiconductor Q4, metal-oxide-semiconductor Q6 are N-channel MOS pipe, in addition, triode Q1, triode Q2, triode Q9, triode Q10 are NPN type triode, and triode Q7, triode Q8 are PNP type triode, electricity Resistance R1 resistance value is 1K Ω, and resistance R2 resistance value is 1K Ω, resistance R3 resistance value is 1K Ω, resistance R4 resistance value is 1K Ω, resistance R5 resistance value For 470 Ω, resistance R6 resistance value be 470 Ω, resistance R7 resistance value is 30m Ω.

The control principle of circuit for controlling motor: as illustrated in figures 3-6, duty ratio gradually broadens in Fig. 3, in Fig. 4 duty ratio by Gradual change is narrow, and by taking motor rotates forward that delay startup is gentle and stops as an example, when motor rotates forward delay startup state, the end PWM-F of single-chip microcontroller can be exported The signal waveform that duty ratio gradually broadens from 1%-100%, the end PWM-B keep low level；The signal of single-chip microcontroller output passes through two-stage Four MOS driving tube input terminals are loaded into after amplification, since PWM-B keeps low level, so Q5 is tended to remain on, Q6 is kept Off state, Q3 gradually become off state Q4 correspondence under the signal driving for the duty ratio that gradually broadens and gradually become on state, Direct current generator M1 completes gentle starting operating under metal-oxide-semiconductor driving.Motor rotates forward slow when stopping state, the end the PWM-F meeting of single-chip microcontroller The signal waveform that output duty cycle becomes narrow gradually, the end PWM-B keep low level, and Q3 gradually gradually becomes conducting by off state, Q4 is corresponding to gradually become cut-off by conducting, and under the action of metal-oxide-semiconductor Q3 and Q5, slow-absorbing rotor high speed is transported at motor both ends The electricity issued when turning stops terminating until slow, Q3 and Q5 two it is fully on, motor both ends are realized and electrically conduct, and keep short Line state realizes motor and slowly stalls.And as shown in Fig. 7~10, in Fig. 7, duty ratio gradually broadens, and duty ratio is gradually in Fig. 8 Narrow, motor reversal delay startup eases up the stopping time, and principle is identical, and two end signal of PWM-F and PWM-B of single-chip microcontroller exchanges, and work shape State is opposite；It is same to realize that delay startup is gentle and stop and slow braking function.

As shown in Figure 11~17, differential mechanism include differential casing 1, direct current generator 2, worm screw 3, worm gear 4, first gear 5, Second gear 6, gear housing 7, planetary gear 8, planet axis 9, bevel gear 10, left output shaft 11 and right output shaft 12, differential mechanism Direct current generator 2 is installed, direct current generator output shaft, which protrudes into inside differential casing 1, is fixedly connected with worm screw 3, and worm screw 3 nibbles in the middle part of shell 1 Worm gear 4 is closed, worm gear 4 and first gear 5 are coaxially disposed, and first gear 5 engages second gear 6, second gear 6 and gear housing 7 It is fixedly connected with one, planetary gear 8, planet axis 9, bevel gear 10, row are installed in the inner cavity that second gear 6 and gear housing 7 form Star gear 8 there are two and center at concentric installation planet axis 9,9 both ends of planet axis rotational installation in gear housing 7, bevel gear There are two 10 and it is respectively fixedly connected with left output shaft 11,12 one end of right output shaft, two planetary gears 8 of upper and lower sides engage respectively Two bevel gears 10 of left and right sides, the sense of rotation of planetary gear 8 and the sense of rotation of bevel gear 9 are mutually perpendicular to, planetary gear 8 Revolution direction it is identical as the sense of rotation of bevel gear 10, direct current generator 2 drive worm screw 3 rotate, worm screw 3 drive worm gear 4 rotate, Worm gear 4 drives first gear 5 to rotate, and first gear 5 drives second gear 6 to rotate, and second gear 6 drives gear housing 7 to rotate, When toy car straight-line travelling, the resistance that the wheel of left and right two is subject to is the same, and the revolution not rotation of planetary gear 8, bevel gear 10 will move Power is transmitted to left output shaft 11, right output shaft 12, and left and right wheels revolving speed is the same at this time, when toy car turning when, left and right wheels by The resistance arrived is different, and planetary gear 8 is around left output shaft 11, the revolution of right output shaft 12 and rotation simultaneously, to absorb resistance Difference enables left output shaft 11, right output shaft 12 to rotate at different rates, guarantees that toy car is smooth excessively curved, simultaneously as snail Bar 3, worm gear 4 have the function of reverse self-locking, i.e., can only worm screw drive worm gear, and worm screw cannot be driven by worm gear, work as direct current generator It, can effective protection motor when being motor driven control circuit braking.

As shown in Figure 19~21, left output shaft 11 is identical with right 12 structure of output shaft, left output shaft 11 and left bevel gear Front shaft sleeve 13 is installed between 10, front shaft sleeve 13 is installed, front shaft sleeve 13 includes by preceding between right output shaft 12 and left bevel gear 10 The first positioning region 131, the second positioning region 132, cylindrical portion 133 being arranged backward, the first positioning region 131, the second positioning region 132 have 2~6 straight flanges, for example, there are 2 straight flanges in the first positioning region 131, the second positioning region 132, cross section is round upper and lower sides crosscutting two There are 3 straight flanges in knife structure, the first positioning region 131, the second positioning region 132, and cross section is the crosscutting three knives structure i.e. three in round side Angular, there are 4 straight flanges in the first positioning region 131, the second positioning region 132, and cross section is the round crosscutting four knives structure in side up and down I.e. rectangular, rectangular is best preferred embodiment, and there are 5 straight flanges in the first positioning region 131, the second positioning region 132, and cross section is in circle The lower crosscutting 5 knife structure, that is, pentagon of left and right sides, the first positioning region 131, the second positioning region 132, cross section be it is round up and down The crosscutting 6 knife structure, that is, hexagon in side, is equipped at 10 center of bevel gear and the first positioning region 131,132 outer profile phase of the second positioning region The shrinkage pool of cooperation, left output shaft 11,12 front end of right output shaft are equipped with bolt axle 14, and the cross section of bolt axle 14 is arc side and straight line Composition it is non-circular, the non-circular cavity that matches with 14 outer profile of bolt axle is equipped at 133 center of cylindrical portion, before front shaft sleeve 13 Side is fitted into connection bevel gear 10 in shrinkage pool by the first positioning region 131, the second positioning region 132, and the is relied on when bevel gear 10 rotates One positioning region 131, the second positioning region 132 drive front shaft sleeve 13 to rotate, and 13 rear of front shaft sleeve is packed into non-circular by bolt axle 14 Left output shaft 11, right output shaft 12 are connected in cavity, are driven bolt axle 14 by entering non-circular cavity when front shaft sleeve 13 rotates, are inserted Pin shaft 14 drives left output shaft 11, right output shaft 12 to rotate, and realizes the left output shaft 11 of 10 stable drive of bevel gear, right output shaft 12。

Specifically, 133 peripheral side of cylindrical portion is successively set with the first plain cushion 15, ripple spring washer 16, the second plain cushion from front to back 17, annulus 18,15 front end of the first plain cushion are in contact with bevel gear 10；Rear end is in contact with ripple spring washer 16, before the second plain cushion 17 End is in contact with ripple spring washer 16；Rear end is in contact with annulus 18, effectively buffers the vibration of bevel gear 10 and influences left output shaft 11, right 12 proper motion of output shaft, and worm screw 3 is made of metal, first gear 5, second gear 6, planetary gear 8, cone tooth Wheel 10 is all made of plastic cement and is made, and metal combination plastic cement can effectively further decrease drive noise, and direct current generator output shaft passed through It is full of cooperation or screw or key is fixedly connected with worm screw 3.In addition, as shown in figs. 23 and 24, left output shaft 11,12 rear end mistake of right output shaft It is full of cooperation suit rear axle housing 19, the cross section of part is also rectangular after rear axle housing 19, is equipped at 20 center of shaft coupling and rear axle housing The shrinkage pool that 19 outer profiles match, rear axle housing 19 are fitted into shrinkage pool, and shaft coupling 20 connects axle, left output shaft 11, right output shaft 12 are rotated by 20 accurate strips motor-car axis of shaft coupling.

When circuit for controlling motor controls motor rotating forward delay startup, direct current generator 2 drives worm screw 3 to rotate, and worm screw 3 drives worm gear 4 rotations, worm gear 4 drive first gear 5 to rotate, and first gear 5 drives second gear 6 to rotate, and second gear 6 drives gear housing 7 rotations, gear housing 7 drive planetary gear 8 to revolve by planet axis 9,8 driving bevel gear of planetary gear, 10 rotation, bevel gear 10 rotations drive left output shaft 11, right output shaft 12 to rotate, to absorb resistance difference, enable left output shaft, right output shaft with Different speed rotations, cooperates circuit part smooth starting, meanwhile, worm and gear has the function of reverse self-locking, i.e., can only worm screw Worm gear is driven, and worm screw cannot be driven by worm gear, it can effective brake deceleration perambulator 04 and protection motor.

It, cannot the above content is specific preferred embodiment further detailed description of the utility model is combined Assert that the specific implementation of the utility model is only limited to these instructions, for the ordinary skill of the utility model technical field For personnel, without departing from the concept of the premise utility, a number of simple deductions or replacements can also be made, should all regard To belong to the protection scope of the utility model.

Claims (7)

1. a kind of perambulator, which delays to open to delay, stops control system, including foot pedal, driver and differential mechanism, foot pedal sends starting or parking Instruction reaches driver, and driver is equipped with circuit for controlling motor, and circuit for controlling motor drives direct current generator M1 in differential mechanism, special Sign is: the circuit for controlling motor include single-chip microcontroller, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, resistance R6, Resistance R7, triode Q1, triode Q2, triode Q7, triode Q8, triode Q9, triode Q10, field effect transistor Q3, Field effect transistor Q4, field effect transistor Q5 and field effect transistor Q6, the port PWM-F of single-chip microcontroller connect resistance R1, electricity R1 connecting triode Q2 base stage is hindered, triode Q2 emitter is grounded and collector connects resistance R3, resistance R5, resistance R3 connection electricity Hinder the one end R4, triode Q9 collector, field effect transistor Q3, field effect transistor Q5, triode Q10 collector, resistance R5 Connecting triode Q9 base stage, triode Q7 base stage, triode Q9 emitter, triode Q7 emitter connect field effect transistor Q3, field effect transistor Q4, field effect transistor Q3, the one end field effect transistor Q4 connection direct current generator M1, single-chip microcontroller The port PWM-B connects resistance R2, and resistance R2 connecting triode Q1 base stage, triode Q1 emitter is grounded and collector connects resistance R4, resistance R6, resistance R6 connecting triode Q8 base stage, triode Q10 base stage, triode Q8 grounded collector, triode Q8 hair Emitter-base bandgap grading, triode Q10 emitter connect field effect transistor Q5, field effect transistor Q6, and field effect transistor Q5, field-effect are brilliant The body pipe Q6 connection direct current generator M1 other end, field effect transistor Q4, field effect transistor Q6 connection resistance R7, resistance R7 connect Ground.

2. a kind of perambulator according to claim 1, which delays to open to delay, stops control system, it is characterised in that: the differential mechanism includes poor Fast device shell, direct current generator, worm screw, worm gear, first gear, second gear, gear housing, planetary gear, planet axis, cone tooth Direct current generator is installed at wheel, left output shaft and right output shaft, differential casing middle part, and direct current generator output shaft protrudes into differential casing Inside is fixedly connected with worm screw, worm screw engaging worm wheel, worm gear and first gear coaxial arrangement, and first gear engages second gear, the Two gears are fixedly connected with one with gear housing, the inner cavity installation planetary gear of second gear and gear housing composition, planet axis, Bevel gear, planetary gear there are two and center at concentric installation planet axis, the rotational installation of planet axis both ends is in gear housing, cone There are two gears and is respectively fixedly connected with left output shaft, right output shaft one end, and two planetary gears of upper and lower sides engage a left side respectively The sense of rotation of two bevel gears on right side, planetary gear sense of rotation and bevel gear is mutually perpendicular to, planetary gear revolution Direction is identical as the sense of rotation of bevel gear.

3. a kind of perambulator according to claim 2, which delays to open to delay, stops control system, it is characterised in that: left output shaft and right output Axle construction is identical, and front shaft sleeve is installed between left output shaft, right output shaft and bevel gear, and front shaft sleeve includes being arranged from the front to the back First positioning region, the second positioning region, cylindrical portion, are equipped at bevel gear center and the first positioning region, the second positioning region outer profile phase The shrinkage pool of cooperation, left output shaft, right output shaft front end are equipped with bolt axle, and the cross section of bolt axle is the non-of arc side and rectilinear(-al) Circle is equipped with the non-circular cavity matched with bolt axle outer profile at cylindrical portion center, passes through the first positioning in front of front shaft sleeve Portion, the second positioning region are fitted into shrinkage pool and connect bevel gear, and front shaft sleeve rear is fitted into non-circular cavity by bolt axle and connects a left side Output shaft, right output shaft.

4. a kind of perambulator according to claim 3, which delays to open to delay, stops control system, it is characterised in that: the cylindrical portion peripheral side It is successively set with the first plain cushion, ripple spring washer, the second plain cushion, annulus from front to back, the first plain cushion front end is in contact with bevel gear；Afterwards End is in contact with ripple spring washer, and the second plain cushion front end is in contact with ripple spring washer；Rear end is in contact with annulus.

5. a kind of perambulator according to claim 2, which delays to open to delay, stops control system, it is characterised in that: the left output shaft, the right side Export shaft rear end interference fit suit rear axle housing, the cross section of part is also rectangular after rear axle housing, be equipped at shaft coupling center with The shrinkage pool that rear axle housing outer profile matches, rear axle housing are fitted into shrinkage pool, and shaft coupling connects axle.

6. a kind of perambulator according to claim 1, which delays to open to delay, stops control system, it is characterised in that: triode Q1, triode Q2, triode Q9, triode Q10 are NPN type triode, and triode Q7, triode Q8 are PNP type triode, field effect transistor Pipe Q3, field effect transistor Q4, field effect transistor Q5, field effect transistor Q6 are metal-oxide-semiconductor.

7. a kind of perambulator according to claim 6, which delays to open to delay, stops control system, it is characterised in that: metal-oxide-semiconductor Q3, metal-oxide-semiconductor Q5 For P-channel metal-oxide-semiconductor, metal-oxide-semiconductor Q4, metal-oxide-semiconductor Q6 are N-channel MOS pipe.