CN102728067A - All-directional remote control toy car - Google Patents

Abstract

The invention belongs to a remote control toy car, in particular to an omnidirectional remote control toy car, which is characterized in that it includes a chassis and a wheel connected to a DC motor through a coupling, the DC motor is fixed on the chassis through a motor seat, and the chassis A four-wheel drive control circuit and a battery pack are installed above, and six U-shaped brackets are fixedly connected to the hub of the wheel, and free rollers are supported on the U-shaped brackets through bearings and shafts, and the axis of the free rollers The angle with the axis of the wheel is acute or obtuse. Beneficial effects: the omnidirectional remote control toy car of this design can realize movement in 10 directions without a steering device, filling the gap in the market for remote control toy cars; good maneuverability, entertainment, and fun; high cost performance, after mass production, parts Injection molding, lower cost.

Description

omnidirectional remote control toy car

technical field

The invention belongs to a remote-controlled toy car, in particular to an omnidirectional remote-controlled toy car.

Background technique

A toy remote control car is a remote control car, which is a model car that can be remotely controlled by a radio remote control. According to the different body shapes, it can be divided into ordinary private cars, off-road vehicles, container trucks, dump trucks and so on. For example, off-road vehicles in real life can not only adapt to various road conditions in the wild, but also give people a sense of superiority in rough and bold driving. Yet the remote control toy car on the market is based on the structure of common car, and steering gear is housed on the toy car, so can only realize the function of advancing, retreating, turning left and turning right. With the upgrading of various remote control car competition technologies, the requirements for the controllability and technical difficulty of remote control cars are getting higher and higher. There is an urgent need to develop remote control cars with multi-directional movement capabilities in the market.

Contents of the invention

The present invention aims to overcome the deficiencies in the prior art, and provides an omnidirectional remote control toy car, which can realize front, rear, left, right, left front, right front, left rear, right rear, counterclockwise, clockwise Rotate and move in ten directions.

In order to achieve the above object, the present invention is achieved through the following technical solutions. An omnidirectional remote control toy car is characterized in that: it includes a chassis and a wheel connected to a DC motor through a coupling, and the DC motor is fixed on the chassis through a motor base , a four-wheel drive control circuit and a battery pack are installed above the chassis, six U-shaped brackets are fixedly connected to the hub of the wheel, and free rollers are supported on the U-shaped brackets through bearings and shafts. The angle between the axis of the roller and the axis of the wheel is an acute angle or an obtuse angle.

Described wheel is divided into front left and right and rear left and right four wheels, and the axis of the free roller of described front left and right wheels and the axle axis of wheel are 45 °; The angle is 135°.

The four-wheel drive control circuit includes a drive module, a single-chip microcomputer, a wireless receiving module and a battery pack respectively connected to a pair of DC motors, the single-chip microcomputer is connected to the driving module to form an open-loop control, and the single-chip microcomputer is connected to the wireless receiving module. The above-mentioned battery pack is connected with the single-chip microcomputer and the driving module.

Beneficial effects: the omnidirectional remote control toy car of this design can realize movement in 10 directions without a steering device, filling the gap in the market for remote control toy cars; good maneuverability, entertainment, and fun; high cost performance, after mass production, parts Injection molding, lower cost.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Figure 2 is a schematic diagram of the assembly structure of the 45° free roller;

Fig. 3 is the A-A sectional view of Fig. 2;

Figure 4 is a schematic diagram of the assembly structure of the 135° free roller;

Fig. 5 is the structural representation of coupling;

Fig. 6 is a diagram of the direction of rotation of the toy car's forward free roller;

Fig. 7 is a diagram of the direction of rotation of the toy car's backward free roller;

Fig. 8 is a diagram of the direction of rotation of the toy car's left-hand free roller;

Fig. 9 is a diagram of the direction of rotation of the free roller of the toy car;

Fig. 10 is a diagram of the free roller rotation direction of the toy car left forward (45°);

Figure 11 is a diagram of the free roller rotation direction of the toy car in the right rear (45°);

Fig. 12 is a diagram of the free roller rotation direction of the toy car right forward (45°);

Fig. 13 is the rotation direction diagram of the free roller of the toy car left rear (45°);

Fig. 14 is a diagram of the direction of rotation of the free roller of the toy car rotating counterclockwise;

Fig. 15 The toy car rotates clockwise and the free roller rotation direction diagram;

Fig. 16 is a block diagram of a four-wheel drive control circuit;

17-17a are schematic diagrams of the coordinate relationship between the free roller and the wheel.

In the figure: 1. Free roller, 2. U-shaped bracket, 3. Screw, 4. Shaft, 5. Washer, 6. Deep groove ball bearing, 7. Hub, 8. Wheel, 9. Chassis, 10. L298N drive Module, 11, DC motor, 12, shaft coupling, 13, motor seat, 14, battery pack, 15, single-chip microcomputer, 16, screw, 17, switch.

Detailed ways

Below in conjunction with preferred embodiment, the specific embodiment that provides according to the present invention is described in detail as follows: See accompanying drawing for details, a kind of omnidirectional remote control toy car, comprises chassis 9 and the wheel that is connected with DC motor 11 by coupling 12, The DC motor is fixed on the chassis through a motor base 13, a four-wheel drive control circuit and a battery pack 14 are installed above the chassis, and six U-shaped brackets 2 are fixedly connected to the hub of the wheel. The free roller 1 is supported by the deep groove ball bearing 6 and the shaft 4. The wheels are divided into four front, left, and rear wheels, and the angle between the axis of the free rollers of the front, left, and right wheels and the axis of the wheel is 45° ; The axis of the free roller of the rear left and right wheels and the axis of the wheel have an angle of 135°. The four-wheel drive control circuit includes an L298N drive module 10, an STC89C52 single-chip microcomputer 15, a wireless receiving module and a battery pack respectively connected to a pair of DC motors. The receiving module is connected, and the battery pack is connected with the single-chip microcomputer and the driving module.

As shown in Figure 2 and Figure 4, the free roller 1 is assembled with the shaft 4 through two bearings 6, the shaft 4 is supported on the U-shaped bracket 2, and a washer 5 is installed between the two ends of the bearing 6 and the U-shaped bracket 2 . Six U-shaped brackets 2 support six free rollers 1 and are fixed in oblique 45° grooves on six outer surfaces of the wheel hub 7 by screws 3, and the wheel hub is a hexagonal bar with a 27mm opposite side. The wheels are assembled with the DC motor through couplings.

As shown in FIG. 1 , four wheels 8 on the four-wheel drive control chassis are respectively assembled with four DC motors 11 through couplings 12 , and DC motors 4 are installed under the chassis through motor mounts 13 . Two L298N driver boards 10, a minimum system version STC89C52 microcontroller 15, a battery pack 14, and a power switch 17 are installed above the chassis 9. The oblique line on the wheel in the figure indicates the direction of the axis of the free roller when viewed from above. According to the parameter values of the free rollers, it can be obtained that the distance between the bottom surfaces of the symmetrical U-shaped brackets is 22mm, and the distance from the center of the free roller axis to the bottom surface of the U-shaped brackets is 15.5mm. working principle

1. Parameters of free roller:

As shown in Figure 3, the axis O ₂ Z ₂ of the roller and the axis O ₁ Z ₁ of the wheel are spatially staggered, and the angle between the two axes is α=45°. The axis O ₂ Z ₂ of the roller is supported on a cylinder whose axis is O ₁ Z ₁ and whose radius is R ₀ . The radius of the wheel is R. The parametric equation of the axial contour line of the free roller is:

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ \mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}\end{array}\right.$

(1)

In the formula: l—roller length; r—roller radius; x ₂ —Rcosθ A, A is the distance between the two coordinate systems O ₁ and O ₂ ;

${\mathrm{the\; y}}_2-\frac{\sqrt{2}}{2}R(\sin \mathrm{\&theta;}-\mathrm{\&theta;}\cot \mathrm{\&beta;}),$ $-\mathrm{\&delta;}\&le;\mathrm{\&theta;}\&le;\mathrm{\&delta;};z_2-\frac{\sqrt{2}}{2}R(\sin \mathrm{\&theta;}+\mathrm{\&theta;}\cot \mathrm{\&beta;}),$ -δ≤θ≤δ.

In order to ensure the continuity of free roller motion, the coincidence degree λ must be ≥ 1. λ is the ratio of the total length of the contact line of all rollers participating in the motion to the circumference of the wheel, which is called the motion continuity ratio coefficient, referred to as the coincidence degree.

$\mathrm{<span\; class="notranslate">\; \&lambda;</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; N</span>}<span\; class="notranslate">\; \&CenterDot;</span>\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&delta;</span>}<span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; R</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&pi;R</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; N\&delta;</span>}}{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

Where: N is the number of free rollers.

According to the coordination and aesthetics of the size of the omnidirectional remote control toy car, the radius of the free roller is R=36.5mm, the width of the free roller is 43.5mm, the length of the free roller is 49mm, and the maximum radius is r _max =10mm. The rollers are MR84zz miniature sealed bearings, the inner diameter of the bearing is 4mm, and the outer diameter is 8mm. From this, the formula (1) is calculated and calculated by MatLab programming: the minimum radius of the free roller r _min = 5.2mm, the helix angle β = 0.90489, and the rotation angle θ =0.54664.

Check calculation of coincidence degree λ. In this design, take λ=1 first, and find the number N of rollers.

$\mathrm{<span\; class="notranslate">\; N</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 0.54664</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 5.747</span>}$

Finally, the number N of rollers is rounded to 6.

After determining N, R, roller length l, θ, β, formula (1) is calculated by MatLab programming to obtain the axial profile of the free roller.

2. Installation method of free roller

The four free rollers are installed symmetrically in pairs, and by controlling the forward, reverse and stop of the four free rollers, the movement of the omnidirectional remote control toy car in 10 directions can be realized. The dotted lines in the free rollers in Fig. 6 to Fig. 15 indicate the axis direction of the free rollers in contact with the ground.

As shown in Figure 6, the four free rollers rotate forward, and the direction of the friction force on the free rollers is along the axis of the free rollers in contact with the ground. The friction force is decomposed into X and Y components, and the X direction cancels out, so the trolley moves towards move forward.

As shown in Figure 7, the four free rollers rotate backwards, and the X-direction component of friction cancels out, so the trolley moves backwards.

As shown in Figure 8 for the left row, free rollers 1 and 4 rotate backward, free rollers 2 and 3 rotate forward, and the Y-direction component of friction cancels out, so the trolley moves to the left.

The right row is shown in Figure 9, free rollers 1 and 4 rotate forward, free rollers 2 and 3 rotate backward, and the Y-direction component of the friction force cancels out, so the trolley moves to the right.

As shown in Figure 10, the second and third wheels are stationary, the first and fourth wheels rotate forward, and the ground gives friction to the wheels in the left front direction, so the car moves in the left front direction.

Right rear row as shown in Figure 11, the second and third wheels stop motionless, the first and fourth wheels rotate backwards, the ground gives the friction force in the right rear direction of the wheels, so the dolly moves along the right rear direction.

As shown in Figure 12, the first and fourth wheels are stationary, the second and third wheels rotate forward, and the ground gives the wheels a frictional force in the front right direction, so the car moves in the front right direction.

As shown in Figure 13, the left rear row, the first and fourth wheels are stationary, the second and third wheels rotate backwards, and the ground gives friction in the left rear direction of the wheels, so the dolly moves in the left rear direction.

Rotate counterclockwise as shown in Figure 14. The second and fourth wheels rotate backwards, and the first and third wheels rotate forward. The direction of the friction force on the wheels is shown in the figure. The car takes its own center of gravity as the center of the circle and counterclockwise rotate.

Rotate clockwise as shown in Figure 15. The second and fourth wheels rotate forward, and the first and third wheels rotate backward. The direction of the friction force on the wheels from the ground is shown in the figure. The car is clockwise with its own center of gravity as the center rotate.

work process

In order to realize the movement of the omnidirectional remote control toy car in 10 directions, it is necessary to design a four-wheel drive control circuit to control the four free rollers of the omnidirectional remote control car to rotate in the directions shown in Figure 6~Figure 15.

As shown in Figure 16, the STC89C52 single-chip microcomputer is used for open-loop control in the four-wheel drive control circuit. Ten keys in the 12-key remote control respectively control the 10 movement directions of the omnidirectional remote control toy car: 2 keys—forward; 8 keys—reverse; 4 keys—left travel; 6 keys—right travel; 1 key - left forward; 3 key - right forward; 7 key - left backward; 9 key - right backward; 5 key - counterclockwise rotation; 11 key - clockwise rotation.

The above descriptions are only preferred embodiments of the present invention, and do not limit the structure of the present invention in any form. All simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention still fall within the scope of the technical solutions of the present invention.

Claims (3)

1. An omnidirectional remote control toy car, characterized in that it includes a chassis and a wheel connected to a DC motor through a shaft coupling, the DC motor is fixed on the chassis by a motor base, and a four-wheel drive control is installed above the chassis There are six U-shaped brackets fixedly connected to the hub of the circuit, the battery pack, and the wheel, and free rollers are supported on the U-shaped brackets through bearings and shafts. The included angle between the axis of the free rollers and the axis of the wheel is acute or obtuse angles. 2. The omnidirectional remote control toy car according to claim 1, characterized in that: the wheels are divided into four wheels, front, left, and rear, and the included angle between the axes of the free rollers of the front, left, and right wheels and the axis of the wheels is 45°; the angle between the axis of the free rollers of the left and right wheels and the axis of the wheels is 135°. 3. The omnidirectional remote control toy car according to claim 1 or 2, wherein the four-wheel drive control circuit includes a drive module connected to a pair of DC motors, a single-chip microcomputer, a wireless receiving module and a battery pack, the The single-chip microcomputer is connected with the driving module in open-loop control, the single-chip microcomputer is connected with the wireless receiving module, and the battery pack is connected with the single-chip microcomputer and the driving module.

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