CN204932836U - Wheel can become born of the same parents' toy robot completely - Google Patents

Abstract

A reversible toy robot with wheels and feet, which mainly includes a frame, a single-chip microcomputer, a control panel, a front wheel, a left rear wheel, a right rear wheel, 2 infrared sensors, 2 black and white line tracking sensors, and a foot-like walking robot. Four mechanical legs with the same structure. The four mechanical legs with the same structure are respectively arranged at the front, rear, left, and right sides of the bottom of the frame, and the front wheels and the left and right rear wheels are arranged on the back of the frame; On the front of the rack, the control board is fixed on the rear side of the front of the rack, and the control board is equipped with a single-chip microcomputer. The motor is connected, and the steering gear controller controls the big and small leg steering gears on the above four mechanical legs with the same structure. The utility model can realize the independent movement of the wheel type and the foot type, reduces the coupling degree of the wheel type and the foot type motion, and increases the applicability and appreciation of the robot.

Description

Wheel-Footed Cellular Toy Robot

technical field

The utility model belongs to the field of robots, in particular to a toy robot.

Background technique

With the improvement of living standards, toy robots have also begun to enter our lives. Remote-controlled toy robots such as toy cars and mechanical dogs are children's favorites. However, traditional single-function toys can no longer satisfy children's curiosity. The toy car moves smoothly, moves fast on flat roads, and is easy to control. Although dog-like robots are better able to adapt to complex terrain, their movement speed is relatively low. Existing wheel-footed reversible cellular robots can switch between wheeled and footed movements according to different terrain environments. The existing patents CN103010331B and CN102849141B all focus on making the robot have two types of movement, wheeled and footed, and its application The purpose is clear and single; the existing patent CN102698440B authorizes and publishes a deformed robot toy which will be highly ornamental, but also has the disadvantage of a single function. Effectively increase the applicability and appreciation of the robot.

Contents of the invention

The purpose of the utility model is to provide a wheel-foot reversible toy robot that can realize multiple functions according to different environments.

The utility model comprises a frame, a single-chip microcomputer, a control panel, a front wheel, a left rear wheel, a right rear wheel, 2 infrared sensors, 2 black and white line tracking sensors and four mechanical legs with the same structure that can walk on feet. Among them, the four mechanical legs with the same structure are respectively arranged at the front, rear, left, and right sides of the bottom of the frame, and are symmetrically arranged. Each mechanical leg mainly includes a thigh, a thigh steering gear, a calf and a calf steering gear. The thigh steering gear is connected to the thigh steering gear through bolts. The frame is fixedly connected, and the thigh servo is fixedly connected with the U-shaped frame connected with the thigh frame at the same time. The thigh frame is connected with the U-shaped frame through bolts and the frame is fixed. The machine is fixedly connected with the shank rudder frame by bolts, and the shank rudder is fixedly connected with the U-shaped frame connecting the large and small legs at the same time, and the bottom of the above-mentioned thigh rudder frame is fixedly connected on the large-leg connected U-shaped frame.

The front wheel is a universal wheel, and the front wheel is fixed on the front side of the back of the frame through the front wheel bracket; a DC motor is respectively arranged on the rear side of the back of the frame and between the front and rear mechanical legs, and the DC motor passes through the DC motor frame. Fixed on the frame, the left rear wheel and the right rear wheel are respectively fixedly connected to the output shaft of the DC motor, and the DC motor provides drive for the rear wheels.

The black-and-white line tracking sensor bracket is fixed on the back of the frame near the front wheel, and the black-and-white line tracking sensor is fixed on both sides of the support, and the robot moves forward after obtaining the correct direction by sensing the black line.

The two infrared sensors are respectively installed on the front side of the frame through the infrared sensor bracket and are arranged symmetrically at 90° to detect obstacles in front, and can travel normally after turning left or right to avoid obstacles.

The control board is fixed on the rear side of the front of the frame, and the control board is provided with a single-chip microcomputer, and the output pins of the single-chip microcomputer are respectively connected with the steering gear controller, the wireless module of the lower computer, the infrared sensor, the black and white line tracking sensor and the DC motor , the control board controls the large and small leg servos on the above four mechanical legs with the same structure.

The utility model's wheel-foot walking mode is as follows: the single-chip microcomputer receives the control signal data through the wireless module of the lower computer, and performs the discrimination of the last flag bit to realize the transformation of the walking mode. If it is 1, the DC motor used to drive the wheels does not If it works, the rudder unit runs to realize leg-style walking; if it is 0, the data of the rudder unit is invalid, and the DC motor runs to realize wheel-style walking. Through the control of the upper computer, it is easy to realize the transformation of the wheel-foot walking mode.

Compared with the prior art, the utility model has the following advantages:

1. Compared with other wheel-foot robots, this utility model adopts a separate installation and arrangement of wheel and foot, which can realize the independent movement of wheel and foot, and reduce the coupling degree of wheel and foot movement. When using the wheel pose, the foot leg can change shape arbitrarily by changing the rotation angle of the steering gear, so as to achieve the effect of dancing during the movement.

2. It can walk upright and upside down. The upright way means that the rack-mounted wheels face down, and the inverted way means that the rack-mounted wheels face up, which improves the adaptability of the robot's footed movement to the environment.

3. Standing posture can be realized, the two legs on the rear side of the rack can stand up, and the two legs on the front side of the rack can be waved like human arms, and the dance performance can be realized with the movement of the standing legs.

Description of drawings

Fig. 1 is a schematic diagram of a front view of a three-dimensional structure of the present utility model;

Fig. 2 is a schematic view of the three-dimensional structure of the present invention;

Fig. 3 is a schematic diagram of the mechanical legs of the utility model;

Fig. 4 is a schematic diagram of the standing posture of the utility model.

detailed description

In the schematic diagram of the wheel-foot variable cell toy robot shown in Figure 1, the four mechanical legs with the same structure are respectively arranged at the front, rear, left, and right sides of the bottom of the frame 8, and are symmetrically arranged. The thigh steering gear 6 in each mechanical leg is connected with the The thigh rudder frame 5 is fixedly connected, and the thigh rudder is fixedly connected with the thigh frame connecting U-shaped frame 7 at the same time, and the thigh frame is connected with the U-shaped frame through bolts. At the bottom of the rack 3, the calf steering gear 1 is fixedly connected to the calf steering rack through bolts, and the lower leg steering gear is also fixedly connected to the thigh connecting U-shaped frame 4, and the bottom of the thigh steering rack is fixedly connected to the thigh connecting U. On the type frame (as shown in Figure 3); two infrared sensors 10 are installed on the front of the frame by the infrared sensor bracket 9, and the front sides of the two infrared sensors are arranged symmetrically at 90 °; the control board 13 is fixed behind the front of the frame On the control board, a single-chip microcomputer 12 is arranged, and the output pin of the single-chip microcomputer is connected to a steering gear controller, a lower computer wireless module, an infrared sensor, a black and white line tracking sensor, and a DC motor, and the steering gear controller can control The big and small servos on the above four mechanical legs with the same structure; the single-chip microcomputer receives signal data from the wireless control module of the lower computer to control the movement of the mechanical legs. As shown in Figure 2, the front wheel 15 is a universal wheel, and the front wheel is fixed on the front side of the frame back side by the front wheel bracket 16, and between the back side of the frame back side and the front and rear mechanical legs, a DC motor 19, 20. The DC motor is fixed on the frame through the DC motor frame 21, 22, and the left rear wheel 14 and the right rear wheel 11 are fixedly connected to the output shaft of the DC motor respectively; the black and white line tracking sensor bracket 17 is fixed on the back of the frame Near the position of the front wheel, the black and white line tracking sensor 18 is fixed on both sides of the bracket.

The wheeled walking mode of the utility model is as follows: the single-chip microcomputer receives the control signal data through the wireless module of the lower computer, and judges the last flag bit. If it is 0, the control board drives the DC motor to work, so that the left rear wheel and the right rear wheel rotate. , to realize the wheeled walking of the toy robot.

The switch of the wheeled and footed walking mode of the utility model: the single-chip microcomputer receives the control signal data through the wireless module of the lower computer, and judges the last flag bit. If it is 1, the single-chip microcomputer executes the steering gear program, and controls the rotation angle of the steering gear through the control board to move the legs.

The specific process of the utility model’s standing upright walking mode is that the steering gear of the left front leg calf rotates an angle counterclockwise, the left front calf is in a lifted state, and the thigh steering gear of the left front leg rotates forward an angle, at this time, the steering gear of the left hind leg thigh, The right front leg thigh servo and the right rear thigh servo turn backward for an angle at the same time, the left front calf servo rotates an angle clockwise, and the left front leg touches the ground to complete a quarter of the movement; the left hind leg calf servo 1 reverses The hour hand rotates an angle, the left rear calf is lifted, the left rear thigh servo 6 rotates forward an angle, at this time the left front thigh servo, the right front thigh servo, and the right hind thigh servo rotate backward at the same time At an angle, the left hind leg calf servo 1 rotates clockwise for an angle, and the left hind leg touches the ground to complete two quarters of the movement; The steering gear turns forward for an angle, then the left rear thigh servo 6, the left front thigh servo, and the right hind thigh servo rotate backward for an angle at the same time, the right front calf servo rotates an angle counterclockwise, and the right front leg Land on the ground and complete three quarters of the movement; the right rear leg servo turns an angle counterclockwise, the right rear leg is lifted, the right hind leg thigh servo turns forward an angle, and the left front thigh servo, The right front leg thigh steering gear and the left hind leg thigh steering gear 6 rotate backwards at an angle at the same time, the right rear leg calf steering gear rotates an angle clockwise, and the right hind leg touches the ground to complete the whole movement. The above action instructions constitute a cycle of the legged walking action.

The specific process of the footstand inverted walking mode of the utility model is that the steering gear of the left front leg calf rotates an angle counterclockwise, the left front calf is in a lifted state, and the thigh steering gear of the left front leg rotates forward an angle. The leg thigh servo and the right rear thigh servo turn backward at an angle at the same time, the left foreleg calf servo turns clockwise for an angle, and the left front leg touches the ground to complete a quarter of the movement; the left hind leg calf servo 1 counterclockwise Rotate an angle, the left rear calf is in the state of lifting, the left rear thigh servo 6 rotates forward an angle, at this time the left front thigh servo, the right front thigh servo, and the right hind thigh servo rotate backward at the same time At an angle, the left rear calf servo turns clockwise for an angle, and the left hind leg touches the ground to complete two quarters of the movement; the right front calf servo turns clockwise for an angle, the right front calf is lifted, and the right front thigh rudder The machine turns forward at an angle, at this time, the left rear thigh servo, the left front thigh servo, and the right hind thigh servo rotate backward at the same time, and the right front calf servo rotates an angle counterclockwise, and the right front leg touches the ground. Complete three quarters of the action; the right rear leg calf servo rotates an angle counterclockwise, the right rear leg is lifted, the right hind leg thigh servo rotates forward an angle, at this time the left front leg thigh servo, right front leg The thigh servo and the left rear thigh servo rotate backwards at the same time, and the right hind calf servo rotates clockwise for an angle, and the right hind leg touches the ground to complete the whole movement. The above action instructions constitute a cycle of the legged walking action.

The specific process of the standing dance of the utility model is as shown in Figure 4: the steering gear of the left rear leg and the right rear leg are rotated so that the left rear leg and the right rear leg are perpendicular to the frame, so that the robot is in a standing posture; The rotation of the left rear thigh servo and the right rear thigh servo can realize the overall twisting effect of the robot; the rotation of the left front leg and the middle right front leg servo can realize the waving movement of the robot's "arm".

Claims (1)

1. a wheel can become born of the same parents' toy robot completely, it comprises frame, single-chip microcomputer, control panel, for the front-wheel of running on wheels, left rear wheel, off hind wheel, 2 infrared ray sensors, 2 black and white line tracking sensors and can the identical pedipulator of four structures of sufficient formula walking, it is characterized in that: four pedipulators that described structure is identical to be located at bottom frame all around respectively, be arranged symmetrically, every bar pedipulator mainly comprises thigh steering wheel, shank and shank steering wheel, thigh steering wheel is connected by bolt and thigh steering wheel frame, this thigh steering wheel is connected U-shaped frame with thigh frame simultaneously and is connected, this thigh frame is connected U-shaped frame and is connected by bolt and frame, shank is connected in the bottom of shank steering wheel frame, shank steering wheel is connected by bolt and shank steering wheel frame, this shank steering wheel is connected U-shaped frame with thigh and calf simultaneously and is connected, the bottom of above-mentioned thigh steering wheel frame is connected in thigh and calf and connects on U-shaped frame,

Described front-wheel is universal wheel, this front-wheel is fixed on front side of the frame back side by front-wheel support, on rear side of the frame back side, between the pedipulator of front and back, be respectively equipped with direct current generator, this direct current generator is fixed in frame by direct current frame, and left rear wheel and off hind wheel are connected on the output shaft of direct current generator respectively;

Described black and white line tracking sensor stand is fixed on the position of the frame back side near front-wheel, and described black and white line tracking sensor is fixed on the both sides of support;

Described 2 infrared ray sensors are arranged symmetrically with, for detecting preceding object thing, by turning left or normally advancing after right-hand rotation avoiding obstacles in 90 ° on front side of frame front respectively by infrared ray sensor support installing;

Described control panel is fixed on rear side of frame front, control panel is provided with single-chip microcomputer, the output pin of described single-chip microcomputer is connected with steering engine controller, slave computer wireless module, infrared sensor and black and white line tracking sensor and direct current generator respectively, and described control panel controls the thigh and calf steering wheel on the identical pedipulator of above-mentioned four structures.