CA2550200A1 - Cable and rotor/linkage actuation system for animated toy mechanized movable limb - Google Patents

Abstract

A toy doll with articulate moveable wrist/hand structure. A motor in the doll operates to pull on a cable which is drivingly linked to the wrist/hand structure to effect complex/compound rotational, translational, and revolutional pair of interactive pantograph-like arrangement that enhance the produced motions by introducing mechanical advantage.

Description

CABLE AND ROTOR/LINKAGE ACTUATION SYSTEM
FOR ANIMATED TOY MECHANIZED MOVABLE LIMB
This application is divided from Canadian Patent Application Serial Number 2,445,915 filed May 13, 2002.
Back_round of the Invention This invention pertains to toy doll structure of the animated variety, and in particular, to cable/rotor/linkage structure for moving one or more articulated limbs in such a doll under the influence of an appropriate, on-board drive motor.
Especially, the present invention features a unique cable/rotor/leverage mechanism which offers improved mechanical-advantage performance (for example, improved cable performance) in comparison with conventional driving connections that exist between such articulated limbs and such a drive motor. A preferred embodiment of the present invention is described herein in conjunction with moving articulated components present in the wrist/hand structure in a toy doll.
Accordingly, in its broadest sense, the present invention provides a motion/drive structure operatively interposed a drive motor and articulated appendage/limb structure in a toy doll, comprising an elongate cable operatively interposed such a motor and such appendage/limb structure, tensible, and moveable generally translationally along its long axis, under the influence of the mentioned drive motor, rotor structure operatively interposed said cable and the appendage/limb structure, operable to exhibit rotary motion in direct relation to translational movement occurnng in said cable, and linkage structure operatively interconnecting said rotor structure and such appendage/limb structure, operable, with rotary motion occurnng in said rotor structure, to create articulation motion in the appendage/limb structure.
The present invention also provides a motion/drive structure operatively interposed a drive motor and articulated appendage/limb structure in a toy doll comprising an elongate cable operatively interposed such a motor and such appendage/limb structure, movable translationally and in tension along its long axis during operation of the mentioned drive motor, rotor structure operatively connected to an end of said cable at a point remote from such a drive motor, including pulley structure and a first driven gear collectively receiving said cable's said end, said rotor structure being responsive to tensioned translational movement in said cable to respond with rotary motion occurring in said first driven gear, and linkage structure operatively interconnecting said rotor structure and such appendage/limb structure, operable, with rotary motion occurnng in said first driven gear, to create articulation motion in the appendage/limb structure.
The present invention also provides a motion/drive structure operatively interposed a motor and articulated appendage/limb structure in a toy doll comprising an elongate translationally pullable and tensionable cable, rotor structure including a pulley which receives an end of said cable, and plural interconnected gears that are drivingly connected to said pulley, and linkage structure including plural links operatively interconnecting said rotor structure and such articulated appendage/limb structure operable, with translational tensioned movement occurnng in said cable, to create articulation motion in the appendage/limb structure, said rotor structure, linkage structure and the appendage/limb structure collectively cooperating to form pantograph-like la structure that is effective to introduce mechanical advantage between said cable and the appendage/limb structure.
According to the preferred embodiment of invention, operatively interposed a drive motor (of the kind generally mentioned) and the particular selected articulated S wrist/hand components are an elongate cable, and an arrangement of drivingly interconnected rotors and pivoted links, which cooperate during motor-driven pulling and tensing of the cable to effect the desired articulation motion. Such motion, as will be seen, includes a blend of complex and compound translation, rotation and revolution.
The end of the cable which is remote from the drive motor is trained in a kind of serpentine fashion around a common-axis, combined pulley gear, whereby tensioning and pulling motion of the cable causes rotation of this pulley/gear. The gear portion in this rotary twosome (pulley/gear) is drivingly interconnected with one or more additional rotary elements, and therethrough to plural linkage structure 1b that is operatively and drivingly connected to the wrist/hand structure. This linkage structure (which herein also economically includes certain portions of rotor structure, and also selected regions in the wrist/hand structure) uniquely includes a pair of mechanical-advantage-enhancing, pantograph-type arrangements that contribute to the operational effectiveness of the invention.
The overall structure is quite simple in construction, and leads to a final doll structure wherein, for example, wrist7hand motion control is producable in very effective, efficient and realistic manners.
These and various other features and advantages that are offered by the present invention will become more fully apparent as the description which now follows is read in conjunction with the accompanying drawings.
Brief Description of the Drawings Fig. 1 is a frontal, perspective, view illustrating an animated toy doll, and more specifically, generally the skeletal structure of such a doll, which includes wrist/hand structure that is moved by motion/drive structure constructed in accordance with the present invention.
Fig. 2 is an enlarged, fragmentary and schematic view illustrating such motion/drive.
Fig. 3 is a further enlarged fragmentary schematic detail focusing on components that are present according to the invention near the lower portion of Fig.

2.
Fig. 4 is a an enlarged, fragmentary and schematic view of an embodiment of the motion/drive of Fig. 2.

Fig. 5 is an enlarged isometric view of the lower end of the motion/drive of Fig. 2.
Detailed Description of. and Best Mode for Camin~ Out, the Invention Turning attention now to the drawings, and referring first of all to Fig. 1, S indicated generally at 10 is the skeletal structure an animated toy doll.
Doll 10 includes elongate arm structure, such as right arm 12, having upper and lower elongate arm components 12a, 12b, respectively. Carried near the lower end of arm component 12b is wrist/hand structure 14, also referred to herein as articulated appendage/limb structure. Also, suitably provided in arm 12, within arm component 12b, is motion/drive structure (not specifically shown in Fig. 1) that has been constructed in accordance with the present invention for producing certain kinds of motion in the wrist/hand structure. It should be understood that while the invention is described herein especially in conjunction with effecting and promoting articulation motion in wrist/hand structure 14, the invention could also be used to move other kinds of limbs and appendages, if so desired, in a toy doll like that pictured in Fig. 1.
Wrist/hand structure 14 herein includes an articulated wrist component 14a which is appropriately pivoted near the lower end of lower arrn component 12b, an upper articulated hand component 14b which is pivotally joined to component 14a in a man_rer that will shortly be more fully described, and a lower hand component 14c which is pivotally attached to component 14b. Wrist/hand components 14a, 14b, 14c are also referred to herein as substructures.
Focusing attention now on Figs. 2-S, inclusive, along with Fig. 1, suitably mounted within the central body structure of doll 10 is an electric drive motor 16 which is employable, via operation of the structure of the present invention, to produce articulation motion in wristlhand components 14a, 14b, 14c. The exact location of motor 16 is not critical to an understanding of the present invention, and for the purpose of the present description of this invention, motor 16 is deemed to be within the central body structure of doll 10 generally near the region where upper arm portion 12a joins with the body-trunk portion in the doll. This drive motor is represented only schematically, and only in Figs. 1 and 2.
Forming interactive components in the overall structure of a preferred embodiment of the present invention (the motion/drive structure), which embodiment is shown generally and variously at 18 in Figs. 2-S, inclusive, are an elongate cable 20, and rotor and linkage structure generally pointed to by arrow 22 in the drawings.
As can be seen particularly in Fig. 2, cable 20 extends from motor 16 downwardly in the figure in a somewhat serpentine fashion (within lower arm structure 12b) around a pair of journalled idlers 24, 26. From there, the cable extends downwardly and partially around a combined pulley/gear 28. In particular, the lower end, or extremity, of cable 20 extends partially around a pulley portion 28a in pulley/gear 28, and is anchored thereto as shown at 30 in Fig. 2. Idlers 24, 26 are suitably journalled within lower arm structure 12b for turning freely about substantially parallel axes 24a, 26a, respectively. Pulley/gear 28 is likewise journalled for rotation about an axis 28c which generally parallels axes 24a, 26a.
The teeth in a gear portion 28b in pulley/gear 28 drivingly mesh with teeth in another gear 32, which other gear has teeth that mesh drivingly with teeth in still another gear 34. Pulley portion 28a is also referred to herein as a pulley structure, and gear portion 28b as a first driven gear. Gears 32, 34 are similarly journalled for rotation within lower arm structure 12b about axes 32a, 34a, respectively.
These two axes substantially parallel previously-mentioned axes 24a, 26a, 28c.
Pulley/gear 28, along with gears 32, 34, may be referred to herein individually or collectively as rotor structure.
Shown generally at 36 in several different ones of the drawing figures is the linkage structure portion of previously-mentioned rotor and linkage structure 32.
Included in linkage structure 36 are portions of previously mentioned wrist/hand components 14a, 14b, 14c, and in addition, elongate links 38, 40, 42. In Fig.
2, links 38, 42 have simply been shown (for simplification purposes) as single solid lines, with the line that represents link 42 having generally the upwardly and rightwardly facing concave curvature illustrated. The reason for this curvature will be explained shortly.
It should also be noted that, within Figs. 2 and 3, the exact relative positions of the various components pictured there, as well as the exact relative sizes and perimetral outlines of various components, are not necessarily to scale or exact. These aspects of configuration, placement and sizing are, for the most part, simply matters of appropriate choice, and, except to any extent pointed out below, do not specifically form any part of the present invention.
Component 14a is suitably pivoted for sva~inging en axis 34a.
Component 14b is appropriately pivoted relative to component 14a for rotation about an axis 44. Component 14c is similarly pivoted to component 14b for rotation relative thereto about an axis 46.
s Link 38 has its upper end in Figs. 2 and 3 pivoted to gear 34 appropriately for rotation relative to the gear about an axis 48. The lower end of link 38 is suitably pivoted to the right end of link 40 in Figs. 2 and 3 for rotation about an axis 50. The left end of link 40 in Figs. 2 and 3 is pivoted for rotation appropriately about previously-mentioned axis 44. Link 42, the curved link, has its upper end in Figs. 2 and 3 pivoted to link 40 for rotation relative to this link about axis S0. The lower end of link 42 in these two figures is pivoted to component 14c for rotation relative thereto about an axis 52. Component 14a and link 38 are moveable (pivotally) relative to gear 34.
Link 42 has the rightwardly/upwardly facing concave curvature pictured in Figs. 2 and 3 in order to allow, in the final presentation and completion of doll 10, the insides of the palms in the doll's hands to possess a fairly normal cup shape.
Still discussing linkage structure 36, further operationally included in this linkage structure are regions both in gear 34 and in component 14c. These regions 1 S coact with other components in the linkage structure to form what can be thought of herein as two articulation-motion pantograph-like arrangements. Very specifically, the region in gear 34 which so functions is that region which lies along dash-dot line 54 in Figs. 2 and 3, and which extends between axes 34a, 48. The region within component I ~.c :which forms part of the linkage structure herein is that portion si~hich lies along dash-dot line 56 (see particularly Fig. 3), and which extends between axes 46, 52.
Several other dash-dot lines that are presented in Figs. 2 and 3 are helpful in visualizing what has been referred to above as pantograph-like arrangements.
These additional dash-dot lines include lines 58, 60, 62, 64 and 66. One of the pantograph-like arrangements referred to herein is described by the region bounded by lines 54, 58, 60, 66. The other such region is the one bounded by lines 56, 62, 64, 66.
With the pantograph-like regions structured as shown (i.e., in relation to the relative lengths of the respective, bounding dash-dot lines), pulling of cable 20 delivers mechanical-advantage motions to the wristlhand components. Such mechanical-advantage behavior can be recognized by the fact that a given amount of translational movement in cable 20 effects less motion in the wristlhand components than would be the case were the rotor and linkage structure of this invention not employed --for example, in a situation where such a cable was directly connected, say, just to a component like component 14c.
Describing now how the structure of the present invention performs in the setting of doll 10, the nominal (or unmoved) initial relative positions of the components in the wrist/hand structure might be very much like those positions generally shown in Figs. 1, 2 and 3. Maintenance of the various articulated components in this nominal state might typically be under the influence of a passive biasing spring, or a collection of such springs (not shown in any view herein). This "normal positioning" consideration forms no part of the present invention.
When it is desired to cause articulation motion in the wrist/hand structure herein, motor 16 is operated to pull ~,zpon and tension cable 20, thus to draw the same generally upwardly as such is pictured in Fig. 2. Tensioning of the cable is indicated near the top of Fig. 2 by the letter T. With cable 20 trained as shown in the generally serpentine fashion around idlers 24, 26, and around the pulley portion of pulley/gear 28, these rotary components rotate about axes 24a, 26a, 28c in a counterclockwise, clockwise and counterclockwise manners, respectively. These respective directions of rotation are pictured by curved arrows drawn on the respective rotary elements in Fig. 2. Such rotational motion is transmitted by gear portion 28b to gears 32, 34 and this causes gear 32 to rotate about axis 32 in a clockwise direction in Fig. 2, and gear 34 to rotate in a counterclockwise direction around axis 34a.
These rotational directions are pictured on gears 32, 34 by curved arrows in Fig. 2.
With such rotation taking place in gear 34, combined rotational, translational, and revolutional motions take place, in different patterns, within components 14a, 14b, 14c and links 38, 40, 42, with the two pantograph-like arrangements generally changing geometric shapes to accommodate these motions.
This action causes the wristlhand components to move, and curl inwardly, quite realistically, with compound motions occurring therein that include one or more of translation, rotation and revolution.
Specifically, component 14c rotates relative to component 14b in a counterclockwise direction about axis 46. This rotation is indicated by arrow 68 in Fig. 2. Component 14b rotates relative to component 14a, also in a counterclockwise direction, and about axis 44, as indicated by arrow 70 in Fig. 2. Component 14a also rotates in a counterclockwise direction in Fig. 2, and about axis 34a relative to gear 34. .Tl~~is motion is indicated in Fig. 2 by curved arrow 72.
What can be seen, therefore, is that tensional translation introduced into cable 20 by motor 16 causes rotational motion of wrist/hand component 14a relative to the lower arm portion 12b. Component 14b undergoes a more complex motion, and specifically (a) motion which includes rotation about axis 44, (b) translation (in an s X/Y) sense in the plane of Fig. 2, and (c) revolution relative to axis 34a.
Directions of translational motion, that is orthogonal directions of such motion, are illustrated by the crossed lines that appear at the lower left side of Fig. 2. Wrist/hand component 14c undergoes an even more complex, compound motion, including {a) rotation about axis 46, (b) translation and revolution relative to axis 44, and (c) translation and revolution also relative to axis 34a.
Thus, one can see that the proposed mechanism of the present invention offers a very simple structure for utilizing longitudinal single cable movement to create very complex and quite naturally looking motions in appendages in a toy doll, such as in the wrist/hand structure in doll 10 specifically discussed hereinabove and illustrated.
Although the invention has been disclosed in its preferred forms, the specific embodiments thereof as disclosed and illustrated herein are not to be considered in a limiting sense, because numerous variations are possible. The subj ect 1 S matter of the invention includes all novel and non-obvious combinations and subcombinations of the various elements, features, functions, and/or properties disclosed herein. No single feature, function, element or property of the disclosed embodiments is essential. The following claims define certain combinations and subco..,binatior~s of features, functions, elements, andlor properties that arc regarded as novel and nonobvious. Other combinations and subcombinations may be claimed through amendment of the present claims or presentation of new claims in this or a related application. Such claims, whether they are broader, narrower, equal, or different in scope to any earlier claims, also are regarded as included within the subject matter of the invention.

Claims (8)

1. Morion/drive structure operatively interposed a drive motor and articulated appendage/limb structure in a toy doll, comprising an elongate cable operatively interposed such a motor and such appendage/limb structure, tensible, and moveable generally translationally along its long axis, under the influence of the mentioned drive motor, rotor structure operatively interposed said cable and the appendage/limb structure, operable to exhibit rotary motion in direct relation to translational movement occurring in said cable, and linkage structure operatively interconnecting said rotor structure and such appendage/limb structure, operable, with rotary motion occurring in said rotor structure, to create articulation motion in the appendage/limb structure.

2. The motion/drive structure of claim 1, wherein said linkage structure includes components linked to the appendage/limb structure, said components, together with such appendage/limb structure and said rotor structure, forming at least one mechanical-advantage-enhancing, pantograph-like arrangement.

3. The structure of claim 2, wherein said rotor structure and said linkage structure are operatively interconnected with the appendage/limb structure in such a manner that, with tensing and translating of said cable, the rotor structure and linkage structure effect compound articulation motion in at least a portion of the appendage/limb structure.

4. The structure of claim 3, wherein said linkage structure's said components include links which move with one or both of translation and/or rotation with tensing and translating of said cable.

5. The structure of claim 4, wherein the appendage/limb structure includes at least two substructures that form parts of the mentioned pantograph-like arrangement, which substructures, as operatively related to said linkage structure, exhibit one or both of translation and/or rotation with tensing and translating of said cable.

6. Motion/drive structure operatively interposed a drive motor and articulated appendage/limb structure in a toy doll comprising an elongate cable operatively interposed such a motor and such appendage/limb structure, movable translationally and in tension along its long axis during operation of the mentioned drive motor, rotor structure operatively connected to an end of said cable at a point remote from such a drive motor, including pulley structure and a first driven gear collectively receiving said cable's said end, said rotor structure being responsive to tensioned translational movement in said cable to respond with rotary motion occurring in said first driven gear, and linkage structure operatively interconnecting said rotor structure and such appendage/limb structure, operable, with rotary motion occurring in said first driven gear, to create articulation motion in the appendage/limb structure.

7. Motion/drive structure operatively interposed a motor and articulated appendage/limb structure in a toy doll comprising an elongate translationally pullable and tensionable cable, rotor structure including a pulley which receives an end of said cable, and plural interconnected gears that are drivingly connected to said pulley, and linkage structure including plural links operatively interconnecting said rotor structure and such articulated appendage/limb structure operable, with translational tensioned movement occurring in said cable, to create articulation motion in the appendage/limb structure, said rotor structure, linkage structure and the appendage/limb structure collectively cooperating to form pantograph-like structure that is effective to introduce mechanical advantage between said cable and the appendage/limb structure.

8. The motion/drive structure of claim 7, wherein said pantograph-type structure includes a pair of pantograph-like substructures.