WO2019090871A1

WO2019090871A1 - Figure imitative swing structure and method for motorcycle model

Info

Publication number: WO2019090871A1
Application number: PCT/CN2017/114370
Authority: WO
Inventors: 卢惠超
Original assignee: 深圳骑士模型有限公司
Priority date: 2017-11-10
Filing date: 2017-12-04
Publication date: 2019-05-16
Also published as: CN107715466A; CN107715466B

Abstract

Disclosed is a figure imitative swing structure for a motorcycle model. The structure comprises a swing mechanism (2) and a leg mechanism (3), wherein the swing mechanism (2) is mounted in a saddle of the motorcycle model; and one end of the leg mechanism (3) is hinged to the swing mechanism (2), and the other end of the leg mechanism (3) is hinged to a motorcycle body (1). The swing mechanism (2) comprises a swing steering engine (21), a steering engine swing arm (22), a swing arm fixing seat (23), a swing arm (24) and a pelvis fixing seat (25). The leg mechanism (3) comprises an upper thigh (31), a lower thigh (32), a shank (33) and a sole (34). Further disclosed is a figure imitative swing method for a motorcycle model. The figure imitative swing structure and method for the motorcycle model use the mode of the thighs and the shanks moving left and right, and realize that the motorcycle model imitates action postures of a real rider.

Description

用于摩托车模型的人偶模仿摆动结构和方法Doll simulation swing structure and method for motorcycle model

技术领域Technical field

本发明涉及遥控摩托车模型，特别涉及遥控摩托车模型上骑士摆动机构以及实现方法。The invention relates to a remote control motorcycle model, in particular to a knight swinging mechanism on a remote control motorcycle model and an implementation method thereof.

背景技术Background technique

操作遥控摩托车让操作者置身于驾驶摩托车的速度与激情中，但是现在市面上所出售的遥控摩托车产品，都需要一个永久固定的防倾支架或防倾辅助滑轮作帮助来达到转弯的要求。如有一款在市面上销售多年，由一家日本公司(京商)生产的1/8遥控摩托车；其车上的骑士人偶也能够做出与转向同步的动作，在转弯的时候能摆动身体的姿态。但是只能够做出动作的姿态展示，而不能作为支撑车身下限定高位的用途。该产品下限定高位结构是使用一条半弧形的钢线支架，分别固定在车身两侧的二点之上，作为支持下限定高位的作用支架。以上的设计，是一个永久固定的方式，缺点是不能像真的摩托骑士一样，使用磨膝盖过弯的动作。Operating a remote-controlled motorcycle allows the operator to be in the speed and passion of driving a motorcycle, but now the remote-controlled motorcycle products sold on the market require a permanent fixed anti-roll bracket or anti-roll assist pulley to help turn. Claim. If there is a 1/8 remote-controlled motorcycle produced by a Japanese company (Kyoshang) for many years in the market, the knight on the car can also make a movement synchronized with the steering, and can swing the body while turning. Gesture. However, it can only be used to display the posture of the action, but not as a support for the high position under the body. The high-profile structure under the product is to use a semi-arc steel wire bracket, which is respectively fixed on two sides of the two sides of the vehicle body as a supporting bracket for supporting the high position under the support. The above design is a permanent fixed way. The disadvantage is that you can't use the knee-bending movement like a real motorcycle rider.

发明内容Summary of the invention

本发明的目的之一在于提供一种可以模拟膝盖过弯动作的用于摩托车模型的人偶模仿摆动结构。One of the objects of the present invention is to provide a doll-like swinging structure for a motorcycle model that can simulate a knee-bending motion.

本发明的另一目的在于提供一种可以模拟膝盖过弯动作的用于摩托车模型的人偶模仿摆动方法。Another object of the present invention is to provide a doll-like swinging method for a motorcycle model that can simulate a knee-bending motion.

本发明的目的可以这样实现，设计一种用于摩托车模型的人偶模仿摆动结构，包括摆动机构和腿部机构，摆动机构安装在摩托车模型的车座中，腿部机构的一端铰接在摆动机构上，腿部机构的另一端铰接在车身上；The object of the present invention can be achieved by designing a doll-like swinging structure for a motorcycle model, comprising a swinging mechanism and a leg mechanism, the swinging mechanism being mounted in a seat of a motorcycle model, one end of the leg mechanism being hinged at On the swinging mechanism, the other end of the leg mechanism is hinged to the vehicle body;

摆动机构包括摆动舵机、舵机摆臂、摆臂固定座、摆臂、盆骨固定座，摆动舵机固定在车架上，摆动舵机的输出轴上安装舵机摆臂，摆臂固定座安装在车架上，摆臂的一端铰接在摆臂固定座上，摆臂的另一端铰接在盆骨固定座上，舵机摆臂作用在摆臂上推动摆臂摆动，摆臂带动盆骨固定座移动；The swinging mechanism includes a swinging steering gear, a steering gear swing arm, a swing arm fixing seat, a swing arm, a pelvic fixed seat, and a pendulum The steering gear is fixed on the frame, and the steering shaft of the swinging steering gear is mounted on the output shaft of the steering gear. The swing arm fixing seat is mounted on the frame, one end of the swing arm is hinged on the swing arm fixing seat, and the other end of the swing arm is hinged. On the pelvic fixed seat, the steering arm of the steering gear acts on the swing arm to push the swing arm to swing, and the swing arm drives the pelvic fixed seat to move;

腿部机构包括上大腿、下大腿、小腿、脚掌，上大腿的根部与盆骨固定座的侧边铰接，上大腿与下大腿通过轴管连接，上大腿与下大腿可相对轴管旋转，下大腿的一端与小腿铰接，小腿的另一端与脚掌铰接，脚掌铰接在车身上。The leg mechanism includes an upper thigh, a lower thigh, a lower leg, and a sole of the foot. The root of the upper thigh is hinged to the side of the pelvic fixed seat, and the upper thigh and the lower thigh are connected by a shaft tube, and the upper thigh and the lower thigh are rotatable relative to the shaft tube. One end of the thigh is hinged to the lower leg, the other end of the lower leg is hinged to the sole of the foot, and the sole of the foot is hinged to the body.

进一步地，摆臂设有左摆臂和右摆臂，左摆臂上设有滑槽，舵机摆臂自由端上设有***滑槽中的滑凸。Further, the swing arm is provided with a left swing arm and a right swing arm, and the left swing arm is provided with a sliding slot, and the free end of the swing arm of the steering gear is provided with a sliding protrusion inserted into the sliding slot.

进一步地，脚踝上设有球头连接头与小腿接合；脚掌的下端设有固定孔座，通过限位螺钉将脚掌铰接在脚掌固定架上，脚掌固定架分别固定在车身的两侧。Further, the ball joint is provided with the ball joint and the lower leg; the lower end of the sole is provided with a fixing hole seat, and the foot is hinged to the foot fixing frame by the limit screw, and the foot fixing frame is respectively fixed on both sides of the vehicle body.

进一步地，车身内设有角速度感应器，角速度感应器连接至摆动舵机的控制器；摆臂左、右摇摆的幅度从中心点以0度作起步计算，通过摆动舵机的左右驱动，向左摆动50度及向右摆动50度为极限度数。Further, an angular velocity sensor is disposed in the vehicle body, and the angular velocity sensor is connected to the controller of the swinging steering gear; the amplitude of the left and right swinging of the swing arm is calculated from the center point at 0 degrees, and the left and right driving of the steering servo is performed to Swing 50 degrees to the left and 50 degrees to the right are the limit degrees.

进一步地，在摆臂固定座上左摆臂和右摆臂的铰接点中心距离大于在盆骨固定座上左摆臂和右摆臂的铰接点中心距离；在1∶8比例中，摆臂固定座上左摆臂和右摆臂的铰接点中心距离为15mm，在盆骨固定座上左摆臂和右摆臂的铰接点中心距离为13mm。Further, the center distance of the hinge point of the left swing arm and the right swing arm on the swing arm mount is greater than the hinge center distance of the left swing arm and the right swing arm on the pelvic mount; in the 1:8 ratio, the swing arm The center distance of the hinge point of the left swing arm and the right swing arm on the fixed seat is 15 mm, and the center distance of the hinge point of the left swing arm and the right swing arm on the pelvic mount is 13 mm.

进一步地，在盆骨固定下座的两侧分别设定一个推动大腿的支撑力点。Further, a support point for pushing the thigh is respectively set on both sides of the pelvic fixed lower seat.

本发明的另一目的可以这样实现，设计一种用于摩托车模型的人偶模仿摆动方法，包括以下步骤：Another object of the present invention can be achieved by designing a doll-like swinging method for a motorcycle model, comprising the steps of:

A、在车身座位处设置一左右摇摆可控的盘骨固定座，将人偶的上身固定在盘骨固定座上，大腿根铰接在盘骨固定座的两侧，大腿与小腿铰接，小腿与脚掌铰接，脚掌铰接在车身上；A. Set a swinging and controllable disc bone fixing seat at the seat of the body to fix the upper body of the doll to the bone fixing seat. The thigh root is hinged on both sides of the bone fixing seat, the thigh and the lower leg are hinged, and the calf is The foot is hinged and the sole of the foot is hinged to the body;

B、当摩托车是直位行走直线的时候，盘骨固定座处于座位中间位置，人偶的一双大腿会收起来；在摩托车左转弯或右转弯的时候，通过电动机械-摆动舵机驱动摇摆臂向左或向右地带动摆臂使得盘骨固定座向左或向右移动，转弯侧的大腿向外摆动；当车身要进行压弯动作时，前后车轮转动滑行的同时，膝盖便会与地面产生接触，形成出一个三角形的固定支撑点提供了二轮摩托车在转弯时所需要的防倾倒的支撑。B. When the motorcycle is in a straight line, the bone fixing seat is in the middle of the seat, and the pair of thighs of the doll will be closed; when the motorcycle turns left or turns right, it is driven by the electromechanical-swing steering gear. The swing arm moves the swing arm to the left or right to move the disc bone mount to the left or right, and the thigh on the turning side swings outward; when the body body is to be bent, the front and rear wheels rotate and slide, and the knee will Contact with the ground to form a triangular fixed support point for the two-wheeled motorcycle Anti-dumping support required for cornering.

进一步地，盘骨固定座通过轴承、限位轴套和螺栓铰接固定在摆臂上；盘骨固定座两侧设有安装孔安装大腿连接活动柱，大腿连接活动柱在安装孔内轴向移动限制但可旋转；在整条大腿的中段位置上，把大腿进行了一分为二的分割，然后再用钢管把上大腿和下大腿连接固定起来，把大腿重新结合在一起并提供了一个可扭动的接合点；把大腿连接活动支柱连接至上大腿；下大腿与膝盖的关节连接位为固定无扭动设计；在小腿与脚掌之间设置球头活动铰，球头活动铰通过无头螺丝固定在小腿的一端，球头活动铰的球头端铰接在脚掌上；脚掌下端设有固定孔座，通过限位螺钉将脚掌铰接在脚掌固定架上。Further, the disc bone fixing seat is hingedly fixed on the swing arm by a bearing, a limiting sleeve and a bolt; the two sides of the disc bone fixing seat are provided with mounting holes, and the thigh is connected to the movable column, and the thigh connecting the movable column is axially moved in the mounting hole. Restricted but rotatable; in the middle of the entire thigh, the thigh is divided into two, and then the upper thigh and the lower thigh are fixed by a steel pipe, the thighs are rejoined together and a Twisted joint; connect the thigh to the movable thigh to the upper thigh; the lower thigh and the knee joint are fixed and non-twisted; the ball joint is placed between the calf and the sole, and the ball joint is hinged through the headless screw Fixed at the end of the calf, the ball end of the ball joint hinge is hinged on the sole of the foot; the lower end of the sole is provided with a fixing hole seat, and the foot is hinged to the sole of the foot through the limit screw.

进一步地，摇摆臂采用双摇摆臂，双摇摆臂为不对称的摆臂，双摇摆臂在摆臂固定座上铰接点中心距离大于在盘骨坐盘上铰接点中心距离；在1∶8比例中，在摆臂固定座上铰接点中心距离为15mm，在盘骨坐盘上铰接点中心距离为13mm。Further, the swing arm adopts a double swing arm, and the double swing arm is an asymmetrical swing arm. The center distance of the hinge point of the double swing arm on the swing arm mount is greater than the center distance of the hinge point on the disc bone seat; at a ratio of 1:8 In the middle, the center distance of the hinge point on the swing arm mount is 15 mm, and the center distance of the hinge point on the disc bone seat is 13 mm.

进一步地，车身内设有角速度感应器，通过角速度的变化量来控制摆臂的摆动量；摆臂摇摆的幅度从中心点以0度作起步计算，通过摆动舵机的左右驱动，向左摆动50度及向右摆动50度为极限度数。Further, an angular velocity sensor is arranged in the vehicle body, and the swinging amount of the swing arm is controlled by the amount of change of the angular velocity; the amplitude of the swinging of the swing arm is calculated from the center point at 0 degrees, and is swung leftward by the left and right driving of the swinging servo. 50 degrees and 50 degrees to the right are the limit degrees.

本发明利用了左右移动大腿、小腿的方式、支撑点落在膝盖与前后轮胎的三个接地面点上，完全与真骑士的动作姿势一样的表现。The invention utilizes the way of moving the thigh and the calf left and right, and the support point falls on the three grounding points of the knee and the front and rear tires, which is completely the same as the action posture of the real knight.

附图说明DRAWINGS

图1是本发明较佳实施例的示意图；Figure 1 is a schematic view of a preferred embodiment of the present invention;

图2是本发明较佳实施例的俯视示意图；Figure 2 is a top plan view of a preferred embodiment of the present invention;

图3是本发明较佳实施例在摆动中点的示意图；Figure 3 is a schematic view of a midpoint of a swing in accordance with a preferred embodiment of the present invention;

图4是本发明较佳实施例向左摆动的示意图；Figure 4 is a schematic view of the preferred embodiment of the present invention swinging to the left;

图5是本发明较佳实施例向右摆动的示意图；Figure 5 is a schematic view of the preferred embodiment of the present invention swinging to the right;

图6是本发明较佳实施例之摆动机构的分解示意图；Figure 6 is an exploded perspective view of a swinging mechanism in accordance with a preferred embodiment of the present invention;

图7是本发明较佳实施例之盆骨固定座部分的分解示意图；Figure 7 is an exploded perspective view of a portion of a pelvic anchor of a preferred embodiment of the present invention;

图8是本发明较佳实施例之脚掌与小腿的分解示意图。 Figure 8 is an exploded perspective view of the sole and the lower leg of the preferred embodiment of the present invention.

具体实施方式Detailed ways

以下结合实施例对本发明作进一步的描述。The invention is further described below in conjunction with the examples.

如图1、图2所示，一种用于摩托车模型的人偶模仿摆动结构，包括摆动机构2和腿部机构3，摆动机构1安装在摩托车模型的车身1中，腿部机构3的一端铰接在摆动机构2上，腿部机构3的另一端铰接在车身1上。在对应的附图中省略了人偶的上半身和车头手把等部件。As shown in FIG. 1 and FIG. 2, a figure for a motorcycle model simulates a swing structure, including a swing mechanism 2 and a leg mechanism 3. The swing mechanism 1 is mounted in the body 1 of the motorcycle model, and the leg mechanism 3 One end is hinged to the swinging mechanism 2, and the other end of the leg mechanism 3 is hinged to the body 1. Components such as the upper body and the front handle of the figure are omitted in the corresponding drawings.

如图2、图6所示，摆动机构2包括摆动舵机21、舵机摆臂22、摆臂固定座23、摆臂24、盆骨固定座25，摆动舵机21固定在车架11上，摆动舵机的输出轴210上安装舵机摆臂22，摆臂固定座23安装在车架11上，摆臂24的一端铰接在摆臂固定座23上，摆臂24的另一端铰接在盆骨固定座25上，舵机摆臂22作用在摆臂24上推动摆臂摆动，摆臂24带动盆骨固定座25移动。为了提高摆动效果，摆臂24设有左摆臂241和右摆臂242，左摆臂241上设有滑槽243，舵机摆臂自由端221上设有***滑槽243中的滑凸222。As shown in FIG. 2 and FIG. 6, the swing mechanism 2 includes a swing servo 21, a steering arm 22, a swing arm mount 23, a swing arm 24, and a pelvic mount 25, and the swing servo 21 is fixed to the frame 11. A steering arm 22 is mounted on the output shaft 210 of the swing steering gear. The swing arm mount 23 is mounted on the frame 11. One end of the swing arm 24 is hinged to the swing arm mount 23, and the other end of the swing arm 24 is hinged. On the pelvis mount 25, the steering arm 22 acts on the swing arm 24 to push the swing arm to swing, and the swing arm 24 moves the pelvic mount 25 to move. In order to improve the swinging effect, the swing arm 24 is provided with a left swing arm 241 and a right swing arm 242. The left swing arm 241 is provided with a sliding slot 243, and the free end 221 of the steering swing arm is provided with a sliding protrusion 222 inserted into the sliding slot 243. .

车身内设有角速度感应器，角速度感应器连接至摆动舵机21的控制器。通过角速度感应器感应到的车辆角速度的变化量来控制摆臂的摆动量。如图3、图4、图5所示，摆臂24左、右摇摆的幅度从中心点以0度作起步计算，通过摆动舵机21的左右驱动，向左摆动50度及向右摆动50度为极限度数。An angular velocity sensor is provided in the vehicle body, and the angular velocity sensor is connected to the controller of the swinging servo 21. The amount of swing of the swing arm is controlled by the amount of change in the angular velocity of the vehicle sensed by the angular velocity sensor. As shown in FIG. 3, FIG. 4, and FIG. 5, the amplitude of the left and right swings of the swing arm 24 is calculated from the center point at 0 degrees, and the left and right drive of the swing servo 21 swings 50 degrees to the left and 50 degrees to the right. Degree is the limit degree.

本实施例中，如图6所示，摆动舵机21安装在车架11中间，摆臂固定座23通过螺丝61固定在车架11上，摆臂固定座23呈“U”字形，左摆臂241和右摆臂241分别通过摆臂中心固定柱231铰接在摆臂固定座23上，摆臂中心固定柱231的两端通过E型扣71固定在摆臂固定座23上的销孔处，铰接处设有轴承72，轴承72设置在摆臂中心固定柱231和摆臂之间；在左摆臂241上设有滑槽243。在摆动舵机21的输出轴210的轴端安装舵机摆臂22，舵机摆臂22的自由端221设有滑凸222，滑凸222***左摆臂241的滑槽243中。本实施例中车身和人偶与真车的比例为1∶8，在摆臂固定座23上左摆臂241和右摆臂242的铰接点中心距离为15mm，在盆骨固定座25上左摆臂241和右摆臂242的铰接点中心距离为13mm。如图7所示，左摆臂241的端部和右摆臂242的端部分别设有螺栓安装孔，盆骨固定下座251上设有安装孔通过轴承72、第一限位轴套73和螺栓63铰接固定在左摆臂241和右摆臂242上，盆骨固定下座251设有上座固定安装孔，盆骨固定上座252通过紧固件(本实施例中为螺丝61)安装在盆骨固定下座251上，盆骨固定上座252的两侧设有安装孔安装大腿连接活动柱255，大腿连接活动柱255通过E型扣71固定在安装孔内限制轴向移动但可旋转。在盆骨固定下座251的两侧分别设定一个推动大腿的支撑力点258，当盆骨固定下座251向左右移动时，这个支撑力点258会同步碰上大腿内侧的接触点，作同步向左或向右横移，做出摆动的所需要动作及提供下限定高位的主要力量集中点，如图7所示。In this embodiment, as shown in FIG. 6, the swinging steering gear 21 is mounted in the middle of the frame 11, and the swing arm fixing base 23 is fixed to the frame 11 by screws 61. The swing arm fixing base 23 has a U-shape and a left swing. The arm 241 and the right swing arm 241 are respectively hinged to the swing arm fixing seat 23 via the swing arm center fixing post 231, and both ends of the swing arm center fixing post 231 are fixed to the pin holes of the swing arm fixing seat 23 through the E-shaped buckle 71. The hinge is provided with a bearing 72. The bearing 72 is disposed between the swing arm center fixing post 231 and the swing arm; and the left swing arm 241 is provided with a sliding slot 243. A steering arm 22 is attached to the shaft end of the output shaft 210 of the swing servo 21. The free end 221 of the steering arm 22 is provided with a sliding projection 222 which is inserted into the sliding groove 243 of the left swing arm 241. In this embodiment, the ratio of the body and the doll to the real vehicle is 1:8, and the center distance of the hinge point of the left swing arm 241 and the right swing arm 242 on the swing arm mount 23 is 15 mm, and the left side of the pelvic mount 25 is left. The hinge point center distance of the swing arm 241 and the right swing arm 242 is 13 mm. As shown in FIG. 7, the end of the left swing arm 241 and the end of the right swing arm 242 Each part is provided with a bolt mounting hole, and a mounting hole is provided on the pelvic fixed lower seat 251 through the bearing 72, the first limiting bushing 73 and the bolt 63, and is fixedly fixed on the left swing arm 241 and the right swing arm 242, and the pelvis is fixed. The lower seat 251 is provided with a fixed fixing hole for the upper seat, and the pelvic fixed upper seat 252 is mounted on the pelvic fixed lower seat 251 by a fastener (the screw 61 in this embodiment), and mounting holes are provided on both sides of the pelvic fixed upper seat 252. The thigh is connected to the movable column 255, and the thigh connecting movable column 255 is fixed in the mounting hole by the E-shaped buckle 71 to restrict axial movement but is rotatable. A supporting force point 258 for pushing the thigh is respectively set on both sides of the pelvic fixed lower seat 251. When the pelvic fixed lower seat 251 is moved to the left and right, the supporting force point 258 will synchronously touch the contact point on the inner side of the thigh for synchronization. Traversing left or right, making the required action of the swing and providing the main power concentration point of the lower defined high position, as shown in Figure 7.

如图1所示，腿部机构3包括上大腿31、下大腿32、小腿33、脚掌34，上大腿31的根部与盆骨固定座25的侧边铰接，上大腿31与下大腿32通过轴管连接，上大腿31与下大腿32可相对轴管旋转，下大腿32的一端与小腿33铰接，小腿33的另一端与脚掌34铰接，脚掌34铰接在车身1上。如图7所示，上大腿31的根部与盆骨固定上座251的大腿连接活动柱255铰接，上大腿31的腿根呈U字状腿根通过螺丝61和螺母62以及第二限位轴套75固定并铰接在大腿连接活动柱255上，第二限位轴套75穿过大腿连接活动柱255上的连接孔并放置在U字状腿根中间，螺丝61穿过U字状腿根的安装孔和第二限位轴套75后通过螺母62锁固。如图8所示，脚掌34的脚踝上设有球头连接头341与小腿33接合，球头连接头341通过无头螺丝345固定在小腿33的一端，球头连接头341的球头端通过螺丝61固定并铰接在脚掌34上，脚掌34的下端设有固定孔座346，通过限位螺钉347将脚掌34铰接在脚掌固定架343上，脚掌固定架343分别固定在车身1的两侧。As shown in Fig. 1, the leg mechanism 3 includes an upper thigh 31, a lower thigh 32, a lower leg 33, and a sole 34. The root of the upper thigh 31 is hinged to the side of the pelvic mount 25, and the upper thigh 31 and the lower thigh 32 pass through the shaft. The tube is connected, the upper thigh 31 and the lower thigh 32 are rotatable relative to the shaft tube, one end of the lower thigh 32 is hinged to the lower leg 33, and the other end of the lower leg 33 is hinged to the sole 34, and the sole 34 is hinged to the body 1. As shown in FIG. 7, the root of the upper thigh 31 is hinged with the thigh connection movable column 255 of the pelvic fixed upper seat 251, and the leg root of the upper thigh 31 has a U-shaped leg root passing through the screw 61 and the nut 62 and the second limit bushing. 75 is fixed and hinged on the thigh connection movable column 255, the second limiting sleeve 75 is connected to the connecting hole on the movable column 255 through the thigh and placed in the middle of the U-shaped leg root, and the screw 61 passes through the U-shaped leg root. The mounting hole and the second limiting bushing 75 are locked by a nut 62. As shown in FIG. 8, the ball joint 34 of the sole 34 is provided with a ball joint 341 and the lower leg 33. The ball joint 341 is fixed to one end of the lower leg 33 by a headless screw 345, and the ball end of the ball joint 341 passes. The screw 61 is fixed and hinged on the sole 34. The lower end of the sole 34 is provided with a fixing hole seat 346. The foot 34 is hinged to the sole fixing frame 343 by a limiting screw 347, and the sole fixing frame 343 is respectively fixed on both sides of the vehicle body 1.

一种用于摩托车模型的人偶模仿摆动方法，包括以下步骤：A doll-like swinging method for a motorcycle model includes the following steps:

B、当摩托车是直位行走直线的时候，盘骨固定座处于座位中间位置，人偶的一双大腿会收起来；在摩托车左转弯或右转弯的时候，通过电动机械-摆动舵机驱动舵机摆臂向左或向右地带动摆臂使得盘骨固定座向左或向右移动，转弯侧的大腿向外摆动；当车身要进行压弯动作时，前后车轮转动滑行的同时，膝盖便会与地面产生接触，形成出一个三角形的固定支撑点提供了二轮摩托车在转弯时所需要的防倾倒的支撑。B. When the motorcycle is in a straight line, the bone fixing seat is in the middle of the seat, and the pair of thighs of the doll will be closed; when the motorcycle turns left or turns right, the electric machine-pendulum The steering gear drives the steering arm of the steering gear to move the swing arm to the left or right to move the bone fixing seat to the left or right, and the thigh on the turning side swings outward; when the body is to be bent, the front and rear wheels rotate and slide. At the same time, the knees come into contact with the ground, forming a triangular fixed support point that provides the anti-tip support that the two-wheeled motorcycle needs when cornering.

车身内设有角速度感应器，在摩托车左转弯或右转弯的时候，通过角速度感应器感应摩托车角速度的变化量来控制摆动舵机驱动摆臂的摆动量。An angular velocity sensor is arranged in the vehicle body, and when the motorcycle turns left or turns right, the angular velocity sensor senses the change of the angular velocity of the motorcycle to control the swinging amount of the swinging steering gear of the swinging steering gear.

如图3所示，摇摆臂采用双摇摆臂，双摇摆臂为不对称的摆臂，双摇摆臂在摆臂固定座上铰接点中心距离大于在盘骨坐盘上铰接点中心距离。在1/8比例的模型中双摇摆臂的中心固定点距离为15mm，盘骨坐盘上的中心距离为13mm。这对双摇摆臂的中心固定点距离定在15mm的位置上、而盘骨坐盘上的中心距离是定在13mm这个距离位置上，这个设计的用途是可提高盘骨座在摆动时的倾斜角度，原理是不对称的摆臂在同步进行摆动时，15mm的中心不变，盘骨位置的13mm中心位会出现与这个15mm的固定中心位置产生出不对称水平效果；从而产生出一个更大的扭向角度出现。身体的侧摆角度得到更大的提高，从而在高速转弯的时候，更有效地制造出制衡反离心的惯性力量。上述的两个中心固定点距离具体尺寸为在1/8比例中的尺寸，在1∶1、1∶2、1∶3直至1∶12比例条件，以此1/8的结构放大或缩小即可。As shown in Fig. 3, the swing arm adopts a double swing arm, and the double swing arm is an asymmetrical swing arm. The center distance of the hinge point of the double swing arm on the swing arm mount is greater than the center distance of the hinge point on the disc bone seat. In the 1/8 scale model, the center of the double swing arm has a distance of 15 mm and the center distance on the disc bone seat is 13 mm. The central fixed point distance of the pair of swing arms is set at 15 mm, and the center distance on the disc bone seat is set at a distance of 13 mm. The purpose of this design is to increase the tilt of the disc bone seat when swinging. Angle, the principle is that when the asymmetric swing arm swings synchronously, the center of 15mm is unchanged, and the 13mm center position of the disc bone position will produce an asymmetrical horizontal effect with this 15mm fixed center position; thus producing a larger The twist angle appears. The sideways angle of the body is greatly enhanced, so that the counter-centrifugal inertial force is more effectively produced during high-speed cornering. The above two central fixed point distances are specific sizes in the ratio of 1/8, in the ratio of 1:1, 1:2, 1:3 to 1:12, and the structure is enlarged or reduced by 1/8. can.

左摆臂241的端部和右摆臂242的端部分别设有螺栓安装孔，盆骨固定下座251上设有安装孔通过轴承72、第一限位轴套73和螺栓63铰接固定在左摆臂241和右摆臂242上，盆骨固定下座251设有上座固定安装孔，盆骨固定上座252通过紧固件-螺丝61安装在盆骨固定下座251上，盆骨固定上座251的两侧设有安装孔安装大腿连接活动柱255，大腿连接活动柱255在安装孔内轴向移动限制但可旋转。球头连接头341通过无头螺丝345固定在小腿33的一端，球头连接头341的球头端铰接在脚掌34上，脚掌34的下端设有固定孔座346，通过限位螺钉347将脚掌34铰接在脚掌固定架343上。The end of the left swing arm 241 and the end of the right swing arm 242 are respectively provided with bolt mounting holes, and the mounting hole of the pelvic fixed lower seat 251 is fixedly fixed by the bearing 72, the first limiting bushing 73 and the bolt 63. On the left swing arm 241 and the right swing arm 242, the pelvic fixed lower seat 251 is provided with a fixed mounting hole for the upper seat, and the pelvic fixed upper seat 252 is mounted on the pelvic fixed lower seat 251 by a fastener-screw 61, and the pelvis is fixed on the upper seat. The two sides of the 251 are provided with mounting holes for mounting the thigh connection movable column 255, and the thigh connecting movable column 255 is axially moved within the mounting hole to be restricted but rotatable. The ball joint 341 is fixed to one end of the lower leg 33 by a headless screw 345. The ball end of the ball joint head 341 is hinged on the sole 34. The lower end of the sole 34 is provided with a fixing hole seat 346, and the foot is fixed by a limit screw 347. 34 is hinged to the sole holder 343.

本实施例中，在盆骨固定上座251的两侧分别设有一个4mm孔位，是用于固定大腿连接活动柱255的。把大腿连接活动柱255连接至上大腿之后，在整条大腿的中段位置上，进行了一分为二的分割方式把大腿割断，然后再用3mm 的钢管把上下大腿连接固定起来，把大腿重新结合在一起。这设计是为了提供一个可扭动的接合点，使其能完全可以做出像真人大腿肌肉一样的扭动动作。因为这位置在左右摆动的时候，是需要有轻微的扭动要求。In this embodiment, a 4 mm hole position is respectively provided on both sides of the pelvic fixed upper seat 251 for fixing the thigh connection movable column 255. After connecting the thigh connection activity column 255 to the upper thigh, in the middle position of the entire thigh, a split is divided into two ways to cut the thigh, and then use 3 mm. The steel pipe connects the upper and lower thighs together and rejoins the thighs. This design is designed to provide a twistable joint that allows it to make a twist like a real thigh muscle. Because this position is swinging left and right, it is necessary to have a slight twisting requirement.

在盆骨固定下座251的两侧，设定了各一个推动大腿的支撑力点258。如当盘骨座向右移动时，这个支撑力点258会同步碰上大腿内侧的接触点，作同步向右横移，做出摆动的所需要动作及提供下限定高位的主要力量集中点。当车身倾斜下压时，膝盖会与地面接触，这时候就是需要这个固定大腿的支撑力点258来支撑整台车的下压重量。On both sides of the pelvic fixed lower seat 251, each of the supporting force points 258 for pushing the thighs is set. For example, when the clavicle is moved to the right, the supporting force point 258 will synchronously touch the contact point on the inner side of the thigh, and will be traversed to the right in synchronization, to make the required action of the swing and to provide the main power concentration point of the lower defined high position. When the body is tilted down, the knee will come into contact with the ground. At this time, the support point 258 of the fixed thigh is needed to support the weight of the whole vehicle.

下大腿32与膝盖的关节连接位是固定没有扭动性的设计。当在左或右移动的时候，也同样会有出现扭动限制的问题。如图8所示，利用了脚踝上的球头连接头341与小腿33接合，因为球头连接头341的活动方向比较广阔，因此便可以解决在不同角度上的限制要求。The joint position of the lower thigh 32 and the knee is fixed and not twisted. When moving left or right, there is also the problem of twisting restrictions. As shown in Fig. 8, the ball joint 341 on the ankle is engaged with the lower leg 33. Since the ball joint 341 has a relatively wide moving direction, the restriction requirements at different angles can be solved.

如图8所示，在脚掌34的脚底下设计了一个可前后活动的固定孔座346。利用限位螺丝347固定在车身的支架上，脚底下的固定孔座346是有活动能力的，绝对不能固定不动；目的是当大腿在左右摆动时，脚掌34可以同步配合作出微小的角度改变，作向前及后向的轻微摆动。As shown in Fig. 8, a front and rear movable fixing seat 346 is designed under the sole of the foot 34. The limit screw 347 is fixed on the bracket of the vehicle body, and the fixed hole seat 346 under the foot is movable and can not be fixed; the purpose is that when the thigh is swinging left and right, the sole 34 can be synchronously matched to make a slight angle change. For a slight swing in the forward and backward directions.

本发明在左或右转弯的时候，提供一个可变左右及不同角度的、活动式的下限定高车身支撑架。这个支撑架可帮助车子在压弯时不会因为车身倾斜过大或车身与地面接触磨损而产生失控跌倒在地面上。这个可作左右摆动的双摆臂，通过与关节的连结后，可以固定人偶的盘骨、大腿、膝盖与前后二个车轮在一个预定的角度内。作出下限定高车身的用途，防止车身失速跌倒。The present invention provides a movable lower bound high body support frame with variable left and right and different angles when turning left or right. This support frame helps the car to fall out of control on the ground without being over-slanted or worn in contact with the ground during bending. This double swing arm, which can be swinged left and right, can fix the clavicle, thigh, knee and front and rear wheels of the doll in a predetermined angle by connecting with the joint. Make a use to limit the height of the body to prevent the body from stalling.

当支撑架作出左或右移动的时候，前/后二个车轮便会与膝盖型成一个三角的支撑点，当车身要进行压弯动作时，前/后车轮转动滑行的同时，膝盖便会与地面产生接触，型成出一个三角形的固定支撑点！提供了二轮摩托车在转弯时所需要的防倾倒的支撑需要。这便可顺利完成过弯的滑行动作，亦同时间提升模仿真实摩托骑士的动作。但是当车子是直位行走直线的时候，人偶的一双大腿是会收起来，不会向外反出，完全模仿真人的动作。When the support frame moves left or right, the front/rear wheels will form a triangular support point with the knee type. When the body is to be bent, the front/rear wheels will slide and slide, and the knee will Make contact with the ground and form a triangular fixed support point! Provides the anti-dumping support needed for a two-wheeled motorcycle to turn. This will smoothly complete the sliding action of the corner, and at the same time enhance the action of imitating the real motorcyclist. However, when the car is walking straight in a straight line, the pair of thighs of the doll will be put away, and will not be turned outwards, completely simulating the movement of the person.

盆骨固定上座252会连接整个上身的身体，配合模仿整个真人的外抛动作。 The pelvic fixed upper seat 252 will connect the entire upper body to match the external throwing motion of the entire real person.

本发明利用了左右移动大腿、小腿的方式、支撑点落在膝盖与前后轮胎的三个接地面点上，完全与真骑士的动作姿势一样的表现。本发明下限定高车身支持架的设计，优点在于追求更高像真度的真人效果！不像更加能够真实完美的展现像真人的动作效果，相比过往的固定支架有着更创新及更有实用价值。 The invention utilizes the way of moving the thigh and the calf left and right, and the support point falls on the three grounding points of the knee and the front and rear tires, which is completely the same as the action posture of the real knight. The invention defines a design of a high body support frame, and the advantage is that the pursuit of a higher realism effect! It is not more realistic and perfect to show the effect of real people, it is more innovative and more practical than the previous fixed bracket.

Claims

一种用于摩托车模型的人偶模仿摆动结构，其特征在于：包括摆动机构(2)和腿部机构(3)，摆动机构(1)安装在摩托车模型的车座(1)中，腿部机构(3)的一端铰接在摆动机构(2)上，腿部机构(3)的另一端铰接在车身(1)上；A doll-like swinging structure for a motorcycle model, comprising: a swinging mechanism (2) and a leg mechanism (3), the swinging mechanism (1) being mounted in a seat (1) of a motorcycle model, One end of the leg mechanism (3) is hinged to the swinging mechanism (2), and the other end of the leg mechanism (3) is hinged to the vehicle body (1);

摆动机构(2)包括摆动舵机(21)、舵机摆臂(22)、摆臂固定座(23)、摆臂(24)、盆骨固定座(25)，摆动舵机(21)固定在车架(1)上，摆动舵机的输出轴(210)上安装舵机摆臂(22)，摆臂固定座(23)安装在车架(1)上，摆臂(24)的一端铰接在摆臂固定座(23)上，摆臂(24)的另一端铰接在盆骨固定座(25)上，舵机摆臂(22)作用在摆臂(24)上推动摆臂摆动，摆臂(24)带动盆骨固定座(25)移动；The swing mechanism (2) includes a swing servo (21), a steering arm (22), a swing arm mount (23), a swing arm (24), a pelvic mount (25), and a swing servo (21) On the frame (1), a steering gear swing arm (22) is mounted on the output shaft (210) of the swing steering gear, and the swing arm fixing seat (23) is mounted on the frame (1), and one end of the swing arm (24) Hinged on the swing arm mount (23), the other end of the swing arm (24) is hinged to the pelvic mount (25), and the steering arm (22) acts on the swing arm (24) to push the swing arm to swing. The swing arm (24) drives the pelvic mount (25) to move;

腿部机构(3)包括上大腿(31)、下大腿(32)、小腿(33)、脚掌(34)，上大腿(31)的根部与盆骨固定座(25)的侧边铰接，上大腿(31)与下大腿(32)通过轴管连接，上大腿(31)与下大腿(32)可相对轴管旋转，下大腿(32)的一端与小腿(33)铰接，小腿(33)的另一端与脚掌(34)铰接，脚掌(34)铰接在车身(1)上。The leg mechanism (3) includes an upper thigh (31), a lower thigh (32), a lower leg (33), and a sole (34). The root of the upper thigh (31) is hinged to the side of the pelvic mount (25). The thigh (31) and the lower thigh (32) are connected by a shaft tube, and the upper thigh (31) and the lower thigh (32) are rotatable relative to the shaft tube, and one end of the lower thigh (32) is hinged to the lower leg (33), and the lower leg (33) The other end is hinged to the sole (34) and the sole (34) is hinged to the body (1).
根据权利要求1所述的用于摩托车模型的人偶模仿摆动结构，其特征在于：摆臂(24)设有左摆臂(241)和右摆臂(242)，左摆臂(241)上设有滑槽(243)，舵机摆臂自由端(221)上设有***滑槽(243)中的滑凸(222)。The doll-like swinging structure for a motorcycle model according to claim 1, wherein the swing arm (24) is provided with a left swing arm (241) and a right swing arm (242), and a left swing arm (241). A chute (243) is disposed thereon, and a sliding protrusion (222) inserted into the sliding groove (243) is disposed on the free end (221) of the steering arm of the steering gear.
根据权利要求1所述的用于摩托车模型的人偶模仿摆动结构，其特征在于：脚掌的脚踝上设有球头连接头(341)与小腿(33)接合；脚掌(34)的下端设有固定孔座(346)，通过限位螺钉(347)将脚掌(34)铰接在脚掌固定架(343)上，脚掌固定架(343)分别固定在车身(1)的两侧。The doll-like swinging structure for a motorcycle model according to claim 1, characterized in that: the ball joint of the sole of the foot is provided with a ball joint (341) and the lower leg (33); and the lower end of the sole (34) is provided. There is a fixed hole seat (346), and the sole (34) is hinged to the sole fixing frame (343) by a limit screw (347), and the sole fixing frame (343) is respectively fixed on both sides of the vehicle body (1).
根据权利要求1或2所述的用于摩托车模型的人偶模仿摆动结构，其特征在于：车身内设有角速度感应器，角速度感应器连接至摆动舵机(21)的控制器；摆臂(24)左、右摇摆的幅度从中心点以0度作起歩计算，通过摆动舵机(21)的左右驱动，向左摆动50度及向右摆动50度为极限度数。The doll-like swinging structure for a motorcycle model according to claim 1 or 2, characterized in that: an angular velocity sensor is provided in the vehicle body, and the angular velocity sensor is connected to the controller of the swinging steering gear (21); (24) The amplitude of the left and right swings is calculated from the center point at 0 degrees. The left and right drive of the swing servo (21) is swung 50 degrees to the left and 50 degrees to the right as the limit degree.
根据权利要求2所述的用于摩托车模型的人偶模仿摆动结构，其特征在于：在摆臂固定座(23)上左摆臂(241)和右摆臂(242)的铰接点中心距离大于在盆骨固定座(25)上左摆臂(241)和右摆臂(242)的铰接点中心距离；在1∶8比例中，摆臂固定座(23)上左摆臂(241)和右摆臂(242)的铰接点中心距离为15mm，在盆骨固定座(25)上左摆臂(241)和右摆臂(242)的铰接点中心距离为13mm。The doll-like swinging structure for a motorcycle model according to claim 2, characterized in that: a hinge point center distance of the left swing arm (241) and the right swing arm (242) on the swing arm mount (23) Greater than the hinge center distance of the left swing arm (241) and the right swing arm (242) on the pelvic mount (25); in the 1:8 ratio, the swing arm mount (23) on the left swing arm (241) The center of the hinge point of the right swing arm (242) is 15 mm, and the center distance of the hinge point of the left swing arm (241) and the right swing arm (242) on the pelvic mount (25) is 13 mm.
根据权利要求1所述的用于摩托车模型的人偶模仿摆动结构，其特征在于：在盆骨固定下座(251)的两侧分别设定一个推动大腿的支撑力点(258)。The doll-like swinging structure for a motorcycle model according to claim 1, characterized in that a supporting force point (258) for pushing the thigh is respectively set on both sides of the pelvic fixed lower seat (251).
一种用于摩托车模型的人偶模仿摆动方法，其特征在于，包括以下步骤：A doll-like swinging method for a motorcycle model, comprising the steps of:

A、在车身座位处设置一左右摇摆可控的盘骨固定座，将人偶的上身固定在盘骨固定座上，大腿根铰接在盘骨固定座的两侧，大腿与小腿铰接，小腿与脚掌铰接，脚掌铰接在车身上；A. Set a swinging and controllable disc bone fixing seat at the seat of the body to fix the upper body of the doll to the bone fixing seat. The thigh root is hinged on both sides of the bone fixing seat, the thigh and the lower leg are hinged, and the calf is The foot is hinged and the sole of the foot is hinged to the body;

B、当摩托车是直位行走直线的时候，盘骨固定座处于座位中间位置，人偶的一双大腿会收起来；在摩托车左转弯或右转弯的时候，通过电动机械-摆动舵机驱动舵机摆臂向左或向右地带动摆臂使得盘骨固定座向左或向右移动，转弯侧的大腿向外摆动；当车身要进行压弯动作时，前后车轮转动滑行的同时，膝盖便会与地面产生接触，形成出一个三角形的固定支撑点提供了二轮摩托车在转弯时所需要的防倾倒的支撑。B. When the motorcycle is in a straight line, the bone fixing seat is in the middle of the seat, and the pair of thighs of the doll will be closed; when the motorcycle turns left or turns right, it is driven by the electromechanical-swing steering gear. The swing arm swings the swing arm to the left or right to move the disc bone mount to the left or right, and the thigh on the turning side swings outward; when the body body is to be bent, the front and rear wheels rotate and slide, while the knee Contact with the ground creates a triangular fixed support point that provides the anti-tip support that the two-wheeled motorcycle needs when cornering.
根据权利要求7所述的用于摩托车模型的人偶模仿摆动方法，其特征在于：盘骨固定座通过轴承、限位轴套和螺栓铰接固定在摆臂上；盘骨固定座两侧设有安装孔安装大腿连接活动柱，大腿连接活动柱在安装孔内轴向移动限制但可旋转；在整条大腿的中段位置上，把大腿进行了一分为二的分割，然后再用钢管把上大腿和下大腿连接固定起来，把大腿重新结合在一起并提供了一个可扭动的接合点；把大腿连接活动支柱连接至上大腿；下大腿与膝盖的关节连接位为固定无扭动设计；在小腿与脚掌之间设置球头活动铰，球头活动铰通过无头螺丝固定在小腿的一端，球头活动铰的球头端铰接在脚掌上；脚掌下端设有固定孔座，通过限位螺钉将脚掌铰接在脚掌固定架上。The doll-like swinging method for a motorcycle model according to claim 7, wherein the disc bone fixing seat is hingedly fixed to the swing arm by a bearing, a limiting bushing and a bolt; There is a mounting hole to install the thigh to connect the movable column, and the thigh is connected to the movable column to be axially moved in the mounting hole to be restricted but rotatable; in the middle position of the whole thigh, the thigh is divided into two, and then the steel pipe is used The upper thigh and the lower thigh are fixedly connected, the thighs are rejoined together and a twistable joint is provided; the thigh is connected to the movable thigh to the upper thigh; the lower thigh and the knee are articulated in a fixed, non-twisted design; a ball joint between the calf and the sole of the foot, The ball joint hinge is fixed to one end of the calf by a headless screw, and the ball end of the ball joint hinge is hinged on the foot; the lower end of the sole is provided with a fixing hole seat, and the foot is hinged to the sole holder through the limit screw.
根据权利要求7所述的用于摩托车模型的人偶模仿摆动方法，其特征在于：摇摆臂采用双摇摆臂，双摇摆臂为不对称的摆臂，双摇摆臂在摆臂固定座上铰接点中心距离大于在盘骨坐盘上铰接点中心距离；在1∶8比例中，在摆臂固定座上铰接点中心距离为15mm，在盘骨坐盘上铰接点中心距离为13mm。The doll-like swinging method for a motorcycle model according to claim 7, wherein the swing arm adopts a double swing arm, the double swing arm is an asymmetrical swing arm, and the double swing arm is hinged on the swing arm mount. The center distance of the point is greater than the center distance of the hinge point on the disc bone seat; in the ratio of 1:8, the center distance of the hinge point on the swing arm mount is 15 mm, and the center distance of the hinge point on the disc bone seat is 13 mm.
根据权利要求1所述的用于摩托车模型的人偶模仿摆动方法，其特征在于：车身内设有角速度感应器，通过角速度的变化量来控制摆臂的摆动量；摆臂摇摆的幅度从中心点以0度作起歩计算，通过摆动舵机的左右驱动，向左摆动50度及向右摆动50度为极限度数。 The doll-like swinging method for a motorcycle model according to claim 1, wherein an angular velocity sensor is provided in the vehicle body, and the swing amount of the swing arm is controlled by the amount of change in the angular velocity; The center point is calculated by 0 degrees, and by swinging the left and right of the steering gear, it swings 50 degrees to the left and 50 degrees to the right as the limit degree.