GB2114457A - Movable arm amusement device - Google Patents

Abstract

The device comprises a base 2, an arm 7, and a rotary arm support mechanism 6. The base 2 accommodates a drive mechanism, drive direction converter mechanisms and a manually operated control mechanism 121. The arm is equipped with a holding mechanism 12, consisting of jaws 12a, 12b, and also has articulated portions 8, 9, 10. The arm is hollow and contains a plurality of transmission shafts having gears at both ends thereof. One end of each transmission shaft is coupled to a drive direction converter mechanism via gear trains. <IMAGE>

Description

SPECIFICATION Movable arm amusement device Background of the invention In recent years, a variety of industrial machines and apparati have been produced which are automatically controlled or remotely operated. For example, a variety of industrial robots have been ingeniously developed and adapted to many applications. Most industrial robots are equipped with a manipulator or gripping device, which can be remotely operated with what is termed "magic hand" functioning.

The present invention is concerned with a toy robot which is capable of the various operations performed by the above-mentioned industrial robots.

Summary ofthe invention It is an object of the present invention to provide a toy robot with a holding portion at the end of an arm portion mounted on a base, the robot being capable of freely turning its arm portion to hold or release an object when the arm portion is operated through a manual operating mechanism.

It is also a object of the present invention to provide a highly advanced educational toy robot with a high entertainment value, and one which is relatively compact and durable.

Additional objects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objects and advantages of the invention may be realized and obtained by means of the instrumentalities and combinations particularly pointed out in the appended claims.

To achieve the foregoing and other objects of the present invention and in accordance with the purpose of the invention therer is provided a base accommodating both a drive mechanism containing an electric motor, and drive force converter mechanisms. A manual operating mechanism is mounted on and is operated from the external side of the base. A rotary support mechanism is mounted on the upper surface of the base and supports an arm which includes a hand-like member or palm mechanism having a holding mechanism consisting of holding pieces that can be opened and closed to hold an object. The arm has foldable articulated portions and is hollow for allowing a plurality of transmission shafts having gears attached to both ends thereof to be supported in the arm running from the rear end thereof to the hand portion.The rear ends of the transmission shafts are coupled to the drive force converter mechanisms accommodated in the base via transmission gear trains. The gears attached to the ends of the multitude of shafts permit the various articulated portions of the arm to be bent or turned a predetermined amount by relying upon the drive force which is transmitted, and the transmission shaft stretching into the hand opens or closes the holding pieces of the holding mechanism.

As stated above, the drive force converter mechanisms accommodated in the base are coupled to a manual operating mechanism. By operating the manual operating mechanism, the drive force transmitted to the movable members, such as the articulated portions and the holding mechanism in the arm can be transmitted in the forward direction, in the reverse direction, or interrupted.

Therefore, when the manual operating mechanism is operated, it turns the arm and folds the articulated portions, whereby the palm mechanism is moved to a desired position. The holding pieces of the holding mechaism is then opened and closed to hold a object, and the object may be moved within the movable range of the arm.

The present invention also provides a manual operating mechanism for a toy robot, according to which a plurality of articulated portions in the arm can be moved by manipulating a single operating rod. More particularly, a movable operating rod, which can be tilted back and forth, and right and left, is positioned in the upper area of the base and extends to the exterior of the device. The base, as stated, also supports the arm having foldable articulated portions, the drive mechanism for operating the arm and the drive force converter mechanisms.

The lower portion of the operating rod is fitted to elongated holes formed in first and second moving plates that are disposed under the operating rod and which are operatively connected to separate drive force converter mechanisms. The elongated holes of the two moving plates are superposed to intersect at right angles with each other, and the lower portion of the operating rod is positioned at the intersection of the two elongated holes.

When the operating rod is tilted in the back and forth directions, the first moving plate undergoes movement and causes the elongated hole therein to stretch in a direction at right angles to the direction in which the lower end of the operating rod moves.

When the operating rod is tilted in the right and left directions, the second moving plate moves to stretch the elongated hole in a direction at right angles to the direction in which the lower end of the operating rod moves. Therefore, the two drive force converter mechanisms can be actuated by a single operating rod.

Brief description of the drawings The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

Figure 1A is a perspective view of the robot toy of the present invention; Figure 1B is a left side view of the robot toy shown in Figure 1A; Figure 2 is an exploded perspective view of the drive mechanism, the drive force converter mechanism and the manual operating mechanism of the toy robot; Figure 3A is a partial cross-sectional right side view illustrating the conversion of drive force though a gear train in a drive force conversion mechanism; Figure 3B is a top plan view of the gear mechanism shown in Figure 3A; Figure 4 is an exploded perspective view of the rotary support member of the present invention; Figure 5 is a perspective view of part of the third and fourth articulated members at either end of the upper arm;; Figure 6 is a perspective view of a part of the second and third articulated members at either end of the lower arm; Figure 7A is a perspective view of the holding mechanism, the first articulated member and a part of the second articulated member, all of which are located at the palm mechanism; Figure 7B is a perspective view of a rotary member having link pieces; and Figure 8 is a perspective view of a counting device to be used with the present invention.

Detailed description of the preferred embodiments The preferred embodiment of the invention will be described below in detail with reference to the accompanying drawings referenced above.

First, as illustrated in Figures 1A and 1 B, a toy robot 1 consists of a base 2 made of a nearly flat housing, and an arm 7 of which the end closest the base is supported by a rotary support mechanism 6 that is located on the base 2.

For convenience in describing the various elements of the present invention, the following directions are used: (1) back or rear indicates the direction toward the operating rods 121 shown in Figure 1; (2) front or forward indicates the direction toward the end of the base which is opposite to the end having the operating rods 121; (3) top or upwardly indicates the direction toward the arm from the base; (4) bottom or downwardly indicates the direction toward the base from the arm; and (5) the side of the toy shown in Figure 1 B is the left side.

The arm 7 has a hand-like mechanism or palm mechanism 11 attached to the end thereof. A holding mechanism 12 having a pair of holding pieces 12a, 12b (see Figure 7A) is attached to the end of the palm mechanism 11 and works to hold an object. An annular first articulated portion 10 is provided at the rear end of the palm mechanism 11. By turning the first articulated portion 10, the holding pieces 12a, 12b of the holding mechanism 12 can be freely turned. The rear end of the palm mechanism 11 is coupled to the front end of a lower arm 17 through a second articulated portion 9, and the palm mechanism 11 is allowed to bend in the upward and downward directions through the second articulated portion 9.

As seen in Figure 1 B, the rear end of the lower arm 17 is coupled to the front end of an upper arm 16 through a third articulated portion 8, and the lower arm 17 is allowed pivot through the third articulated portion 8. The rear end of the upper arm 16 is pivoted to the upward end of the rotary support mechanism 6, which serves as a fourth articulated portion 15, and which corresponds to the articulation characteristics of the shoulder of the human body.

The fourth articulated portion 15worksto move the arm 7 in the upward and downward directions, and to turn the arm 7 in the right and left directions.

Owing to the opening and closing capability of the holding pieces 12a, 12b, and the various movements of the first, second, third and fourth articulated portions, the arm 7 is capable of holding an object while turning the object and/or moving the object to another location.

Further, a control portion 2a is provided on the base 2 at the rear side thereof, and two operating rods 121 are positioned in the top surface of the control portion 2a. The operating rods 121 are capable of being tilted in the back and forth directions, and in the right and left directions. A control panel (not shown) is formed on the upper surface of the control portion 2a and indicates the portions of the arm 7 actuated as the operating rods 121 are manipulated.

The drive mechanism and the drive force converter mechanisms will be now described.

The overall drive mechanism is accommodated in the base 2, as shown in Figure 2, and consists of a battery 79, a switch 80 connected to the battery 79, a motor 20, a motor pinion 22 attached to a motor shaft 21, and a drive shaft 23 to which is attached a crown gear 24 that meshes with the motor pinion 22.

The drive shaft 23 has a plurality of gears 25 that mesh with respective rotary gears 27 of the drive force converter mechanisms 37a-f, which will now be described.

The drive force converter mechanisms 37a-f work to transmit the drive force in the forward or reverse directions, or interrupt the transmission of force from the drive mechanism to the rotary support mechanism 6, the holding mechanism 12 of the arm 7, and the various articulated portions. The drive force converter mechanisms 37a-f are provided in an equal number to that of the number of movable portions of the arm 7, i.e., there are six drive force converter mechanisms for the four articulated portions, the rotary support mechanism, and the holding mechanism.

The first converter mechanism 37a transmits the drive force to the fourth articulated portion 15 to move the arm 7 in the upward and downward directions. A second converter mechanism 27b transmits the drive force to the rotary support mechanism 6 to turn the entire arm 7. A third converter mechanism 37c transmits the drive force to the first articulated portion 10 to turn the palm mechanism 11. A fourth converter mechanism 37d transmits the drive force to the second articulated portion 9 to move the palm mechanism 11 in the upward and downward directions. A fifth converter mechanism 37e transmits the drive force to the third articulated portion 8 to turn the lower arm 17 in the left and right directions relative to the upper arm 16.

A sixth converter mechanism 37f works to open and close the holding pieces 12a, 12b of the holding mechanism 12.

Each converter mechanism 37a-f fundamentally consists of a drum 26 which has engaging projections 28-32 (to be explained more fully hereafter in relation to Figures 3A-B) formed on the outer peripheral surface thereof, and each rotary gear 27 is held on the side thereof to mesh with the gear 25 of the drive shaft 23, and two switching gears 35, 36 which mesh with the rotary gear 27 to switch the rotating direction either in the forward direction or in the reverse direction. Construction of the converter mechanism is described below in more detail.

The cylindrical drum 26 is coaxially and loosely fitted to the drive shaft 23 in the vicinity of the gear 25. The rotary gear 27 is located on the side surface of the drum 26 so as to be loosely fitted to a gear shaft 42; the rotary gear 27 is in mesh with the gear 25 at all times. Therefore, the rotary gear 27 turns as it is driven by the drive shaft 23 and, at the same time, revolves around the gear 25, so that the drum 26 is rotated in a predetermined direction at all times.

As seen in Figure 3A, four gears 33,3435 and 36 are disposed along the locus of revolution of the rotary gear 27 around the peripheral edge of the drum 26. The gear 33 is in mesh with the gear 34, the gear 35 is in mesh with a pinion 34' that is formed together with the gear 34 as a unitary structure, the pinion 34' is in mesh with the gear 35, and the gear 35 is in mesh with the gear 36. Therefore, these four gears are always in mesh with each other. The gears 33,34, 35 and 36 are rotatably fitted to gear shafts 38, 39,40, and 41, respectively. The rotary gear 27 can be brought into mesh with all of the gears 33,34,35 and 36.However, when any one of the engaging projections 28 to 32 formed on the peripheral surface of the drum 26 (at positions deviated in the circumferential direction and in the axial direction), comes into engagement with an engaging pawl (to be described later) of the operating mechanism, so that the drum 26 comes to a halt, the rotary gear 27 either comes into mesh with one of the gears 33,34,35 and 36, or is maintained in a neutral state in which it does not come into mesh with any of the gears 33 to 36.

Among the four gears 33-36, the gears 35 and 36 work to switch the drive force in the forward direction and in the reverse direction, and the gears - 33 and 34 work to convert their rotational speeds.

The pinions 36' are formed together with the gears 36 as unitary structures serve as output pinions of the converter mechanisms 37a to 37f, and mesh with the rear ends of the gear trains (to be described later) that transmit the drive force to each of the respective portions of the arm 7.

The drive shaft 23 is supported so as to traverse the base 2 as shown in Figure 2, and six drums 26 are positioned on the rotatable drive shaft 23. Gear shafts 40, 41 and gear shafts 38, 39 are disposed around the drums 26, and six gears 35 and six gears 36 are rotatably fitted to the gear shafts 40, 41 so that the transmission of force can be switched to the forward direction or to the reverse direction. Further, five gears 33 and five gears 34 are rotatably fitted to the gear shafts 38,39 to convert to a lower speed forward or reverse rotation.

The gears 33, 34 work to make the operation of the arm 7 fast or slow, but are not essential features of the drive force converter mechanisms 37a-37f.

Therefore, the gears 33, 34 are not provided when the drive force is to be transmitted to the operation portion and there is no requirement for fine speed adjustment. For instance, the gears 33, 34 are not provided for the sixth converter mechanism 37f that transmits the drive force to the holding mechanism 12 for opening and closing holding pieces 12a, 12b.

The drive force converter mechanisms 37a-37e will further be briefly described in conjunction with the manual operating mechanism 4 shown in the partial cross-sectional view of Figure 3A.

Figure 3A illustrates particularly the first converter mechanism 37a which has gears 35,36 for switching the transmission of force between the forward direction and the reverse direction, gears 33, 34 for changing the speed, drum 26, and rotary gear 27.

The gears of the same arrangement are also em ployed for the second to fifth converter mechanisms 37b to 37e. The sixth converter mechanism 37f consists of the above-mentioned fundamental setup, but does not have gears 33,34 for changing the speed.

Figure 3A illustrates the neutral condition in which an engaging pawl 117 of the manual operating mechanism 4 is engaged with the engaging projection 30 of the drum 26, and the rotary gear 27 of the drum 26 is not in mesh with any of the gears 33,34, 35,36, so that the drive force is not transmitted to the arm 7. When the operating rod 121 is operated, the engaging pawl 117 engages the engaging projection 32 formed on the drum 26, whereby the rotary gear 27 meshes with the gear 36. The output pinion 36' formed together with the gear 36 as a unitary structure meshes with a crown gear 302 at the base end of the gear train which transmits the drive force.

Therefore, the gear shaft 301 rotates at a high speed in the forward direction. When the engaging pawl 117 comes into engagement with the engaging projection 28 of the drum 26, the rotary gear 27 comes into mesh with the gear 35, so that the gear shaft 301 rotates at a high speed in the reverse direction. Further, when the rotary gear 27 meshes with the gear 33, the gear shaft 301 rotates at a low speed in the reverse direction.

The high- and low-speed rotations in the forward and reverse directions are referred to in a relative meaning. In the first converter mechanism 37a, for instance, when the gear shaft 301 rotates at a high speed in the forward direction, the fourth articulated portion 15 operates to raise the arm 7 at a high speed. When the gear shaft 301 rotates at a low speed in the forward direction, the arm 7 moves upwardly at a low speed. When the gear shaft 301 rotates at a high speed in the reverse direction, the arm 7 moves downwardly at a high speed owing to the fourth articulated portion 15. When the gear shaft 301 moves at a low speed in the reverse direction, the arm 7 moves slowly in the downward direction.

Engaging projections formed on the drum 26 will now be described below with reference to Figures 3A and 38.

The engaging projection 30 works as a neutral projection and protrudes at the central portion of the drum 26 in the axial direction. With the above portion as a boundary, engaging projections 31,32 (for forward rotation) protrude at different positions on the side of forward rotation of the drum 26, and engaging projections 28, 29 (for reverse rotation) protrude at different positions in the axial direction on the side of reverse direction of the drum 26. The engaging projections 28 to 32 are mounted such that they are separated by a predetermined angle in the circumferential direction of the drum 26.

Figure 3A illustrates the so-called neutral condition in which the engaging pawl 117 of the operating mechanism 4 is engaged with th engaging projection 30 of the drum 26, and the rotary gear 27 is not in mesh with any of the gears 33,34,35,36.

When the rotary gear 27 is in mesh with the gear 36 for switching the direction of rotation, the engaging pawl 117 engages the engaging projection 32.

If the engaging projection 32 is used as a frame of reference, the engaging projection 28 which brings the rotary gear 27 into mesh with the gear 35, should be formed at a position separated from the projection 32 by an angle equal to the angle defined by the gear shaft 41 of gear 36 and the gear shaft 40 of gear 35, with the drive shaft 23 as a center. Engaging projections 29,31 of the drum, which bring the rotary gear 27 into mesh with the gears 33, 34 to change speed, are also provided quite in the same manner as mentioned above.

With the drive force converter mechanisms constructed as mentioned above, the engaging pawl 117 of the manual operating mechanism 4 moves along the axis of the drum 26 in the vicinity of the peripheral surface of the drum 26, such that the drive force is reliably transmitted to the movable portions of the arm 7.

Below is described the manual operating mechanism 4 of the present invention.

With the conventional manual operating mechanism, the operating knob is operated to turn the drive mechanism on or off, or to actuate the drive mechanism in the forward or reverse direction, or to stop the drive mechanism altogether. The prior art has required one drive mechanism to be controlled by one manual operating mechanism. However, a great many operating mechanisms would be required if the six drive mechanisms employed in the toy robot of the present invention were to be operated in the forward or reverse direction, or were to be stopped, relying upon the conventional method. In addition, using the conventional method would require complex manipulation, which might quickly lessen the user's interest.

According to the manual operating mechanism 4 of the present invention, manipulation of a single operating rod makes it possible to control at least two, or preferably, three drive force converter mechanisms, i.e., to actuate the converter mechanisms in the forward direction or in the reverse direction, orto stop them. By manipulating two operating rods by both hands, therefore, the robot is capable of actuating twice as many converter mechanisms and robot functions.

The manual operating mechanism 4 (see Figure 2) is disposed in front of the drive force converter mechanisms 37a-37f, which are arranged in the base 2. As illustrated in Figure 2, the operating mechanism 4 consists of a left side 4a, and a right side 4b (shown in a disassembled manner). The structures of the left side 4a and the right side 4b are substantially similar. The right side operating mechanism 4b controls the first to third converter mechanisms 37a, 37b, 37c, and the left side operating mechanism 4a controls the fourth to sixth converter mechanisms 37d, 37e, 37f. Generally, each of the operating mechanisms 4a and 4b has an engaging pawl at the end thereof.When the operating rods 121 are operated, therefore, the enaging pawls engage the engaging projections 28-32 of the drums 26 to change the various gears of the converter mechanisms 37a to 37f.

The right side operating mechanism 4b has quite the same construction and function as the left side operating mechanism 4a, as illustrated in exploded Figure 2, and which will be described below.

The right side operating mechanism 4b has two slender moving plates, i.e., a first moving plate 107 and a third moving plate 132, which stretch in the front to back direction and which are arranged perpendicular to the axis of the drive shaft 23. The right side operating mechanism 4b also consists of a second moving plate 100 which is located underthe above-mentioned first moving plate 107 and which is narrower than the above-mentioned first moving plate 107.

The second slender moving plate 100 has an engaging pawl 101 at the end thereof facing the central position of the drum 26 of the second converter mechanism 37b. A hole 102 is formed behind the engaging pawl 101, and a shaft 103 formed on the base 2 is inserted in the hole 102, whereby the second moving plate 100 is allowed to turn in the right and left directions with the shaft 103 as the pivot.

Behind the hole 102, an elongated hole 104 is formed in the lengthwise direction of the second moving plate 100. The lower end of an operating rod 121, which will be further described later, is inserted in the elongated hole 104. Further, in an open end of a [-shaped leaf spring 105 are positioned both side surfaces of the rear portion of the second moving plate 100. The rear end of the leaf spring 105 is secured to the base 2, while a shaft 106 is located in the space defined by the leaf spring 105. Therefore, when the second moving plate 100 is turned to the right or left direction, the resilient force of the leaf spring 105 causes the engaging pawl 101 at the end to always maintain a position facing the center of the drum 26, i.e., the neutral position.

The first moving plate 107, which is placed on the second moving plate 100, has a width greater than the second moving plate 100, and has an engaging groove 108 extending from the right side of the plate 107. An elongated hole 109 is formed in the plate in the lengthwise direction, and an elongated hole 110 is formed in the plate 107 perpendicular to the lengthwise direction of the plate 107, and almost at the center of the plate 107. A slit 111 is formed in the rear portion of the first moving plate 107, and a tongue piece 112 protrudes outwardly near the side of elongated hole 110.

The first moving plate 107 is placed on the second moving plate 100, the shaft 103 is fitted into the elongated hole 109, and the elongated hole 104 of the second moving plate 100 is brought into alignment with the elongated hole 110 of the first moving plate 107. The downward end of the operating rod 121 is inserted in the space defined by the lower elongated holes 104 and 110thatare in alignment, and the shaft 106 is fitted to the slit 111. Owing to the elongated hole 109 and the slit 111, therefore, the first moving plate 107 is allowed to slide in the back and forth directions.

Both sides of the tongue piece 112 are positioned in the open end of a [-shaped leaf spring 113, which is mounted on the bottom plate of the base 2 via a [-shaped frame 115.

A swing piece 116 has a triangular shape and is disposed on the bottom plate of the base 2 at a position to correspond to the drum 26 of the first converter mechanism 37a. The swing piece 116 has an engaging pawl 117 at the front vertex of the swing piece 116, which engaging pawl 117facesthe projections of the drum of the first converter mechanism 37a. The swing piece 116 further has a hole 118 at a rear corner. A shaft 119 formed on the base 2 is fitted into the hole 118. Further, the swing piece 116 has a pin 120 protruding at the other corner thereof. The pin 120 engages with the engaging groove 108 formed in the first moving plate 107.

As mentioned above, the first moving plate 107 is placed on the second moving plate 100 to cause the shaft 103 to penetrate through the front portion of the second moving plate 100 to engage the elongated hole 109 ofthe first moving plate 107. Further, the shaft 106 is fitted into the slit 111 of the first moving plate 107.

The pin 120 is inserted in the engaging groove 108 of the first moving plate 107. The elongated hole 104 of the second moving plate is then brought into alignment with the elongated hole 110 of the first moving plate 107, whereby the engaging pawl 101 is opposed to the drum 26 of the second converter mechanism 37b and the engaging pawl 117 is opposed to the drum 26 of the first converter mechanism 37a. The stop positions are then maintained at the central position of the drum 26, i.e., at the neutral position, owing to the [-shaped leaf springs 113, 105 that engage with the first moving plate 107 and the second moving plate 100.

The lower portion of the operating rod 121 is inserted in the elongated hole 110 of the first moving plate 107 from the upper direction. The operating rod 121 has a knob 122 formed at the head portion thereof and å spherical body 124 formed at a middle portion thereof. An engaging pin 125 protrudes sideways from the spherical body 124, and a spherical portion 125' is formed at the free end of the engaging pin 125. The spherical body 124 is supported bya hemispherical bearing 126 formed together with the base 2 as a unitary structure, and the operating rod 121 is allowed to be tilted in the back and forth directions, and in the right and left directions.

When the operating rod 121 is tilted in the back and forth directions, i.e., the lengthwise direction of the first moving plate 107, the lower portion of the rod 123 is inserted in the elongated holes 110 and 104 of the first moving plate 107 and the second moving plate 100, respectively, the lower end of the rod 123 contacts the side edge of the elongated hole 110 of the first moving plate 107, and the first moving plate 107 is thereby slid in the lengthwise direction thereof. The swing piece 116 also moves correspondingly, since the pin 120 is fitted to the engaging groove 108 of the first moving plate 107.

Accordingly, the engaging pawl 117 formed at the end of the swing piece 116 moves toward the axial direction of the drum 26 of the first converter mechanism 37a, and comes into engagement with one of the engaging projections 28 to 32 that protrude from the drum 26. At the same time, the second moving plate 100 remains stationary since the rod 123 at the lower end of the operating rod 121 moves in the elongated hole 104 in the lengthwise direction thereof.

Next, when the operating rod 121 is tilted in the right and left directions, i.e. the direction at right angles with the lengthwise direction of the first moving plate, the rod 123 at the lower end of the operating rod 121 comes into contact with the side edges of the elongated hole 104 of the second moving plate 100; i.e., the second moving plate 100 moves in the right and left directions with the shaft 103 as a pivot. Therefore, the engaging pawl 101 formed at the end of the second moving plate 100 swings in the axial direction of the drum 26 of the second converter mechanism 37b, and comes into engagement with one of the engaging projections 28 to 32 protruding from on the drum 26. At the same time, the first moving plate 107 remains stationary since the rod 123 at the lower end of the operating rod 121 swings in the elongated hole 110 in the lengthwise direction thereof.This is more particularly described below in relation to the arm 7.

When the operating rod 121 is tilted in the back and forth directions, the arm 7 moves up and down, slowly or quickly, with the fourth articulated portibn 15 as the pivot. When the operating rod 121 is tilted in the right and left directions, the arm 7 turns to the right and left, either slowly or quickly, due to movement of the rotary support mechanism 6.

Further, the third moving plate 132 is placed on the left side of the first and second moving plates 107, 100, in parallel therewith. A nearly triangular swing piece 127 is rotatably supported by the shaft 130, which is formed on the bottom plate of the base 2 at the front of the third moving plate 132. A hole 129, to which the shaft 130 will fit, is formed in the swing piece 127, an engaging pawl 128 protrudes at the end of the swing piece 127, and an upwardly protruding pin 131 is studded on the corner portion of the swing piece 127 opposite the shaft 130.

The third moving plate 132 has a slit 133 formed in the front portion thereof so that it can slide along the shaft 130 to which the upper portion is fitted to the slit 133. An engaging groove 134, to which the pin 131 will fit, is formed on the side of the third moving plate 132. A [-shaped holding piece 135 is formed nearly centrally of the third moving plate 132. The spherical portion 125' at the tip of the engaging pin 125 of operating rod 121 is held by the holding piece 135.

Further, an elongated hole 136 is formed at the rear of the third moving plate 132. The shaft 137 formed on the base 2 is inserted into hole 136 from the bottom so that the third moving plate 132 slides along the shaft 137. A pair of projections 138, 138 protrude downwardly from the rear underside of the third moving plate 132. The projections 138, 138 are fitted to the open ends 140, 140 of the pair of [-shaped frames 139, 139 secured on the bottom plate of the base 2. The [-shaped frames 139 are so arranged that the open ends 140, 140 thereof face each other. A coil spring 141 is also accommodated in the [-shaped frames 139, 139, with both ends of the coil spring fitting into the frames 139, 139.

The third moving plate 132, of which the projections 138,138 are fitted to open ends 140,140 of the [-shaped frames 139,139, is urged by the coil spring 141 such that the engaging pawl 128 ofthe swing piece 127 stops at a neutral position of the drum 26 of the third converter mechanism 37c. When the operating rod 121 is moved, the third moving plate 132 moves in the back and forth directions, and the swing piece 127 engaged with the third moving plate 132 turns toward the right and left, correspondingly, so that the engaging pawl 128 comes into engagemenu with one of the projections 28-32 on the drum 26 of the third converter mechanism 37c.

The operating mechanism 4a for operating the fourth, fifth and sixth converter mechanisms 37d, 37e and 37f, respectively, is constructed quite in the same manner as the operating mechanism 4b for operating the first, second and third converter mechanisms 37a, 37b and 37c, and is illustrated in an assembled manner on the left side of the base 2 of Figure 2.

Using the manual operating mechanism 4 of the present invention, therefore, a plurality of drive force converter mechanisms can be controlled by a single operating rod. In addition, as many as six converter mechanisms can be fully controlled by two operating rods according to an embodiment of the present invention.

Below are described both the gear trains for transmitting the drive force from the output pin ions 36' of the first to sixth converter mechanisms 37a to 37f to the arm 7, and the drive force transmission mechanism provided in the rotary support mechanism 6.

That is, the output pinion 36' at the end of the first converter mechanism 37a for operating the fourth articulated portion 15, meshes with the crown gear 302 supported at the end of the gear shaft 301, and drive force is transmitted to a transmission gear 308 via a pinion 303 attached to the other end of the gear shaft 301, via a crown gear 304 in mesh with the pinion 303, via a shaft 306 which has a small gear 305 attached to an end thereof, and via a shaft 309 which was a crown gear 307 attached to the lower end thereof.

Then, the output pinion 36' of the second converter mechanism 37b meshes with a gear train, i.e., meshes with a double gear 201 located on the input side, a pinion 202 of the gear 201 meshes with a crown gear 203 which is a double gear of the next stage, a pinion 204 of the double gear 203 meshes with a gear, 205 which forms a double gear on the lower stage, and a pinion 206 of the double gear 205 meshes with a gear 208 at the lower end of a shaft 207. Thus, a transmission gear 209 attached to the upper end of the shaft 207 is driven to turn the rotary support mechanism 6.

Next, the output pinion 36' at the end of the third converter mechanism 37c meshes with a gear 601 which forms a double gear, and a pinion 602 of the double gear 60 meshes with a crown gear 604 at the lower end of a shaft 603, so that a transmission gear 605 attached to the upper end of the shaft 603 is driven to turn the palm mechanism 11.

The output pinion 36' at the end of the fourth converter mechansim 37d is in mesh with a crown gear 502 attached to an end of a lateral shaft 501 which has a pinion 503 at the other end. The pinion 503 is in mesh with a crown gear 505 attached to the lower end of the shaft 504, to actuate a transmission gear 506 at the upper end of the shaft 504, thereby to operate the second articulated portion 9.

The output pinion 36' at the end of the fifth converter mechanism 37e meshes with a crown gear 402 which is attached to an end of a lateral shaft 401, and a pinion 403 at the other end meshes with a crown gear 405 at the lower end of a shaft 404, to actuate a transmission gear 406 attached to the upper end of the shaft 404, so that the third articulated portion 8 can be operated.

Finally, the output pinion 36' at the end of the sixth converter mechanism 37f, which opens and closes the holding pieces 12a, 12b, is in mesh with a crown gear 702 attached to one end of a lateral shaft 701, and a pinion 703 attached to the other end of the shaft 701 is in mesh with a crown gear 705 attached to the lower end of a shaft 704 to drive a transmission gear 706 attached to the upper end of the shaft 704.

The transmission gears at the ends of these transmission gear trains are located at the downward end of the rotary support mechanism 6, which is rotatably installed on the base 2, and are brought into mesh with the transmission gears of the rotary support mechanism 6.

Figure 4 illustrates the rotary support member 6, in which the intermediate portion is omitted for the sake of convenience, and the bottom portion is described as being stretched in the upward and downward directions for easy comprehension of the meshing conditions of the gears.

The rotary support mechanism 6 is constructed of a cylinder 6a, and is rotatably mounted on the upper surface of the base 2. The transmission gear 308 which receives the drive force from the first converter mechanism 37a is located at the center of the cylinder 6a of the rotary support mechanism 6.

Further, the transmission gears 209, 605, 506, 406 and 706, which receive the drive force from the second to sixth converter mechanisms 37b to 37f, are disposed along the outer periphery of the cylinder 6a of the rotary support mechanism 6, but at different heights.

The peripheral surface of the cylinder 6a of the rotary support mechanism 6 is covered with a substantially cylindrical bellows 6b. A support ring 210 is secured to the upper portion of the cylidner 6a.

The arm 7 is fitted to the cylinder 6a from the upward direction and is supported by the support ring 210.

The transmission gear 308 located at the center of the cylinder 6a is in mesh with the gear 311, which is attached to the lower end of a shaft 310 that is hanged from the upper portion of the cylinder 6a. A worm gear 312 is attached to the upper end of the shaft 310, and a worm wheel 313 which is in mesh with the worm gear 312 is supported by a lateral shaft 314 which penetrates through the upward portion of the cylinder 6a. One end of the lateral shaft 314 protrudes beyond the side surface of the cylinder 6a, and a transmission gear 315 is attached to the protruding portion. The transmission gear 315 is in mesh with a sector wheel 316 which forms the fourth articulated portion 15thatwill be mentioned later, and moves the upper arm 16 in the upward and downward directions by about 150 degrees.

Four ring gears 407, 507, and 606 and 707 are detachably fitted to the outer periphery in the downward portion of the cylinder 6a of the rotary support mechanism 6, and the drive force is transmitted to the movable portions of the arm 7 via these ring gears. These ring gears (i.e., up to the fourth stage from the bottom) work to transmit the drive force to the movable portions of the arm 7 that are located beyond the fourth articulated portion 15.

Teeth are engraved on the inner and outer surfaces of the ring gears, in order to transmit the drive force introduced from the outer teeth to the inner teeth.

Above these ring gears, another ring gear 211 is secured to the outer periphery of the cylinder. This upward ring gear 211 has teeth that are engraved on the outer side only, and is secured to the outer periphery of the cylinder 6a, so that the rotary support mechanism 6 can be turned.

More particularly, the outer teeth 407a of the ring gear 407 at the bottom-most stage are in mesh with the transmission gear 406 attached to the shaft 404.

Namely, the ring gear 407 is rotated, whereby the gear 408 which is in mesh with the inner teeth 407b and which is located on the inner side of the cylinder 6a, is rotated to turn the shaft 409. A portion of the cylinder 6a is cut away so that the gear 408 is allowed to protrude outwardly and mesh with the inner teeth 407b.

Outer teeth 507a and inner teeth 507b are also engraved in the ring gear 507 of the second stage upward. The transmission gear 506 attached to the shaft 504 is in mesh with the outer teeth 507a to turn the ring gear 507, and the gear 509 attached to the bottom end of the perpendicularly hanging shaft 508 is in mesh with the inner teeth 507b to transmit the rotational force of the cylinder 6 upwards.

A portion of the cylinder 6a is cut away so that the gear 509 is allowed to outwardly protrude to come into mesh with the inner gear 507b.

Outer teeth 606a and inner teeth 606b are also formed in the ring gear 606 of the third stage upward. The outer teeth 606a are in mesh with the transmission gear 605 attached to the shaft 603 to turn the ring gear 606, and the inner teeth 606b are in mesh with the gear 608 via an intermediate gear 607, to turn the shaft 609 to upwardly transmit the drive force. A portion of the cylinder 6a is cut away so that the intermediate gear 607 is allowed to outwardly protrude to come into mesh with the inner teeth 606b.

Outer teeth 707a and inner teeth 707b are formed in the ring gear 707 of the fourth stage upward, the transmission gear 706 attached to the shaft 704 is in mesh with the outer teeth 707a to turn the ring gear 707, and the gear 709 is in mesh with the inner teeth 707b via an intermediate gear 708 disposed on the inner side, to turn the shaft 710 of the gear 709 to upwardly transmit the drive force. Part of the cylinder 6a is cut away so that the intermediate gear 708 is-allowed to outwardly protrude to come into mesh with the inner teeth 707b.

Four transmission gears are attached to the upper ends of the shafts 409, 508, 609 and 710. Namely, a transmission gear 410 is attached to the shaft 409, a transmission gear 510 is attached to the shaft 508, a transmission gear 610 is attached to the shaft 609, and a transmission gear 711 is attached to the shaft 710.

The upper ring gear 211 is fitted to the outer periphery of the cylinder 6a above the four lower ring gears 407, 507, 606 and 707, and is brought into mesh with the transmission gear 209 attached to a shaft 207 which is located on the outer side of the cylinder 6a, so that the rotary support mechanism 6 will rotate together with the ring gear 211.

Thus, in the rotary support mechanism 6, a plurality of transmission gears in the base 2 are disposed in the cylinder 6a by ring gears, and the drive force is introduced from a train of transmission gears at the end of the drive force converter mechanisms under the cylinder 6a, and is transmitted to the arm 7 via the cylinder 6a.

Acoupling member8a atthefourth articulated portion 15 is shown in Figures 4 and 5 and is fitted to the cylinder 6a of the rotary support mechanism 6 from the upward direction thereof, and the four transmission gears 510,610,711 and 410 are arranged at the top portion of the transmission mechanism in the upper arm 16 to transmit the drive force to the various other articulated portions.

The coupling member 8a supports the arm 7 and has a pair of ear portions 8b, 8b protruding from the top on both sides thereof. The bottom of the coupling member 8a is open so as to be fitted to the upper portion of the cylinder 6a of the rotary support mechanism 6. The ear pieces 8b, 8b have holes 8b', 8b' which will be fastened by screws to threaded holes8b", that are formed on both sides of the upper arm 16 for fitting the inner side of the ear pieces 8b, 8b, so that the arm 7 can be moved in the upward and downward directions.

Further, the sector wheel 316 has an engaging pin 317 protruding at an end thereof which is fitted to a hole 8e formed in the left side of the upper arm 16. A transmission gear or pinion 315 attached to the end of the shaft 314 protrudes beyond the cylinder 6a and is in mesh with arcuate gear teeth 316a of the sector wheel 316. Therefore, the arm 7 moves upward and downward on the aligned and secured threaded holes 8b", 8b" of the upper arm 16 and holes 8b', 8b' of the ear pieces 8b, 8b, thereby to constitute the fourth articulated portion 15.

The fourtransmission gears 510,610,711 and 410 disposed at the upper portion of the cylinder 6a of the rotary support mechanism 6 are brought into mesh with crown gears 511,611,712 and 411 protruding toward the rear end of the upper arm 16 of the arm 7, so that the drive force is transmitted through the fourth articulated portion 15. The gears of the two sides should be brought into mesh with each other on an axial line which connects the holes 8b', 8b' formed in the ear pieces 8b, 8b. This is because, the arm 7 moves up and down with the secured holes 8b', 8b' acting as pivots. In other words, if the gears are brought into mesh at this position, the gears of both sides are not separated from each other during movement but are maintained in an engaged condition.

The coupling member 8a has top surfaces Sc which are frontwardly tilted from the center of the holes 8b', so that the fourth articulated portion 15 will not come into contact with the coupling member 8a even when it is moved to the lowest position. A spring 320 is stretched between a hook 318 which is secured to the top end of the coupling member 8a and a hook 319 which is attached to the rear top end of the upper arm 16, so that the free end of the arm 7 can be easily turned upwardly, the arm 7 being cantilevered by the fourth articulated portion 15.

Thus, the fourth articulated portion 15 is interlocked with the swinging operation of the sector wheel 316, which meshes with the pinion 315 protruding beyond the cylinder 6a of the rotary support mechanism 6, and receives the drive force from the drive mechanism accommodated in the base 2 via the first drive force converter mechanism 37a, whereby the upper arm 16 of the arm 7 moves upwardly and downwardly. Furthermore, the cylinder 6a is caused to rotate by the transmission gear 209 which is in mesh with the ring gear 211 that is fastened to the cylinder 6a. However, the rotating state of the cylinder 6a cannot be seen from the exterior since the cylinder 6a is covered with the cylindrical bellows 6b.Therefore, the arm 7 appears to turn in horizontal directions with the fourth articulated portion 15 at the top end of the rotary support mechanism 6 as a fulcrum or pivot for upward or downward movement.

Below is described transmission of the drive force from the upper arm 16 to the third articulated portion 8 at the front end of the upper arm 16; to the second articulated portion 9; to the first articulated portion 10; and to the holding pieces 12a, 12b of the holding mechanism 12 at the end of the arm 7, in conjunction with Figures 5,6 and 7. Basically, the drive force is transmitted through transmission shafts that are rotatably supported in the hollow arm 7, and that have transmission gears attached to both ends thereof.

The upper arm 16 is formed of a housing 8d of a hollow rectangular shape, and the lower side of the rear end is angled corresponding to top surfaces Sc so that it may pivot on the coupling member 8a mounted on the top end of the rotary support mechanism 6. A pair ofV-shaped side plates 8f, 8f protrude from the top and bottom surfaces at the front end of the housing 8d, and holes 8f', 8f' are formed in the central portions of the side plates 8f.

The protruding portions of side plates 8f, 8f at the front end of the upper arm 16 are coupled to the rear end of the lower arm 17 as shown in Figure 6, to form the third articulated portion 8.

A transmission shaft 412 which transmits the drive force to the third articulated portion 8 is rotatably supported in the upper arm 16, and has the crown gear 411 attached to the rear end thereof, and a gear 413 attached to the front end thereof. A gear 416 is attached to the front end of a transmission shaft 415 which has a gear 414 at the rear end to come into mesh with the gear 413, a worm gear 419 is attached to the bottom end of a transmission shaft 418 which has a crown gear 417 attached to the top end to come into mesh with the gear 416, and a gear 422 is attached to the front end of a transmission shaft 421 which has a worm wheel 420 at the rear end meshed with the worm gear 419, the gear 422 being allowed to protrude into the third articulated portion 8.

The drive force is transmitted to the second articulated portion 9 through a transmission shaft 512 which has the crown gear 511 attached to the rear end and a gear 513 attached to the front end.

The drive force is transmitted through the gear 513, a gear 515 in mesh with an intermediate gear 514 which is engaged with the gear 513, a transmission shaft 516 fastened to the gear 515, and a gear 517 which is fastened to the front end of the transmission shaft 516 and which is allowed to protrude into the third articulated portion 8.

A transmission shaft 612 which transmits the drive force to the first articulated portion 10 has the crown gear 611 attached to the rear end and a gear 613 attached to the front end. A transmission shaft 615 having a gear 614 in mesh with the gear 613, has a gear 616 at the other end, the gear 616 protruding into the third articulated portion 8.

Atransmission shaft 713 which transmits the drive force to the holding portion 12 at the end of the arm 7, has the crown gear 712 attached to the rear end, and a gear 714 attached to the front end.

A gear 717 is attached to the end of a transmission shaft 716 which has a gear 715 in mesh with the gear 714, the gear 717 being protruded into the third articulated portion 8.

As mentioned above, the transmission shafts are arranged in the upper arm 16, the gear 422 actuates the third articulated portion 8 which connects the front end of the upper arm 16 to the rear end of the lower arm 17, and other transmission gears transmit the drive force to the end of the arm 7 via the third articulated portion 8.

As shown in Figure 6, the lower arm 17 has a housing 9a of a shape similar to the upper arm 16. A pair of U-shaped side plates 9b, 9b protrude from the rear end of the housing 9a, and holes 9b', 9b' are formed in the central portions of the side plates 9b, 9b. The side plates 9b, 9b are inserted in the side plates 8f, 8f which protrude from the front end of the upper arm 16, and a pivot shaft 423 is inserted in the holes 8f', 8f', 9b' and 9b' of the side plates, so that the lower arm 17 is allowed to pivot in the horizontal directions.

A crown gear 424 is secured to the inner wall of the side plate 9b on the side where the gear 422 protrudes from the upper arm 16. Since the crown gear 424 is in mesh with the gear 422, the lower arm 17 rotates in the right and left directions with the third articulated portion 9 at a fulcrum or pivot, as the gear 422 is turned in the forward direction or in the reverse direction.

Three crown gears 518,617 and 718 are attached to the pivot shaft 423. Among them, the crown gear 518 is located near the inner surface of the upward side plate 9b and is in mesh with a gear 517 to transmit the drive force to the second articulated portion 9. The second crown gear 617 is in mesh with a gear 616 and transmits the drive force to the first articulated portion 10, and the third crown gear 718 is in mesh with a gear 717 to transmit the drive force to the holding mechanism -12.

Three transmission shafts 520,619 and 720 also protrude from the lower arm 17, and the gears attached to the ends of these shafts are brought into mesh with the three above-mentioned crown gears.

That is, the crown gear 518 is in mesh with a gear 519 attached to the rear end of the transmission shaft 520, the crown gear 617 is in mesh with a gear 618 attached to the rear end of the transmission shaft 619; and the crown gear 718 is in mesh with the gear 719 attached to the rear end of the transmission shaft 720. Therefore, even when the lower arm 17 turns in the horizontal directions, gears of the transmission shafts are not brought out of mesh, and the drive force is reliably transmitted.

A gear 521 is attached to the front end of the transmission shaft 520 transmitting drive force to the second articulated portion 9, a crown gear 522 in mesh with the gear 521 is attached to an end of a shaft 523 stretching in a direction at right angles with the transmission shaft 520, and a worm gear 524 is fitted to a suitable portion of the shaft 523. The worm gear 524 is in mesh with a worm wheel 525 attached to an end of a shaft 526, and a gear 527 is attached to the end of the shaft 526, the gear 527 protruding into the second articulated portion 9.

A gear 620 is attached to the front end of the transmission shaft 619 transmitting the drive force to the first articulated portion 10, and a gear 623 is attached to an end of a transmission shaft 622 which has a gear 621 in mesh with the gear 620, the gear 623 protruding into the secnd articulated portion 9.

A gear 721 is attached to the front end of the transmission shaft 720 transmitting the drive force to the holding mechanism 12 at the end of the arm 7 and protrudes into the second articulated portion 9.

A pair of U-shaped side plates 9c, 9c protrudes from the end of the lower arm 17, and holes 9c', 9c' are formed at the central portions of the side plates 9c, 9c. The side plates 9c, 9c protrude from the front end of the lower arm 17 and are coupled to the rear end of the palm mechanism 11 shown in Figure 7, thereby to form the second articulated portion 9.

As seen in Figure 7a, the rear end of the palm mechanism 11 is provided with a housing 1 0a which has a U-shaped cross section. Side surfaces 1 0b, 1 0b of the rear end of the housing 10a are fitted into the side plates 9c, 9c that protrude from the front end of the lower arm 17, and a pivot shaft 529 is inserted in the holes 9c', 9c' formed in the side plates 9c, 9c and in the holes 10b', 10b' formed in the side surfaces 10b, 10b of the housing 10a, so that the palm mechanism 11 is pivoted to rotate in the upward and downward directions. A crown gear 528 is secured by a mounting fitting 530 to the inner wall of the side surface of the housing 10a on the side where the gear 527 protrudes from the lower arm 17.Since the gear 527 is in mesh with the crown gear 528, the palm mechanism 11 turns in the upward and downward directions with the second articulated portion 9 as a pivot or fulcrum, as the gear 527 rotates in the forward direction or in the reverse direction.

Two crown gears 624, 722 are rotatably supported by the pivot shaft 529. The crown gear 624 is in mesh with the gear 623 transmitting the drive force to the first articulated portion 10, and the crown gear 722 is in mesh with the gear 721 transmitting the drive force to the holding mechanism 12.

The crown gear 624 transmits the drive force to the first articulated portion 10 which is rotatably mounted on the central portion of the palm mechanism 11, and which is formed in the shape of an annular frame 11 b.

A cylindrical boss 11 d protrudes from the rear end of the annular frame 11b, and a gear 625 is secured to the rear end of the boss 11 d.

The boss 11d is supported buy a cylindrical bearing member 11c protruding into the housing 1 Oa from the front end of the housing 1 Oa, and the annular frame 11b is rotatably mounted. A support frame ila for mounting the holding mechanism 12 is also formed at the end of the annular frame 11 b as a unitary structure. Therefore, as the gear 625 in mesh with the crown gear 624 rotates, the annular frame 11 b rotates, so that the holding mechanism 12 is rotated in the forward direction or in the reverse direction by the first articulated portion 10 constituted by the annular frame 11 b.

The holding mechanism 12 consists of a pair of holding pieces 12a, 12b,a pair of link members 731 of which the front end portions are pivotally connected to intermediate portions of the holding pices 12a, 12b and of which the rear end portions are pivotally connnected to front portions of the support frame 11 a, and a pair of moving link'members727, 727 of which the front end portions are pivotally connected to the rear portions of the holding pieces 12a, 12b, of which the rear portions are pivotally connected to the rear ends of the support frame 11 a, and which have worm wheels 726,726 which are attached to the rear ends thereof and to rotary members 728, 728 and which receive the drive force from the fist articulated portion 10. The gear 723 attached to the rear end of the transmission shaft 724 is in mesh with the crown gear 722 that meshes with the gear 721 so that the drive force is transmitted to the holding mechanism 12.

The transmission shaft 724 penetrates through the boss 11 d, and its rear portion is fastened to the center of the gear 625, and its front portion is rotatably supported by the end surface of the annular frame 11 b. The front end of the transmission shaft 724 protrudes into the support frame 11 a, and has a worm gear 725 attached thereto. Worm wheels 726, 726 attached to the base ends of the moving link members 727 are in mesh with the worm gear 725 from both sides thereof. Therefore, when the worm gear 725 turns in a predetermined direction to rotate worm wheels 726, 726 that are in mesh with the worm gear 725, the moving link members 727,727 rotate in such a direction that the ends thereof will open with shafts 729,729 at the rear ends as fulcrums or pivots.In this way, the rear portions of the holding pieces 12a, 12b also separate, because the holding pieces 12a, 12b are coupled to the front ends of moving link members 727,727 by shafts 730.

The link members 731,731 are supported at the middle portions of the holding pieces 12a, 12b by shafts 732,732, and the rear ends of the link members 731,731 are supported by the support frame 1 1a by shafts 732. The link members 731,731 move while being interlocked with the moving link members 727,727, so that the two holding pieces 12a 12b open while maintaining a parallel relation relative to each other.

Therefore, when the gear 625 rotates in the reverse direction the holding pieces 12a, 12b may approach an object while maintaining a parallel relation to the object. Reference numerals 1 2d, 1 2d denote rubber members attached to inner sides of the holding pices 12a, 12b, so that the object can be easily held.

Finally, the toy robot of the present invention is equipped with a timer mechanism to add further amusement to the toy, such as completing a predetermined work project within a pedetermined period of time, thus enhancing play value as a toy. Details of the timer mechanism are now described below with reference to Figure 8.

The timer mechanism 13 is accommodated in the base 2, counts the drive of motor 20 in a relative manner, and interrupts the drive power supply when a predetermined full count is reached. This is illustrated below with reference to the drawings.

In Figure 2, a gear 152 attached to an end of a intermediate shaft 151 is engaged with a gear 150 attached to the right end of the drive shaft 23, a worm gear 153 is attached to the other end of the intermediate shaft 151, a gear 155 attached to the lower end of the shaft 154 is engaged with the worm gear 153, and a gear 156 is attached to the top end of the shaft 154.

As shown in FigureS, the timer mechanism 13 driven by the gear 156 at the top end of the shaft 154 is accommodated in a rectangular frame 14, and a timer display member made of a narrow cylinder and having a particular display on the outer peripheral surface thereof, is rotated by the abovementioned transmission device.

More particularly, the gear 156 is engaged with a gear 158 attached to one end of a shaft 157, and a gear 159 is attached to the other end of the shaft 157.

The other gear 159 is in mesh with a gear 161 that is formed at the end of a cylindrical dial portion 160 as a unitary structure. The dial portion 160 has numerals O to 100 on the outer peripheral surface thereof. A rim 161a is formed on the outer surface of the dial portion 160, and three teeth 162 are formed on a portion of the rim 161 a.

A shaft 163 protrudes through the rim 161a, and a pin 164 protrudes from the rim 161a in parallel with the shaft 163 which is detachably equipped with an engaging fitting 167 that has an engaging portion 165 protruding in the circumferential direction, and a fork-shaped projection 166 for holding the pin 164.

An elongated cylindrical display member 168 is inserted in the dial portion 160, a gear 170 having a protruding rim 169 is formed on one side of the dial portion 160 so as to be inserted in the rim 161 a, and a projection is formed on the inner periphery of the rim 169. When the dial portion 160 turns in the forward direction, the projection 171 comes into sliding contact with the engaging portion 165 of the engaging fitting 167 so that the display member 168 rotates. However, when the dial portion 160 turns in the reverse direction, the projection 171 comes into engagement with the engaging portion 165, and the display member 168 is not rotated.

A ratchet wheel 172 is provided adjacent to the gear 170, pawls 172a are engraved on the circumference of the ratchet wheel 172 at equal intervals, and a stop pawl 172b is engraved particularly deeply therein. An engaging piece 173 which has a < shaped engaging end is secured to the frame 14 and is opposed to the stop pawl 1 72b from the outer direction, and is so disposed that the engaging end is in mesh with the ratchet wheel 172 at all times.

Aterminal tongue piece 174 is brought into contact with the engaging piece 173 from the back side thereof, the terminal tongue piece 174 being connected to a battery 79 and to a switch 80, respectively, through wires (See Figure 2).

The stop pawl 172b is designed to be positioned at a level corresponding to a numeral "100" displayed on the dial portion 160. Further, a vivid marking 175 is applied to the peripheral surface of the display member 168. For instance, luminescent paint is so applied that the areas are reduced in steps from 0 to 100, so that the operator can recognize it easily.

A gear 176 is provided to engage with the gear 170 of the display member 168 and with teeth 162 formed on the rim 161a of the dial portion on the outer side at a position where the display member 168 is inserted in the dial portion 160. Therefore, when the dial portion 160 rotates once, the display member 168 turns by an amount of one pawl 172a. A handle 177 for manual operation is provided on the outer side of the dial portion 160. The display has a plurality of windows (not shown). As the display member 168 rotates, the marking 175 decreases gradually as will be seen through the windows, and the amount to which the drive energy is depleting can be seen.

As mentioned above, the toy robot of the present invention has an arm consisting of a palm mechanism, a lower arm and an upper arm, as well as a holding mechanism at the front end of the palm mechanism which functions like a human hand.

Further, these members are operated by a single power supply, and a maximal number of operations is carried out by a minimal number of mechanisms.

In particular, the holding pieces of the holding mechanism are capable of performing functions equal to the functions performed by the manipulators of industrial robots. Operation can be started or stopped by remote control, and the operation speed can also be controlled, offering composite operations. Therefore, the toy robot is suited for use as a highly advanced educational toy.

The foregoing is considered as illustrative only of the principles of the invention. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the invention to the exact construction and operation shown and described, and accordingly all suitable modifications and equivalents may be resorted to, falling within the scope of the invention and the appended claims and their equivalents.

Claims (25)

1. An amusement device, comprising: (a) a base; (b) an arm support mechanism connected to the base and capable of movement; (c) an arm connected to the arm support mechanism, said arm also being capable of movement; and (d) drive force transmission means connected to the base, the arm support mechanism and the arm, for providing a drive force and for controlling the movements of the arm and the arm support mechanism.

2. The amusement device as recited in claim 1, wherein the arm comprises: (a) an upper arm member connected to the arm support mechanism; (b) a lower arm member connected to the upper arm member; and (c) a palm mechanism connected to the lower arm member.

3. The amusement device as recited in claim 2, wherein the palm mechanism comprises: (a) a housing; (b) a support frame connected to the housing; (c) holding means movably connected to the support frame and being capable of opening and closing movement to grip an object. and (d) link means operatively connected to the drive force transmission means and pivotally connected to the support frame and the holding means for opening and closing the holding means.

4. The amusement device as recited in claim 3, wherein the housing is connected to the support frame by a first articulating means for rotating the support frame relative to the housing.

5. The amusement device as recited in claim 4, wherein the palm mechanism is connected to the lower arm by a second articulating means for rotating the palm mechanism relative to the lower arm.

6. The amusement device as recited in claim 5, wherein the lower arm is connected to the upper arm by a third articulating means for rotating the lower arm relative to the upper arm.

7. The amusement device as recited in claim 6, wherein the upper arm is connected to the arm support mechanism by a fourth articulating means for rotating the upper arm relative to the arm support mechanism.

8. The amusement device as recited in claim 1 or 7, wherein the arm support mechanism is capable of rotating about a vertical axis relative to the base.

9. The amusement device as recited in claim 1 or 8, wherein the drive force transmission means comprises: (a) a drive force means positioned in the base for providing the drive force necessary to move the arm and arm support mechanism; (b) drive force converter means positioned in the base for converting the drive force from the drive force means into the forward or reverse directions or for stopping the drive force; (c) movable manual control means extending externally of the base for determining the movements to be made by the arm and arm support mechanism; (d) operating means slidably positioned in the base for receiving the movable manual control means and for transmitting the movements of the movable manual control means to the drive force converter means; and (e) shaft and gear train means for transmitting the drive force from the drive force means to the arm support mechanism and the arm.

10. The amusement device as recited in claim 1 or 9, wherein the arm support mechanism comprises: (a) a cylindrical member positioned substantially vertically and perpendicular to the base; (b) a plurality of support rings surrounding the upper portion of the cylindrial member; and (c) a plurality of ring gears surrounding the lower portion of the cylindrical member, wherein the plurality of support rings and ring gears are operatively connected to the portion of the shaft and gear train means extending from the base and the portion ofthe shaft and gear train means extending into the arm.

11. The amusement device as recited in claim 4 or 10, wherein the first articulating means comprises: (a) an annular frame; (b) a cylindrical boss protruding from the rear end of the annular frame; (c) a first gear secured to the rear end of the cylindrical boss and meshing with the portion of the shaft and gear train means extending from the arm; and (d) a cylindrical bearing member located centrally of the annular frame for rotatably mounting the annular fame.

12. The amusement device as recited in claim 5 or 11, wherein the second articulating member comprises U-shaped ears extending from the rear end of the palm mechanism and the front end of the lower arm mechanism, wherein the U-shaped ears are secured for hinged rotation relative to each other by a first shaft operatively connected to the shaft and gear train means extending from the base.

13. The amusement device as recited in claim 6 or 12, wherein the third articulating means comprises U-shaped ears extending from the rear end of the lower arm and the front end of the upper arm, whereby the U-shaped ears are secured for hinged rotation relative to each other by a second shaft operatively connected to the portion of the shaft and gear train means extending from the base and the lower arm.

14. The amusement device as recited in claim 7 or 13, wherein the fourth articulating means comprises: (a) a coupling member having U-shaped ears and being positioned on the top of the arm support mechanism; (b) a toothed sector wheel operatively connected to the coupling member and the upper arm; and (c) spring means biasly connecting the coupling member to the rear of the upper arm, wherein the rear end of the upper arm is angled and the U-shaped ears of the coupling member are secured to the angled rear end of the upper arm for hinged rotation relative to each other, and wherein the coupling member is operatively connected to the shaft and gear train means extending from the arm support mechanism and the upper arm.

15. The amusement device as recited in claim 9 or 14, wherein the drive force means comprises: (a) a battery positioned in the base; (b) a motor positioned in the base; and (c) a switch electrically connected between the battery and the motor.

16. The amusement device as recited in claim 9 or 15, wherein the drive force converter means comprises: (a) a drive shaft; (b) a drum on the drive shaft; (c) an engaging projection located on the external surface of the drum; (d) a first gear rotatably connected to the drum positioned at the edge of the drum; (e) a second gear positioned on the drive shaft meshing with the first gear; and (f) switching gears meshing with the second gears for switching the drive force in the forward or backward directions.

17. The amusement device as recited in claim 9 or 16, wherein the movable manual control means comprises a rod operatively connected to the operating means and capable of back and forth and front and back movement.

18. The amusement device as recited in claim 9 or 17, wherein the operating means comprises: (a) a first moving plate; (b) a second moving plate positioned below the first moving plate in slidable relation on the base; (c) an engaging pawl located at the end of the second moving plate for engaging the drive force converter means; (d) a swing piece movably connected to the base adjacent to and abutting the second moving plate; (e) an engaging pawl at the end of the swing piece for engaging the drive force converter means; and (f) a third moving plate sliably positioned on the base adjacent and parallel to the first and second moving plates.

19. The aumusement device as recited in claim 18, wherein there is provided a plurality of drive force converter means.

20. The amusement device of claim 3 or 19, wherein the holding means comprises a first and second holding member positioned substantially parallel in opposing relation to each other.

21. The amusement device as recited in claim 19, wherein the number of the plurality of drive force converter means is six.

22. A toy robot, comprising: (a) a base having (i) a drive force means for producing a drive force, (ii) drive force converter means for converting the drive force from the drive force means into the forward direction or into the reverse direction, or for interrupting the transmission of the drive force, and (iii) a manual operating means for operating said drive force converter means; (b) an arm having (i) a first end and a second end, (ii) a movable holding mechanism at the first end thereof, (iii) foldable articulating means, and (iv) a plurality of transmission shafts having gears attached to both ends thereof and being supported in the arm; (c) a rotary support means for supporting the second end of said arm, said rotary support means being movably mounted on said base, and (d) manual operating means on the base, wherein the manual operating means is operated to turn the arm and hold an object with the holding mechanism.

23. Atoy robot, comprising: (a) a movable arm having a plurality of foldable articulating means; (b) a drive mechanism for producing a drive force and (i) for operating said arm; (c) a base having (i) drive force converter mechanisms, (ii) a manual operating rod, said operating rod being capable of being tilted in the back and forth directions, and in the right and left directions, and (iii) a plurality of moving plates disposed beneath said operating rod, said plurality of moving plates having elongated holes to which the lower portion of said operating rod is fitted, wherein said movable plates are separately moved by said operating rod to actuate said drive force converter mechanisms, so that the drive force can be transmitted to the foldable articulating means of said arm by manipulating a single operating rod.

24. The amusement device as recited in claim 1, 22, or 23, further comprising a timer means for stopping the drive force means after a predetermined amount of time of play has elapsed.

25. A movable arm amusement device substantially as described herein with reference to the accompanying drawings.