JP2001129268A - Toy robot mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simplify and miniaturize a mechanism, and to further approach a robot to a shape of a human being while keeping nobility and maneuvering performance of a two-footed walking robot capable of controlling a direction change and accompanied by an actual feeling of walking operation. SOLUTION: A driving foot member 5 is installed on the lower end of a driving foot rod 2, a support foot member 6 is installed on the lower end of a support foot rod front 3 and a support foot rod rear 4, a seesaw plate 12 is arranged on a side surface of a body part 1, an optional part of the support foot rod front 3 is installed on a crankpin 8, the upper end is installed on the front end of the seesaw plate 12 via a support foot link 9, and the upper end of the driving foot rod 2 is installed on the rear end of the seesaw plate 12. The driving foot member 5 and the support foot member 6 mutually vertically operate in synchronism with walking operation by rotation of a crankshaft 7 to continuously transmit propulsion of the driving foot member 5 to a floor surface.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot mechanism that can be used as a stage device or a display device in a special effect such as a toy, a game device, a movie or a television, or a theme park. The mechanism of the body part of the biped robot that can be controlled is simplified and miniaturized, and the arm can rotate the wrist and open and close the hand, the mechanism that can pick up and fly the ball, and the continuous firing of toys The present invention relates to a mechanism that can be mounted on a robot.

[0002]

2. Description of the Related Art A conventional bipedal walking robot in a toy is provided with wheels rotatable only in the forward direction on the bottoms of left and right foot members, and moves forward and backward by the two leg members while the two leg members are always in contact with the floor. However, most of the robots that take the direction change into consideration are driven by wheels and have a drive mechanism installed in the foot member.2
A foot walking robot uses a four-crank crank to drive and retract the drive mechanism, which is complicated and has a large body width, and many gears are used around the crank, making it more complicated, poor in maneuverability, and not accompanied by the feeling of walking. There are things.

[0003] In the conventional arm mechanism of a toy,
Only the opening and closing of the hand is common, and a separate motor is required for wrist rotation.

[0004] In a conventional toy mechanism, there is a mechanism for setting and flying a ball by a human, but the toy itself cannot pick up the ball from the floor.

In a conventional toy, a flying toy is generally set by a person directly on the toy and fired by a release lever, not by remote control operation. In addition, a spherical bullet having a diameter of 6 mm is fired by remote control operation. There are things, but building blocks cannot be broken.

[0006]

The object of the first invention is to
Control of direction change, etc. was possible, and there was a real feeling of walking motion
The objective is to achieve simplification and downsizing of the mechanism while maintaining the mobility and maneuverability of a bipedal walking robot, and to make the robot closer to the shape of a human.

A second object of the present invention is to increase the degree of freedom of operation by adding rotation of the wrist as well as opening and closing the hand in the mechanism of the arm of the robot, and to achieve these with only one motor. It is to enable miniaturization.

A third object of the present invention is to enable a robot to pick up a ball on the floor and further fly it by remote control.

A fourth object of the present invention is to continuously shoot a flying toy enough to break a building block, and to enable remote control operation.

[0010]

According to a first aspect of the present invention, there is provided a body having a body, a pair of legs provided on both sides thereof, and a foot provided at a lower end of each of the legs. A bipedal walking robot in which the pair of legs rotate in opposite phases with respect to the body (1), and each leg performs an anterior-posterior walking motion in which each leg matches an ellipse and an arc. At
The leg is composed of a driving foot rod (2) and a supporting foot rod (3, 4), respectively, left and right, and the foot is a driving foot member (5) having a propulsion mechanism that can be controlled independently of the left and right.
And a supporting foot member (6) for supporting the weight of the robot intermittently in conjunction therewith. A driving foot member (5) is pivotally supported at the lower end of the driving foot rod (2), A supporting foot member (6) is pivotally supported at the lower ends of the rods (3, 4), and a crankshaft (7) that rotates in the forward and reverse directions by a body driving section (10) is mounted on the body part (1) in the horizontal direction. A seesaw plate (12) pivotally supported at the center so as to be rotatable from the side surface is provided on the left and right sides of the body (1). To the crank pin (8) of the crank shaft (7), and the upper end thereof is connected to the seesaw plate (12) through a support foot link (9).
, And the upper end of the drive foot rod (2) is pivotally supported by the rear end of the seesaw plate (12). When the crankshaft (7) rotates, the foot moves forward and backward. In synchronization, the driving foot member (5) and the supporting foot member (6) vertically move with respect to each other while maintaining a constant phase relationship,
An operation of transmitting or not transmitting the propulsion force to the floor surface is repeatedly performed while the propulsion mechanism of the driving foot member is constantly driven.

A second invention for achieving the above object is a wrist rotating and opening / closing hand arm of a toy robot in which two opening / closing hands (21) face two fulcrum shafts of a wrist (23), respectively. And a plate-like portion inside the fulcrum of the opening / closing hand (21) is inserted into a groove of a grooved disk (22) provided with a groove on the circumference, and the wrist (23) is The grooved disk (22) is fixed to the tip of the wrist cylinder (24) and penetrates through the hole of the cylinder, and the tip of a slide shaft (25) that can move back and forth in the wrist cylinder (24).
Is fixed at the rear end, and the opening / closing hand (21) is urged so as to close by a pressing spring (36), and pushes the pressing disk (37) to slide the pressing disk (37). In a mechanism in which the opening / closing hand (21) is opened by pushing a shaft (25) against the wrist cylinder (24), the wrist cylinder (24) is rotatably supported at the tip of the forearm (20) of the robot. , Wrist cylinder (2
4) A disk with a rubber ring (26) is provided at the rear end, and two shafts (27) with worms are provided in parallel on both sides of the wrist cylinder (24). Between the shafts (27), a rotating spur gear (28) and an opening / closing spur gear (29) meshing with the respective worm gears are pivotally supported back and forth, and the rotating spur gear (2) located at the front end side is rotated.
8) The portion near the circumference of the plane is the rubber ring (2).
6) is pressed at a right angle to transmit rotation, and the other open / close spur gear (29) has a push pin (30), and the open / close spur gear (29) rotates to rotate the same. (3
0) pushes the pushing disk (37) to open the opening / closing hand (21), and the two worm shafts (27) are respectively placed at the same distance from the wrist as the transmission spur gears. A motor (31) and a gear box (32) are provided at the center of the forearm, and a pinion gear (33) and a planetary gear (34) meshing therewith are provided on the output shaft of the gear box (32). ), The rotation direction of the pinion gear (33) changes according to the rotation direction of the motor (31), and the planetary gear (3)
4) meshes with one of the transmission spur gears (35) of one of the two worm shafts (27).

According to a third aspect of the present invention, an upper arm (41) and a ball forearm (42) are connected to an elbow fulcrum (4).
In the arm of the robot bent and extended in 3), the upper arm (4
1) protrudes longer than the elbow fulcrum (43), an upper arm pin (44) is vertically fixed to the upper arm (41) at the tip thereof, and the ball forearm (42) is slidable back and forth. A slider (45) is pivotally supported and urged by a pull spring (46) so as to protrude from the wrist to the tip, and the rear part of the slider (45) is perpendicular to the sliding direction.
The plate at the location is integrated with the slider (45) in a shape surrounding the upper arm pin (44), the front plate is hooked (47), and the rear plate is pulled (48).
The elbow fulcrum (43) has a key-shaped hook (49)
Is rotatably mounted on the forearm for the ball (42).
A hand member (50) shaped like a cup is fixed to the tip of the hand member, and two columnar magnets (51, 52) are vertically fixed to the top plate of the hand member (50). A lightweight polyhedral ball (53) made of paper or Styrofoam is prepared, a very thin iron piece (54) is stuck on each flat surface of the ball, and the above-mentioned hand member (50) is magnetized (51) in front of a magnet. Iron piece (54) of polyhedral ball (53)
The upper arm pin (44) is bent by bending the elbow and the upper arm pin (44) is pulled by the pulling plate (48) of the slider (45).
, The hook (49) is hooked on the hook hooking portion (47) of the slider (45), and at the same time, the hand member (50) is lifted obliquely upward, and the slider (45) The iron piece (54) of the polyhedron ball (53) adheres also to the magnet (52) of the hand member (50) by being drawn into the forearm (42), and is inserted into the hand member (50). It is held in a stable state, and then the elbow is extended and the forearm for the ball (4
The upper arm pin (44) raises the hook (49) upward by projecting the hook (2) obliquely upward and forward, and removes the hook (49) from the hook hooking part (47), thereby the slider (45). Is the extension spring (4
6) jumps forward by the above, and the polyhedral ball (53)
It is characterized by flipping off.

According to a fourth aspect of the present invention, there is provided a flying toy, wherein a partition (62) is provided at the center of the inside of the flying part cylinder (61) of the flying object (60).
At the center of 2), there is a hole through which a slide shaft (63) passes, and at the front end of the slide shaft (63), a cylindrical warhead (64) having a diameter smaller than the inner diameter of the flying section cylinder (61). Is fixed, and the partition wall side of the warhead (64) is partially hollow with the inside recessed, and a push spring (65) passing through the slide shaft (63) is built in the same portion, and the warhead (64) 64) to push forward.
At the rear end of the slide shaft (63), a rod-shaped stopper (66) shorter than the inner diameter of the flying section cylinder (61) is fixed perpendicularly to the slide shaft, and the loading section (70) has two sheets. The center of the disk is the flight section cylinder (6
1) It is fixed to each other by a shorter square pipe (71), the square hole of the same square pipe (71) is penetrated, and the loading front plate (72) fixed to the front side of the two disks is attached to the front plate (72). There is a round hole (74) larger than the outer diameter of the flight section cylinder (61), and the stopper (66) is provided on the rear stopper plate (73).
The slot (75) through which the hole passes is in the tangential direction, the round hole (74) of the mounting front plate (72) and the slot (7) of the stopper plate (73).
5) is provided on the same axis parallel to the square pipe (71), the firing drive unit (80) is composed of a motor (81) and a reduction gear box (82), and the output shaft is An angular shaft (83) for transmitting rotation by inserting a square pipe (71) of the loading section (70) is provided, and a release pin (parallel to the same plane as the angular shaft (83)) is provided in the firing drive section. 85) is provided away from the center of rotation. The flying object (60) is inserted from the front side into the round hole (74) of the loading front plate (72) of the loading portion (70), and the pressing spring (65) is inserted. ) And the stopper (66) of the flying object (60) is inserted into the long hole (75) of the stopper plate (73).
Through the 90 degree rotation, and load the flying object (6) on the angular shaft (83) of the firing drive unit (80).
0) is inserted into the loading section (70) so as not to come off, and the square shaft (8) of the firing drive section (80) is inserted.
3) By rotating the motor (81) and the reduction gear box (82), the release pin (85) of the firing drive unit (80) comes into contact with the stopper (66) of the flying object (60), The flying object (60) is fired by rotating the stopper (66) to release it from the elongated hole (75) of the loading portion (70).

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described based on embodiments with reference to the drawings. In FIG. 1 which is the first invention, the legs are composed of a driving foot rod 2 on the left and right, a front 3 on the supporting foot rod, and a rear 4 on the supporting foot rod, respectively. Drive foot member 5
And a supporting foot member 6 that intermittently supports the weight of the robot main body in conjunction with this. The drive foot member 5 can only move up and down with respect to the support foot member 6. In addition, an auxiliary wheel 14 that rotates freely is attached to the front and rear of the supporting foot member 6 in order to reduce friction with the floor surface during turning. The lower end of the drive foot rod 2 is attached to the elongated hole of the drive foot connecting plate 15 of the drive foot member 5 together with the pull spring 13. This is because when the driving foot member 5 protrudes from the bottom of the supporting foot member 6,
When the drive foot rod 2 supports the drive foot member 5 and the drive foot member 5 does not protrude from the bottom of the support foot member 6, the movement of the drive foot rod 2 is transmitted due to the elongated hole of the drive foot connection plate 15. However, this is a mechanism for minimizing the vertical thickness of the support foot member 6 without the drive foot member 5 moving unnecessarily upward. In addition, the extension spring 13 is used to hold the supporting foot member 6 except when necessary.
The drive foot member 5 is pulled up so as not to protrude from the bottom of the drive leg. Then, the supporting foot members 6 are attached to the lower ends of the front 3 and the rear 4 of the supporting foot rod. The body part 1
Is provided with a crankshaft 7 which is rotatable forward and backward by a body driving unit 10 in the left and right horizontal direction, and a crankpin 8 is attached to a tip thereof, and the left and right are in opposite phases. An upper link 11 and a seesaw plate 12 are rotatably mounted on the left and right sides of the body 1 from the side. The upper link 11 and the seesaw plate 12 are connected to the supporting foot link 9 to form a parallel link. The support leg rod front 3 is rotatably attached to an arbitrary portion on the crankpin 8 of the crankshaft 7 and has an upper end rotatably attached to a front end of the support leg link 9. Further, the upper end of the support foot rod rear 4 is rotatably attached to the rear end of the support foot link 9. As a result, the front support rod 3 and the rear support rod 4 form a parallel link, and the support foot member 6 is always kept horizontal.
The upper end of the drive foot rod 2 is connected to the seesaw plate 12.
Rotatably attached to the rear end of These configurations are exactly the same on the left and right except that the crankpin 8 is in the opposite phase.

The operation in the above configuration will be described with reference to FIG. When the crankshaft 7 is rotated in the direction of the arrow, the front foot 3 of the supporting leg rod moves back and forth and up and down together with the rear foot 4 of the supporting foot rod, and the supporting foot member 6 performs a walking motion. At the same time, the drive foot rod 2 is driven by the seesaw plate 12 to support the foot rod 3,
4 is performed upside down. At this time, when the wheels of the drive foot member 5 are rotated so as to advance forward in both the left and right directions, the drive foot member 5 protrudes from the bottom of the support foot member 6 advancing with respect to the body 1, and the support foot member 6 is moved from the floor surface. Lift and move forward. Then, the drive foot member 5 is retracted from the bottom of the support foot member 6 that retreats with respect to the body portion 1, and the support foot member 6 stops while touching the floor surface. By repeating these series of operations, the left and right support foot members 6 are alternately lifted and walked. In addition, while the crank rotation is the same as that described above, the propulsion direction of the drive foot member 5 is set to one side forward and the other is stopped or rearward, so that it is possible to turn while performing a walking operation. At this time, the supporting foot member 6 that is in contact with the floor can change its direction with little friction because of the auxiliary wheel 14. Further, when the crank rotation is reversed and the wheels of the drive foot member 5 are rotated so as to move rearward in both the left and right directions, it is possible to walk backward. Of course, by changing the propulsion direction of the driving foot member 5 left and right, a backward turning is also possible.

Although the wheels are used for the drive mechanism of the drive foot member in the present embodiment, tracks may be used. Further, it is preferable that a plate provided with a slot for the movement trajectory of the driving foot rod and the supporting foot rod is provided horizontally below the body to serve as a guide for each foot rod. By providing this guide, the lateral strength of the foot rod is increased.

Next, a wrist rotation and opening / closing hand arm of a toy robot according to a second invention will be described with reference to FIGS.
Will be described. As shown in FIG. 2, two opening / closing hands 21 are attached to two fulcrum shafts of a wrist 23 so as to face each other, and the inside of the fulcrum of the opening / closing hand 21 is a grooved disk 2.
It is inserted into the second groove. The wrist 23 is fixed to the front end of the wrist cylinder 24, and a disk with a rubber ring 26 is fixed to the rear end.
It is rotatably attached to the tip of. Wrist cylinder 24
Of the slide shaft 2 that can penetrate the hole
5 passes. The grooved disk 22 is fixed to the front end of the slide shaft 25, and the pressing disk 3 is
7 is fixed. A pressing spring 36 is provided between the pressing disk 37 and the rubber ring 26, and pulls the grooved disk 22 toward the front to urge the opening / closing hand 21 to close.
Further, on both sides of the wrist cylinder 24, two worm-mounted shafts 27 are provided in parallel with the wrist cylinder 24. Between them, a rotating spur gear 28 and an opening / closing spur gear 29 meshing with the respective worm gears are provided. The rotating spur gear 28
The portion near the circumference of the plane is pressed against the rubber ring 26 at right angles to transmit rotation. Opening and closing spur gear 2
9 has a push pin 30. When the open / close spur gear 29 rotates, the push pin 30 pushes out the push disk 37.
A transmission spur gear 35 is fixed to each of the two worm shafts 27 at the same distance from the wrist. Further, a motor 3 is provided at the center of the forearm base 20.
1 and a gear box 32 are provided. The output shaft of the gear box 32 is provided with a pinion gear 33 and a planetary gear 34 meshing with the pinion gear 33 as shown in FIG.
Moves in an arc shape depending on the rotation direction of the pinion gear 33,
It is designed to mesh with one of the transmission spur gears 35.

The operation of the above configuration is shown in FIGS.
Will be described. The rotation of the motor 31 is reduced by the gear box 32 and the pinion gear 33 rotates, and as shown in FIG. 3, the planetary gear 34 meshes with one of the transmission spur gears 35 to transmit the rotation depending on the rotation direction. In FIG. 2, when the rotation-transmitted worm shaft 27 meshes with the rotation spur gear 28, the rotation of the rotation spur gear 28 is transmitted to the rubber ring 26, and the opening / closing hand 21 is moved together with the wrist 23. Rotate. When the worm shaft 27 to which the rotation has been transmitted is engaged with the opening / closing spur gear 29, the opening / closing spur gear 29 rotates,
The push pin 30 pushes the pushing disk 37 and the grooved disk 22 protrudes forward, so that the opening / closing hand 21 is opened. Further, when the push pin 30 is not pushing the push disc 37, the grooved disc 22 is returned by the push spring 36, and the opening / closing hand 21 is closed. That is, while the opening / closing spur gear 29 is rotating, the opening / closing hand 21 repeats opening / closing. In this way, it is possible to select and operate whether to rotate the wrist or open and close the hand portion in the rotation direction of the motor.

Although two open / close hands are used in this embodiment, a large number of open / close hands can be attached by arranging them circumferentially around a grooved disk. In this embodiment, the rubber ring is used for transmitting the rotation of the wrist, but the rotation can be transmitted by a gear.

Next, an arm of a toy robot which can pick up and fly a ball according to the third invention will be described with reference to FIGS. 4 and 5. FIG. As shown in FIG. 4, the upper arm 41 and the ball forearm 42 are connected at an elbow fulcrum 43, the upper arm 41 protrudes longer than the elbow fulcrum 43, and an upper arm pin 44 is vertically fixed to the tip of the upper arm 41. . Forearm 4 for the ball
A slider 45 slidable back and forth is attached to 2 and is urged by a pull spring 46 so as to protrude from the wrist to the tip. The tip of the slider 45 has an angled plate shape for ejecting a ball, and the rear portion has a plate-shaped hooking portion 47 and a pulling plate portion 48 perpendicular to the sliding direction, which are integrated with the slider 45. ing. A hook 49 is rotatably attached to the elbow fulcrum 43. At the tip of the ball forearm 42,
A hand member 50 having a cup-like shape is fixed, and a cylindrical magnet front 51 and a magnet rear 52 are vertically fixed to the top plate of the hand member 50. 4 and 5 show a cross section of the hand member 50 for explanation. The polyhedral ball 53 is made of paper or polystyrene foam and is lightweight, and has a very thin iron piece 54 attached to each plane.

The operation in the above configuration is shown in FIGS.
Will be described. The elbow fulcrum 43 is extended as shown in FIG.
Pick up by absorbing. Next, when the elbow is bent as shown in FIG.
Is pulled backward, and the hook 49 descends and hooks on the hook hooking portion 47 of the slider 45 by its own weight. At the same time, the hand member 50 is lifted obliquely upward by bending the elbow, and the tip of the slider 45 is pulled into the ball forearm 42, whereby the iron piece 5 of the polyhedral ball 53 is drawn.
4 also adheres to the magnet rear 52 of the hand member 50 and is stably held in the hand member 50. Next, as shown in FIG. 4, the elbow is extended and the ball forearm 42 is projected obliquely upward and forward, so that the upper arm pin 44 flips up the hook 49 and removes the hook 49 from the hook hooking portion 47. The slider 45 protrudes forward by the pulling spring 46, and flicks the polyhedral ball 53. At this time, at the same time as the ball forearm 42 is vigorously pushed forward, the slider 45 flips the polyhedron ball 53, so that the polyhedron ball 53 can fly farther.

In this embodiment, a polyhedral ball is used. However, as long as an iron piece that can be attracted by a magnet can be fixed and can be accommodated in a hand member, the ball may have any shape. Further, there is no limitation on the shape of the hand member and the number of magnets to be arranged. Further, the slider may be pulled by a motor drive, and the slider may be pulled out by the force of a spring.

Next, the flying toy according to the fourth invention will be described.
This will be described with reference to FIGS. 6, 7, 8 and 9. In FIG. 6, a partition wall 62 is provided at the center of the inside of the flight section cylinder 61 of the flying body 60, and has a hole through which a slide shaft 63 freely passes, and at the front end of the slide shaft 63,
A column-shaped warhead 64 is fixed so that it can enter the inside diameter of the flying section cylinder 61 loosely. The partition wall side of the warhead 64 is partially hollow with the inside depressed, and a push spring 65 passing through the slide shaft 63 is built in the same portion.
4 is pushed to push it forward. At the rear end of the slide shaft 63, a cylindrical stopper collar 67 and a rod-like stopper 66 perpendicular to the stopper collar 67 and shorter than the inner diameter of the flying section cylinder 61 are fixed. The diameter of the stopper collar 67 is larger than the width of the stopper 66. As shown in FIG. 7, in the loading section 70, the centers of the loading front plate 72 and the stop plate 73 are fixed to each other by a square pipe 71 shorter than the flying section cylinder 61, and a square hole is penetrated. The loading front plate 72 has a round hole 74 larger than the outer diameter of the flying object 60, the stopper plate 73 has a long hole 75 in the tangential direction, and the round hole 74 and the long hole 75 are connected to the square pipe 71. They are provided on the same parallel axis. The elongated hole 75 has a shape through which the stopper 66 and the stopper collar 67 pass. Each surface of the square pipe 71 has a retaining hole 76.
Is open. As shown in FIG. 8, the firing drive unit 80 is composed of a motor 81 and a reduction gear box 82, and its output shaft is provided with a square shaft 83 for inserting the square pipe 71 of the loading unit 70 and transmitting rotation. A release pin 85 is provided on the same plane and parallel to the same, away from the center of rotation. A retaining wire 84 formed by bending a piano wire protrudes from two corners of the square shaft 83. When the loading release button 86 is pressed, the retaining material 84 sinks into the square shaft 83.

The operation of the above configuration will be described with reference to FIGS. 6, 7, 8 and 9. As shown in FIG.
The above-mentioned flying object 60 is inserted into the 0 round hole 74 from the front side,
The push spring 65 built in the flying object 60 shown in FIG. 6 is contracted, and the stopper 66 of the flying object 60 is inserted into the elongated hole 75 as shown in FIG.
And rotate by 90 degrees. At this time, the stopper collar 67 of the flying object 60 prevents the center of the elongated hole 75 of the loading portion 70 from being shifted from the center of the stopper 66. As shown in FIG. 8, the loading section 70 loaded with the flying object 60 is inserted into the square shaft 83 of the firing drive section 80. At this time, FIG.
As shown in FIG.
6 and locked so that the loading section 70 does not come off. In this state, when the angular shaft 83 of the firing drive unit 80 is rotated by the motor 81 and the reduction gear box 82, the release pin 85 of the firing drive unit 80 is moved to the stopper 66 of the flying object 60 as shown in FIG. The flying object 60 is fired by contacting and rotating the stopper 66 to release it from the elongated hole 75. As shown in FIG. 8, a large number of flying objects 60 are loaded on the loading section 70, and the rotation of the angular shaft 83 is continued, so that the flying objects 60 can be continuously fired. Then, the loading release button 8 of the firing drive unit 80
When 6 is pressed, the stopper 84 is immersed in the square shaft 83, and the loading portion 70 can be removed.

Although six flying objects are mounted in the figure, the number of mounted is not limited as long as it has the same structure as above.
Continuous firing is possible. It is also possible to use a plurality of release pins to fire a plurality of flying objects at once. The angular shaft of the firing drive unit and the square pipe of the loading unit may be cylindrical or polygonal as long as rotation can be transmitted. In this embodiment, the central axis is rotated to transmit the rotation to the loading section. However, the central axis may be freely rotated to transmit the rotation from the outer periphery of the loading section. Further, in order to lock the loading section to the firing drive section, another component can be used as a retaining member.

[0026]

Since the present invention is configured as described above, it has the following effects.

According to the first aspect of the present invention, the use of a seesaw-like link for the walking mechanism eliminates the need for a complicated quadruple crank, and can simplify and reduce the size of the waist mechanism. Therefore, it is possible to control the direction change and the like, and it is possible to bring the robot closer to the shape of a human while maintaining the mobility and maneuverability of the bipedal walking robot accompanied by a feeling of walking motion.

According to a second aspect of the present invention, in the opening / closing mechanism of the robot hand, not only the opening and closing of the hand but also the rotation of the wrist are added, so that the degree of freedom of operation is increased. Not only that, you can select the operation by remote control operation.

According to a third aspect of the present invention, in a mechanism of an arm for flying the ball, the robot itself can pick up the ball on the floor and further fly it by remote control operation.

According to the fourth aspect of the present invention, in a flying toy, a flying toy having a mass enough to break a building block is continuously fired, and further, a remote control can be operated.

[Brief description of the drawings]

FIG. 1 is a perspective view and a partial sectional view showing an embodiment of a bipedal walking mechanism.

FIG. 2 is a view showing an embodiment of a wrist rotation and opening / closing hand arm of the toy robot.

FIG. 3 is an operation diagram showing details of an embodiment of a wrist rotation and opening / closing hand arm of the toy robot.

FIG. 4 is a diagram showing parts and an operating state of an embodiment of an arm of a toy robot that can pick up and fly a ball.

FIG. 5 is a diagram showing parts of the embodiment and a holding state of an arm of the toy robot that can pick up and fly a ball.

FIG. 6 is a longitudinal sectional view showing a flying object of the embodiment in a flying toy.

FIG. 7 is a perspective view showing a flying object and a loading section of the embodiment in the flying toy.

FIG. 8 is a perspective view showing a loading unit on which the flying object of the embodiment is loaded and a firing drive unit in the flying toy.

FIG. 9 is a sectional view showing an operation of the embodiment in the flying toy.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Body part 2 Drive foot rod 3 Front of support foot rod 4 Rear of support foot rod 5 Drive foot member 6 Support foot member 7 Crank shaft 8 Crank pin 9 Support foot link 10 Body drive part 11 Upper link 12 Seesaw plate 13 Tension spring 14 Auxiliary Wheel 15 Drive foot connecting plate 20 Forearm base 21 Opening / closing hand 22 Groove disk 23 Wrist 24 Wrist cylinder 25 Slide shaft 26 Rubber ring 27 Worm shaft 28 Spur gear for rotation 29 Spur gear for opening and closing 30 Push pin 31 Motor 32 Gear box Reference Signs List 33 pinion gear 34 planetary gear 35 transmission spur gear 36 pressing spring 37 pressing disk 41 upper arm 42 ball forearm 43 elbow fulcrum 44 upper arm pin 45 slider 46 pulling spring 47 hook hook portion 48 pulling plate portion 49 hook 50 hand member 51 magnet 52 magnet 53 polyhedron Ruler 54 Iron piece 60 Flying object 61 Flying part cylinder 62 Partition wall 63 Slide shaft 64 Warhead 65 Press spring 66 Stopper 70 Loading part 71 Square pipe 72 Loading front plate 73 Stop plate 74 Round hole 75 Slot 80 Ejection drive part 81 Motor 82 Deceleration Gear box 83 Square shaft 85 Release pin

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2C150 AA14 BA06 CA01 DA04 DA26 DA27 DA28 DH02 DK02 EB01 EB36 EC03 EC15 EC18 EC25 EC29 3C007 DS01 ES03 ET03 EU05 EU14 EV27 EW00 HS27 3F061 AA01 BA03 BB03 BC06 BD04 BD10 BE47 BF00

Claims (4)

[Claims] 1. A body (1) having a pair of legs provided on both sides thereof and a foot provided at a lower end of each of the legs, wherein the pair of legs are mutually opposed to the body (1). In a bipedal walking robot that performs a forward and backward walking motion in which each foot matches an ellipse and an arc by performing a rotating motion in an opposite phase, the legs are respectively driven left and right by a driving foot rod (2) and a supporting foot. A drive foot member (5) comprising a rod (3, 4), wherein the foot is provided with a propulsion mechanism which can be controlled independently of left and right.
And a supporting foot member (6) intermittently supporting the weight of the robot in conjunction therewith. A driving foot member (5) is pivotally supported at the lower end of the driving foot rod (2), At the lower ends of the rods (3, 4), a supporting foot member (6) is pivotally supported. A crankshaft (7), which is rotated in the forward and reverse directions by a body driving section (10), is mounted on the body (1) in the horizontal direction. A seesaw plate (12) is provided on the left and right sides of the body part (1) so as to be rotatable from the side, and the center part is pivotally supported. Pivotally supported by a crankpin (8) of the crankshaft (7), the upper end is pivotally supported by a front end of the seesaw plate (12) via a support foot link (9), and the drive foot rod (2) is supported. )
The upper end of the drive foot member (5) and the support foot member are pivotally supported at the rear end of the seesaw plate (12) in synchronization with the forward / backward movement of the foot when the crankshaft (7) rotates. (6) The vertical movement is performed with respect to each other while maintaining a constant phase relationship, and the operation of transmitting or not transmitting the propulsion force to the floor surface is repeatedly performed while the propulsion mechanism of the driving foot member is constantly driven. A bipedal toy robot mechanism that features: 2. In the wrist rotation and opening / closing hand arm of a toy robot, two opening / closing hands (21) are pivotally supported facing two fulcrum shafts of a wrist (23), respectively. The plate-like portion inside the fulcrum is inserted into the groove of the grooved disk (22) having a groove on the circumference, and the wrist (23) is fixed to the tip of the wrist cylinder (24) and The grooved disk (2) is inserted at the tip of a slide shaft (25) through which a hole penetrates and which can move back and forth in the wrist cylinder (24).
2) is fixed, and a pressing disk (37) is fixed to the rear end. The opening / closing hand (21) is urged to close by a pressing spring (36), and pushes the pressing disk (37). In a mechanism in which the opening / closing hand (21) is opened by pushing the slide shaft (25) against the wrist cylinder (24), the wrist cylinder (24) is rotatably pivoted to a tip of a forearm (20) of a robot. At the rear end of the wrist cylinder (24), a disk with a rubber ring (26) is provided, and on both sides of the wrist cylinder (24), two shafts with worms (27) are provided in parallel. , Two shafts with worm (27)
Between them, a rotating spur gear (28) and an opening / closing spur gear (29) meshing with the respective worm gears are pivotally supported back and forth, and the rotating spur gear (28) located on the distal end side is formed on the circumference of a plane. The close part is pressed against the rubber ring (26) at right angles to transmit rotation, and the other open / close spur gear (29) has a push pin (30), and the open / close spur gear (29) The push pin (30) pushes out the push disc (37) by rotating, so that the opening / closing hand (21) is opened, and the two worm-mounted shafts (27) are pushed from the wrist to the same. A transmission spur gear (35) is provided at each of the distance positions, and a motor (31) and a gear box (32) are provided at the center of the forearm. A pinion gear (32) is provided on the output shaft of the gear box (32). 33) and the planetary gear ( 4), the rotation direction of the pinion gear (33) is changed according to the rotation direction of the motor (31), and the planetary gear (34) is connected to one of the two worm shafts (27). A toy robot mechanism in a wrist rotation and opening / closing hand arm, which meshes with a transmission spur gear (35). 3. In a robot arm in which an upper arm (41) and a forearm for a ball (42) bend and extend at an elbow fulcrum (43), the upper arm (41) protrudes longer than the elbow fulcrum (43). An upper arm pin (44) is vertically fixed to the upper arm (41), and a slider (45) slidable back and forth is pivotally supported on the ball forearm (42), and is pulled out from the wrist to the tip. The slider (45) is biased by a spring (46), and the rear part of the slider (45) is integrated with the slider (45) in a shape such that two plates perpendicular to the sliding direction surround the upper arm pin (44). The front plate is a hook hook (47), the rear plate is a pull plate (48), and a key-shaped hook (49) is rotatably attached to the elbow fulcrum (43). Tip of the ball forearm (42) A hand member (50) having a shape like a cup is fixed, and two cylindrical magnets (51, 52) are fixed vertically on a top plate of the hand member (50); A lightweight polyhedral ball (53) made of the same is prepared, and a very thin iron piece (54) is attached to each flat surface of the ball. The polyhedral ball (53) is placed in front of the magnet (51) of the hand member (50). The iron piece (54) of 53) is picked up by suction, the elbow is bent and the upper arm pin (44) pulls the pulling plate portion (48) of the slider (45) backward, and the hook of the slider (45) is hooked. Hook (4)
9). At the same time, the hand member (50) is lifted obliquely upward, and the slider (45) is drawn into the ball forearm (42), whereby the iron piece (54) of the polyhedral ball (53) is drawn. ) Also adheres to the back (52) of the magnet of the hand member (50), and is stably held in the hand member (50). Then, the elbow is extended and the ball forearm (42) is extended. By projecting diagonally forward and upward, the upper arm pin (44) flips up the hook (49) and removes the hook (49) from the hook hook (47).
A toy robot mechanism in an arm capable of picking up and flying a ball, wherein the slider (45) jumps forward by a pull spring (46) and flips the polyhedral ball (53). 4. In a flying toy, a partition (62) is provided at the center of the inside of a flight part cylinder (61) of a flying object (60), and a hole through which a slide shaft (63) passes is formed in the center of the partition (62). A cylindrical warhead (64) having a diameter smaller than the inner diameter of the flight section cylinder (61) is fixed to the front end of the slide shaft (63), and the partition wall side of the warhead (64) is The inside is concaved and partially cylindrical, and a push spring (65) passing through the slide shaft (63) is built in the same portion, and urges the warhead (64) to be pushed forward. At the rear end of (63), a rod-shaped stopper (66) shorter than the inner diameter of the flying section cylinder (61) is fixed perpendicularly to the slide shaft, and the loading section (70) is formed of two discs. The center is shorter than the flight section cylinder (61) Are fixed to each other with a square pipe (71), the square holes of the square pipe (71) are penetrated, and the loading front plate (7) fixed to the front side of the two disks.
2) has a round hole (74) larger than the outer diameter of the flight section cylinder (61), and the rear stopper plate (73) has an elongated hole (75) through which the stopper (66) passes, in the tangential direction. In
The round hole (74) of the mounting front plate (72) and the retaining plate (7)
3) The long hole (75) is provided on the same axis parallel to the square pipe (71), and the firing drive (80) is composed of a motor (81) and a reduction gear box (82); The output shaft is provided with a square shaft (83) into which the square pipe (71) of the loading section (70) is inserted to transmit rotation, and the firing drive section is provided on the same surface as the square shaft (83). In addition, a release pin (85) is provided in parallel with the rotation center and away from the center of rotation, and a round hole (7) of the loading front plate (72) of the loading section (70) is provided.
4), insert the flying object (60) from the front side, contract the pressing spring (65), and insert the long hole (7) of the stopper plate (73).
5) mounting by rotating through 90 degrees through the stopper (66) of the flying object (60), and the mounting part mounting the flying object (60) on the angular shaft (83) of the firing drive unit (80) (70) is inserted so that it does not come off, and the angular drive shaft (83) of the firing drive unit (80) is rotated by the motor (81) and the reduction gear box (82) to release the firing drive unit (80). The pin (85) comes in contact with the stopper (66) of the flying object (60), and the stopper (66) is rotated to release from the elongated hole (75) of the loading part (70), whereby the flight is performed. Body (60)
A toy robot mechanism for a flying toy, characterized by firing.