WO2009086711A1 - 电动玩具双足行进机构 - Google Patents

电动玩具双足行进机构 Download PDF

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Publication number
WO2009086711A1
WO2009086711A1 PCT/CN2008/000448 CN2008000448W WO2009086711A1 WO 2009086711 A1 WO2009086711 A1 WO 2009086711A1 CN 2008000448 W CN2008000448 W CN 2008000448W WO 2009086711 A1 WO2009086711 A1 WO 2009086711A1
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WIPO (PCT)
Prior art keywords
leg
upright
rod
link
biped
Prior art date
Application number
PCT/CN2008/000448
Other languages
English (en)
French (fr)
Inventor
Shijie Zheng
Original Assignee
Suzhou Industrial Park Robotime Technology Co., Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou Industrial Park Robotime Technology Co., Ltd filed Critical Suzhou Industrial Park Robotime Technology Co., Ltd
Publication of WO2009086711A1 publication Critical patent/WO2009086711A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H11/00—Self-movable toy figures
    • A63H11/18—Figure toys which perform a realistic walking motion

Definitions

  • the utility model relates to an electric toy, in particular to a bipedal traveling mechanism of an electric toy. Background technique
  • the utility model provides a double-foot traveling mechanism for an electric toy.
  • An electric toy bipedal traveling mechanism has a body main body, and an upright leg is arranged on two sides below the body main body, and the characteristics are: a lumbar support that swings left and right, the lumbar support and The upright leg constitutes a leg raising mechanism; and, in addition, a leg link and a sole, the leg link and the foot together with the upright leg constitute a foot movement mechanism.
  • a leg rotating shaft is disposed on both sides of the waist bracket, and a leg rotating shaft hole is opened in the leg> portion of the upright leg, and the leg rotating shaft is worn in the leg rotating shaft hole;
  • the two sides of the waist support are also provided with an outwardly protruding pendulum rod, and a finite gap is opened on the outer edge of the leg root of the upright leg, and the pendulum rod is disposed in the limit gap;
  • a drive motor is fixedly mounted on the swing rod as The power source, the output shaft of the drive motor is connected to the waist bracket.
  • a leg link is disposed on an inner side of the upright leg
  • a sole is disposed at a lower end of the upright leg
  • a leg connecting shaft and a leg connecting rod are disposed on a front side and a rear side of the inner side of the sole
  • the lower ends of the upright leg and the leg link are respectively movably connected with the leg connecting shaft and the leg connecting rod connecting shaft
  • the upper end of the leg connecting rod is provided with a driving rod hole
  • the leg connecting rod driving is arranged on both sides of the waist bracket
  • the rod, the leg link drive rod is worn in the drive rod hole, and a limited position chute is disposed inside the upright leg where the leg link drive rod and the leg link are connected.
  • the toy bipedal traveling mechanism of the utility model has the advantages of simple structure and novel design, and the foot can follow the movement while the feet are standing upright, the body can also oscillate, and the travel is relatively stable, thereby enhancing the toy.
  • the dynamic and authenticity of the march improves the playability and enjoyment of the toy and can be promoted and applied in the industry.
  • FIG. 1 is a schematic view of the overall structure of the present invention.
  • FIG. 2 is a schematic view of the leg mechanism of the present invention.
  • 3 is a schematic view showing the inner structure of the upright leg of the present invention.
  • Figure 4 is a simplified diagram of the mechanism of the present invention.
  • Figure 5 is a side view of the mechanism of Figure 4.
  • an electric toy biped traveling mechanism has a body main body 1 , and two leg portions 2 are disposed on two sides below the body main body 1 , and a body portion of the body main body 1 is provided with a waist bracket that can swing left and right. 3, the waist support 3 and the upright leg 2 constitute a leg lift mechanism; at the same time, another leg link 4 palm 5, the leg link 4 and the foot 5 together with the upright leg 1 constitute a foot movement mechanism.
  • a leg rotating shaft 6 is disposed on both sides of the waist bracket 3, and a leg rotating shaft hole 7 is formed in the leg root portion of the upright leg 2, and the leg rotating shaft 6 is worn in the leg rotating shaft hole
  • a swinging rod 8 protruding outward is further disposed on both sides of the waist bracket 3, and a limit opening 9 is opened on the outer edge of the leg root of the upright leg 2, and the swinging rod 8 is disposed in the limiting slit 9.
  • a drive motor 10 is fixedly mounted on the swing lever 8, and the output shaft of the drive motor 10 is connected to the waist bracket 3.
  • the leg link 4 is disposed inside the upright leg 2, the sole 5 is disposed at the lower end of the upright leg 2, and the leg connecting shaft 11 and the leg connecting rod are disposed at the front and the rear of the inner side of the sole 5
  • the lower end of the shaft 12, the upright leg 2 and the leg link 4 are respectively connected to the leg shaft 11 and
  • the leg connecting rod connecting shaft 12 is movably connected, the upper end of the leg connecting rod 4 is provided with a driving rod hole 13 , and the leg connecting rod driving rod 14 is disposed on both sides of the lumbar support 3 , and the leg connecting rod driving rod 14 is worn In the drive rod hole 13.
  • a limit groove 15 is provided inside the upright leg 2 where the leg link drive lever 14 and the leg link 4 are connected.
  • the operation process is as follows: the driving motor 10 is started, the output shaft of the driving motor 10 is reciprocatingly deflected, and the driving motor 10 drives the waist bracket 3 to swing left and right, and then the leg connecting rod driving rod 14 drives the leg connecting rod 4. The legs are even dry. 4 Move the soles of the feet. 5 Raise and fall. When one of the soles 5 is grounded and then stopped by the ground resistance, the driving motor 10 is still swinging, and the body main body 1 and the swinging rod 8 disposed at the two ends of the waist bracket 3 are tapped to the upper and lower edges of the limiting slot 9.
  • the opening width of the slit 9 determines the extent of rotation of the upright leg 2 about the leg rotation axis 6.
  • the leg rotating shaft 6, the swing link 8, the leg connecting shaft 11 and the leg connecting rod connecting shaft 12 are used as movable joint points, so that the upright leg 2, the leg connecting rod 4 and the sole 5 form a link mechanism, and the swing rod 8 passes through the gap 9 limit, the leg link drive rod 14 slides up and down in the limit chute 15, which defines the amplitude of the leg link 4 up and down movement, and at the same time limits the range of movement of the foot 5 .
  • the whole mechanism realizes that the body is driven by the upright leg 2 while swinging forward, the foot 5 is also up-and-down during the striding process.
  • the biped travel mechanism of the present invention can mimic the walking manner of large animals or robots such as dinosaurs, bears, and orangutans.

Landscapes

  • Toys (AREA)

Description

电动玩具双足行进机构
技术领域
本实用新型涉及一种电动玩具， 尤其是一种电动玩具的双足行进机 构。 背景技术
目前市场上各类电动玩具层出不穷， 其中也不乏可以双足行进的电 动玩具， 如电动恐龙、 狗熊、 猩猩、 机器人等， 但这类电动玩具要么结 构较为复杂， 要么行进动作比较呆板， 缺乏新意， 耐玩性和观赏性较差。
公开号为 CN2461625 的中国专利 "四足爬行玩具" 及公开号为 CN2582702的中国专利 "四足玩具动物全方位行走机构" 所公开的结构， 其为了实现行走或摆动， 需要采用大量的蜗杆、 蜗轮、 曲柄、 左右转动 动力输出轮和一系列传动轮、 齿条及换向轮， 使得玩具的构造极为复杂， 制造加工繁瑣， 无法实现消费者自我组装的益智化过程。 并且， 过于繁 瑣的结构不利于玩具的长时间运行， 动作比较单一化， 通常脚掌与腿部 固定在一起， 脚掌与腿之间无相对运动， 影响了行进的平稳性。 发明内容
为了克服上述电动玩具存在的不足， 本实用新型提供了一种电动玩 具双足行进机构。
本实用新型解决其技术问题所釆用的技术方案是： 一种电动玩具双 足行进机构， 具有身体主体， 在身体主体下方的两侧设置有直立腿， 其 特点是： 身体主体内部设有可以左右摆动的腰部支架， 所述腰部支架与 直立腿组成抬腿行进机构； 并且， 另有腿部连杆及脚掌， 所述腿部连杆 及脚掌与直立腿一起构成脚掌运动机构。
具体地： 所述抬腿行进机构中， 在腰部支架的两侧设置有腿转动轴， 在直立腿的腿 >部位开有腿转动轴孔， 腿转动轴穿装在腿转动轴孔内； 在腰部支架的两侧还设置有向外凸伸的摆杆， 在直立腿的腿根后方外缘 上开有限位豁口， 摆杆设置在限位豁口内； 在摆杆上固定安装有驱动电 机作为动力源， 驱动电机的输出轴与腰部支架连接。
具体地： 所述脚掌运动机构中，在直立腿的内侧设置有腿部连杆， 在 直立腿的下端设置有脚掌， 在脚掌内侧的前、 后方设置有腿连接轴和腿 部连杆连接轴， 直立腿和腿部连杆的下端分别与腿连接轴和腿部连杆连 接轴活动连接， 腿部连杆的上端设置有驱动杆孔， 在腰部支架的两侧设 置有腿部连杆驱动杆， 腿部连杆驱动杆穿装在驱动杆孔内， 在腿部连杆 驱动杆与腿部连杆连接处的直立腿的内侧设置有限位滑槽。
本实用新型所述的玩具双足行进机构， 结构简单、 设计新颖， 在实 现双足直立行进的同时， 脚掌能跟随着一起运动， 身体也能随着摆动， 且行进比较平稳， 从而增强了玩具行进时的动感性和真实性， 提高了玩 具的耐玩性和观赏性， 可在业内推广应用。 附图说明
下面结合附图和实施例对本实用新型技术方案作进一步说明。
图 1是本实用新型整体结构示意图。
图 2是本实用新型腿部机构示意图。 图 3是本实用新型直立^腿内侧结构示意图。
图 4是本实用新型机构简图。
图 5是图 4的侧面方向机构筒图。
图中： 1.身体主体 2.直立腿 3.腰部支架 4.腿部连杆 5.脚掌 6.腿转动轴 7Ji转动轴孔 8.摆杆 9.限位豁口 10.驱动电机 11. 腿连接轴 12.腿部连杆连接轴 13.驱动杆孔 14 J€部连杆驱动杆 15.限位滑槽 具体实施方式
如图 1 ~图 5所示， 一种电动玩具双足行进机构， 具有身体主体 1 , 在身体主体 1下方的两侧设置有直立腿 2 ,其身体主体 1内部设有可以左 右摆动的腰部支架 3 , 腰部支架 3与直立腿 2组成抬腿行进机构； 同时， 另有腿部连杵 4 掌 5，腿部连杆 4及脚掌 5与直立腿 1一起构成脚掌 运动机构。
所述抬腿行进机构中， 在腰部支架 3的两侧设置有腿转动轴 6 ,在直 立腿 2的腿根部位开有腿转动轴孔 7,腿转动轴 6穿装在腿转动轴孔 Ί内； 在腰部支架 3的两侧还设置有向外凸伸的摆杆 8 ,在直立腿 2的腿根后方 外缘上开有限位豁口 9，摆杆 8设置在限位豁口 9内。在摆杆 8上固定安 装有驱动电机 10， 驱动电机 10的输出轴与腰部支架 3连接。
所述脚掌运动机构中， 腿部连杆 4设置在直立腿 2 的内侧， 脚掌 5 设置在直立腿 2的下端， 在脚掌 5内侧的前、 后方设置有腿连接轴 11和 腿部连杆连接轴 12 ,直立腿 2和腿部连杆 4的下端分别与腿连接轴 11和 腿部连杆连接轴 12活动连接，腿部连杆 4的上端设置有驱动杆孔 13 , 在 腰部支架 3的两侧设置有腿部连杆驱动杆 14，腿部连杆驱动杆 14穿装在 驱动杆孔 1 3内。 在腿部连杆驱动杆 14与腿部连杆 4连接处的直立腿 2 的内侧设置有限位滑槽 15。
其动作过程为： 驱动电机 10启动， 驱动电机 10的输出轴作往复偏 转运动，驱动电机 10带动腰部支架 3左右摆动，再由腿部连杆驱动杆 14 带动腿部连杆 4。 腿部连干 4带动脚掌 5抬起与落下。 当其中一只脚掌 5 着地后受地面阻力后停止， 此时驱动电机 10还在摆动， 这时会带动身体 主体 1以及设置于腰部支架 3两端的摆杆 8拍打限位格口 9的上下沿， 驱使直立腿 2绕腿转动轴 6转动， 使直立腿 2实现跨步动作， 由于电机 转动 10的固有频率使身体主体 1摆动和直立腿 2运动呈 180度相位差使 之保持一个良好的行走频率， 豁口 9的开口宽度决定直立腿 2绕腿转动 轴 6转动幅度。 以腿转动轴 6、 摆杆 8、 腿连接轴 11和腿部连杆连接轴 12作为活动关节点， 使直立腿 2、 腿部连杆 4和脚掌 5形成连杆机构， 摆杆 8通过豁口 9限位， 腿部连杆驱动杆 14在限位滑槽 15内上下滑动， 限定了腿部连杆 4上下运动的幅度， 同时也就限定的脚掌 5的运动幅度。 整个机构就实现了由直立腿 2带动身体 1摇摆前行的同时， 脚掌 5也在 跨步过程中作上翘和下压动作。
本实用新型所述的双足行进机构， 可模仿恐龙、 狗熊、 猩猩等大型 动物或机器人的行走方式。

Claims

权利 要求
1. 一种电动玩具双足行进机构， 具有身体主体（1),在身体主体（1) 下方的两侧设置有直立腿（2), 其特征是： 身体主体（1) 内部设有可以 左右摆动的腰部支架 （ 3 )， 所述腰部支架 （ 3 ) 与直立腿（ 2 )组成抬腿 行进机构； 并且， 另有腿部连杆（4 )及脚掌 （5), 所述腿部连杆（4) 及脚掌 （5)与直立腿（2)—起构成脚掌运动机构。
2. 根据权利要求 1所述的电动玩具双足行进机构， 其特征是： 所述 抬腿行进机构中， 在腰部支架（3)的两侧设置有腿转动轴（6), 在直立 腿（ 2 ) 的腿根部位开有腿转动轴孔（ 7 ), 腿转动轴（ 6 ) 穿装在腿转动 轴孔（7 ) 内； 在腰部支架 （3) 的后方设置有向外凸伸的摆杆（8), 在 直立腿（2) 的腿根后方外缘上开有限位豁口 （9)， 摆杆（8) 的端部设 置在限位豁口 （9) 内。
3. 根据权利要求 2所述的电动玩具双足行进机构， 其特征是： 在摆 杆（8)上固定安装有驱动电机（10), 驱动电机（10) 的输出轴与腰部 支架（ 3 )连接。
4. 根据权利要求 1所述的电动玩具双足行进机构， 其特征是： 所述 脚掌运动机构中， 腿部连杆（4)设置在直立腿（2) 的内侧， 脚掌 （5) 设置在直立腿（2) 的下端， 在脚掌 （5) 内侧的前、 后方设置有腿连接 轴（ 11 )和腿部连杆连接轴（ 12 ), 直立腿（ 2 )和^!部连杆（ 4 ) 的下端 分别与腿连接轴（ 11 )和腿部连杆连接轴（ 12 )活动连接， 腿部连杆（ 4 ) 的上端设置有驱动杆孔（13), 在腰部支架（3) 的两侧设置有腿部连杆 驱动杆 (14), 腿部连杆驱动杆 (14) 穿装在驱动杆孔 (13) 内。
5. 根据权利要求 4所述的电动玩具双足行进机构， 其特征是： 在腿 部连杆驱动杆（14 )与腿部连杆（4)连接处的直立腿（2) 的内侧设置 有限位滑槽（15)。
PCT/CN2008/000448 2008-01-07 2008-03-06 电动玩具双足行进机构 WO2009086711A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN200820030562.0 2008-01-07
CN200820030562 2008-01-07

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WO2009086711A1 true WO2009086711A1 (zh) 2009-07-16

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4244141A (en) * 1977-02-18 1981-01-13 Mattel, Inc. Walking turning doll mechanism
GB2215223A (en) * 1988-12-01 1989-09-20 Yeh Mon Cheng Mechanically driven toy figures
US5088954A (en) * 1991-01-25 1992-02-18 Breslow, Morrison, Terzian & Associates, Inc. Manually assisted and controlled walking doll
CN2142034Y (zh) * 1992-11-30 1993-09-15 黄立强 玩具的行走机构
CN2411046Y (zh) * 2000-02-12 2000-12-20 诠丰玩具股份有限公司 行走摆动的玩具
CN2522129Y (zh) * 2001-12-06 2002-11-27 达淑娟 机械玩具之摆动机构
JP2003260274A (ja) * 2002-03-12 2003-09-16 Kansai Tlo Kk 二足歩行型ロボット
CN1456380A (zh) * 2001-07-20 2003-11-19 张力元 步行装置
CN2605903Y (zh) * 2003-01-27 2004-03-10 谢派昌 电动两足行走玩具

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4244141A (en) * 1977-02-18 1981-01-13 Mattel, Inc. Walking turning doll mechanism
GB2215223A (en) * 1988-12-01 1989-09-20 Yeh Mon Cheng Mechanically driven toy figures
US5088954A (en) * 1991-01-25 1992-02-18 Breslow, Morrison, Terzian & Associates, Inc. Manually assisted and controlled walking doll
CN2142034Y (zh) * 1992-11-30 1993-09-15 黄立强 玩具的行走机构
CN2411046Y (zh) * 2000-02-12 2000-12-20 诠丰玩具股份有限公司 行走摆动的玩具
CN1456380A (zh) * 2001-07-20 2003-11-19 张力元 步行装置
CN2522129Y (zh) * 2001-12-06 2002-11-27 达淑娟 机械玩具之摆动机构
JP2003260274A (ja) * 2002-03-12 2003-09-16 Kansai Tlo Kk 二足歩行型ロボット
CN2605903Y (zh) * 2003-01-27 2004-03-10 谢派昌 电动两足行走玩具

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