GB2103098A - Remotely controlled mannikin for control of models - Google Patents

Abstract

A remotely controlled mannikin incorporates means of reproducing human-like movements to operate the controls of a model, e.g. toy aircraft or motor vehicle. <IMAGE>

Description

SPECIFICATION Mechanisms for and improvements in a remotely controlled mannikin for control of models Background In Patent Application no 8124289 of 7 August 1981 a principle was laid down for a mannikin adapted to operate the controls of a remotely controlled model in lieu of the normal method which entails the installation of the control mechanism directly in the model, with a dummy pilot or driver (if any).

This Application seeks to define more closely possible mechanisms for arm and leg action and to begin to adapt the invention for other types of control movements as was indicated as possible in the above mentioned Application.

The Invention The invention in this application consists of details of possible mechanisms for arms and legs of a mannikin for such a purpose and an explanation of how such a mannikin can be adapted to operate a control in the form of a motor vehicle steering wheel or aircraft control yoke.

The mechanisms will be explained with reference to Figs. 1 to 5.

Fig. 1 shows a possible basic linkage proposed for generating movement of the 'hand' of the mannikin from two mutually perpendicular motions of two servomechanisms which linkage was included in Application nO 8124289.

Fig. 2 shows a possible mechanism for producing these two motions while permitting mounting of the arm linkage and allowing the arm freedom of movement about one axis to adapt to varying conrol locations, arcs of movement etc.

Fig. 3 shows how the mechanisms similar to those of Figs. 1 and 2 can be revised to allow operation of a steering-wheel-like control.

Figs. 4 and 5 show a possible leg mechanism as an improvement on that defined in Application nO 8124289.

In Fig. 1 the arm consists of forearm piece 1, upper section 2 and links 3 and 4. These four parts are pivotably jointed as indicated, to form a pantograph like mechanism. Two servomechanisms (not shown) are incorporated which are such that their output movement is of a linear form. Their outputs are represented by arrows 5, 6 which lie substantially parallel to the direction in which the mannikin faces and 7, 8 which lie substantially horizontally and perpendicular to this axis. The servomechanism related to arrows 5, 6 would be the "elevator" servomechanism and that related to arrows 7, 8 the "aileron" servomechanism (using the terminology of aircraft for convenience, although not confining the invention to aircraft applications).

The servomechanisms are arranged such that the pivot means 10 of links 3, 4 is moved in accordance with arrows 5, 6 in response to requirements for "elevators down" and "elevators up" respectively and cannot move in any sense parallel to arrows 7, 8. Meanwhile, pivot means 9 of the upper arm section 2 is moved in accordance with arrows 7,8 in response to requirements for "ailerons to cause rolling to the right"; "ailerons to cause rolling to the left" respectively and cannot move in any sense parallel to arrows 5, 6.

Function of the arm is as follows:- With reference to a central position corresponding to "controls neutral" (as illustrated): motion of point 10 in direction of arrow 5 (or 6) causes reactions in the mechanism such that hand 11 moves as indicated by arrow 12 (or 13) respectively, thus producing the required fore and aft movement.

Similarly, motion of point 9 in direction 7 (or 8) causes movement of hand 11 corresponding to arrow 14 (or 15) respectively, thus producing the required lateral movement.

Simultaneous displacement in directions 5, 6 and 7, 8 produces proportional displacement of hand 11, which is the combination of the two movements.

In Fig. 2, 1 is a mounting frame carrying the mechanism and mounted within the torso of the mannikin (not shown).

2 is a mounting bracket pivotably attached to frame 1 at axis AA.

3 is a spindle rotatably mounted concentric with axis AA.

4 is a threaded portion of spindle 3.

5, 6, 7 and 8 are arrows indicating motion which correspond to the same numbered arrows in Fig. 1.

9, 10 correspond to the same numbered points in Fig. 1.

11 is a spindle rotatably mounted in bracket 2 on an axis perpendicular to AA.

1 2 is a threaded portion of spindle 11.

13 is an electric motor controlled by an electronic means (not shown).

14 is the output gear for motor 1 3.

1 5 is an idler gear to transmit motion of gear 14, it is freely mounted on a spindle carried on frame 1.

1 6 is a combined idler gear which acts as the means to transmit motion from gear 1 5 to gear 1 7. It is mounted concentrically with axis AA, free to rotate.

1 7 is a gear attached to spindle 11 which transmits motion to it from gear 1 6.

1 8 is a second electric motor controlled electronically.

1 9 is the output gear of motor 1 8.

20 is an idler gear transmitting motion of gear 19, it is freely mounted on a spindle carried by frame 1.

21 is a gear attached to spindle 3 which transmits to it motion from gear 20.

22 is a member constrained to move in directions 5, 6 having a screw thread form to coact with thread 12 of spindle 11.

23 is a member constrained to move in directions 7, 8 having a screw thread form to coact with thread 4 of spindle 3.

In operation motion of points 10 and 9 along directions 5, 6 and 7, 8 is caused by rotation of motors 1 3 and 1 8 respectively.

Motor 13 drives gears 1 5, 16, 17 to rotate spindle 11 causing member 22 to move as required.

Motor 18 drives gears 20, 21 to rotate spindle 3 causing member 23 to move as required.

Electrical supply to the motors is controlled in the established servomechanism manner in which an error signal is generated within the electronic circuit through comparison between a signal representing required position and one representing present position of the relevant output means. This latter signal is generated by the agency of a position sensing means (usually a potentiometer) whose electrical characteristics are modified according to the position of the output means. In the present case there would be two such position sensing means, one adjacent to spindle 3 sensing position of member 23 and one adjacent to spindle 11 sensing position of member 22. These position sensing means are not shown.

Fig. 3 is the same as Fig. 1 except that the motion of point 9 has been modified to lie in directions 20, 21 which are inclined instead of being substantially horizontal as for directions 7, 8. This is achieved by mounting the assembly shown in Fig. 2 in the torso such that axis AA is suitably inclined.

The result of this, together with the pivotment possible about axis AA of Fig. 2, is that motion of point 9 in directions 20, 21 produces an undefined movement of the hand which must, however, contain a component parallel to 20, 21. Because the arm is free to pivot about axis AA of Fig. 2 the actual movement of the hand resulting will depend on the motion permitted of the control means which the hand is "holding".

Thus if the mannikin is operating a vertical steering-wheel-like control the hand movement will be along a substantially vertical curved path as constrained by the allowed wheel movement.

Similarly, if the mannikin is operating an aircrafttype "stick" control the hand will move in a substantially horizontal transverse curve as constrained by the allowed movement of this member. The vertical and horizontal motions thus defined both contain the necessary component parallel to 20, 21 to satisfy the constraints of the system.

This gives the advantage over the basic system of Fig. 1 of allowing two styles of control to be realised with one mechanism.

in Fig. 4, 1 and 2 are rods which pivot at the hip axis 7, 8 and represent right and left upper legs respectively of the mannikin. These are respectively pivotably jointed to 3, 4 which represent the lower legs and feet. The feet are placed on bar or pedals 11 which is assumed to operate a control or other mechanism not part of this description -- normally an aircraft rudder control.

In order to move bar 11 about its axis of rotation 1 2 via the feet it is necessary to impart contrary motion to the two legs as indicated by 1 tis,19 and 17, 1 8. The proposed mechanism for producing this contrary motion is shown in Fig. 5.

In Fig. 5 mountings etc. have been omitted, only active parts being shown: 1 is an electric motor electronically controlled.

2 is gear train or other means of producing an appropriate velocity ratio between the motor 1 and the rest of the mechanism.

3 is a conventional differential mechanism as commonly used in motor vehicle drive axles, whose input member is driven by the output of reduction means 2.

4 and 5 are gears driven by the two outputs of the differential 3, and transferring its motion to gears 9 and 10 respectively.

6 is an idler gear interposed between 5 and 10 so that they rotate in the same sense.

7, 8 is the axis of rotation of gears 9, 10 and corresponds exactly to the hip axis 7, 8 in Fig. 4.

9 is a gear, driven by gear 4, rotating in the opposite sense and therefore in the opposite sense to differential 3. Gear 9 is attached to leg member 1 in Fig. 4 such that the required movement of member 1 in direction of arrows 1 6, 1 7 is produced by movement of gear 9 in Fig. 5.

10 is a gear driven by gear 5 via idler 6. It thus rotates in the same sense as differential 3. 9 and 10 consequently are simultaneously driven in opposite directions by movement of differential 3 and hence by motor 1.

Gear 10 moves leg member 2 of Fig. 4 producing the required contrary motion to leg member 1.

11 and 12 are the two parts of the position sensing means (for example track and wiper of a potentiometer) of the electronic circuit (not shown) which controls the operation of motor 1.

11 and 1 2 are connected to 9 and 10 respectively.

In operation the motor is controlled via its electronic means to produce a required difference in the rotational position of gears 9, 10 (and thus the leg members) to move the bar 11 of Fig. 4 into the required position. Because the position sensing means takes its reference from the two gears 9, 10, it is this difference which is controlled and not the actual position of the mannikin's legs in relation to its body.

Thus, due to the operation of differential 3, the position of the legs may be varied together as required to adapt the mannikin to different seating positions without affecting the function of the servomechanism.

The differential 3 is also needed because, due to the leg motion used to move rudder bar 11 in Fig. 4, for a given displacement of this bar, the displacements of leg members 1 and 2 tend to be unequal. For example if the movement required necessitates a movement of 1 in direction 16, 2 will move in the direction 19 by a greater amount.

For the opposite movement it will be 1 which moves the further. Sensing means elements 11 and 12 may be connected to gears 9, 10 by other than direct means to improve sensitivity or for other reasons.

Claims (11)

1. A remote control means in which controls are operated by a mechanism having the form of a mannikin or doll of substantially human form, which is controlled at a distance by manipulation of a transmitting device by a human operator.

2. A remote control means as claimed in Claim 1 in which the arm or arms is or are operated by a mechanism of jointed rods transmitting or combining the movements of one or more servomechanisms.

3. A remote control means as claimed in Claim 1 where the arm or arms is or are operated by other mechanisms.

4. A remote control means as claimed in Claim 1 in which the legs are operated together by a mechanism incorporating a system of gearing incorporating an electric motor and a differential.

5. A remote control means as claimed in Claim 1 in which the leg mechanism incorporates 2 electric motors.

6. A remote control means as claimed in Claim 1 in which leg movements are produced by a jointed rod mechanism.

7. A remote control means as claimed in Claim 1 where a radio or other signal receiver is incorporated in the mannikin or doll.

8. A remote control means as claimed in Claim 1 where an electronic processor is incorporated in the mannikin or doll to permit more sophisticated control movements.

9. A remote control means as claimed in Claim 1 where a programming means is incorporated in the mannikin or doll to permit pre-programming of certain control movements.

10. A remote control means as claimed in Claim 1 where an electronic processor is incorporated in the transmitting device.

11. A remote control means as claimed in Claim 1 where a programming means is incorporated in the transmitting device.