JP2010017469A - Robot toy - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To attain a natural walking action with a simple structure. <P>SOLUTION: A robot toy 100 includes: a body portion 1; a pair of leg portions 2L, 2R to be moved by alternately putting right and feed leg portions forward; and a power transmission mechanism 3 for transmitting the driving force of a driving source 11 to each one of the pair of leg portions. The pair of leg portions are freely rockably arranged with an axis in a front and rear direction as a center with respect to the body portion. The power transmission mechanism includes a freely movable joint to be rotated by the integration of a first joint member and a second joint member, based on the driving of the driving source. The pair of leg portions are rocked in synchronization with the movement action by the rotation of the freely movable joint. thereby, between the right and left leg portions 20, 20 grounded on a walking surface and aligned in the front and rear direction, placing the rear leg portion to be taken off the walking surface on the outer side of the other leg portion, and also placing the leg portion to be grounded after passing the other leg portion in alignment with the other leg portion in the front and rear direction. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a robot toy, and more particularly to a walking robot toy that performs a gait operation.

2. Description of the Related Art Conventionally, a robot toy is known that walks by alternately moving the left and right legs with a driving source such as a motor (see, for example, Patent Document 1).
In such a robot toy, the left and right leg parts are connected to the shafts protruding from the left and right side parts of the body part so as to be rotatable in the front-rear direction, and the left and right leg parts are alternately fed forward. And walk.
JP 2003-181153 A

However, in the case of the above-mentioned Patent Document 1, the left and right leg portions of the body portion are simply moved in the front-rear direction, and the wheels attached to the inside of the foot portions so as to be difficult to see from the outside are rotated. Walking, the walking motion is unnatural.
Also, in a robot toy that walks on two legs, if one of the left and right legs is grounded and then grounded, the other leg that is always grounded during this time supports the entire toy. There is a problem that the balance is easily lost. Therefore, it is conceivable that the position of the center of gravity is detected by a sensor to achieve balance, but there is a problem that the price of the toy increases due to the mounting of the sensor.

  This invention is made | formed in view of the said situation, and makes it a subject to provide the robot toy which can implement | achieve more natural walking operation with a simpler structure.

In order to solve the above-described problem, a robot toy according to claim 1 is provided.
A body portion having a drive source, at least a pair of legs that carry the left and right feet alternately forward, and a power transmission mechanism that transmits the driving force of the drive source to each of the pair of legs. A robot toy comprising:
The pair of leg portions are provided so as to be swingable around an axis in the front-rear direction with respect to the body portion,
The power transmission mechanism is
Each of the pair of leg portions and the rotation shaft of the drive source has a first joint member connected to either one and a second joint member connected to the other, based on the drive of the drive source The first joint member and the second joint member include a universal joint that rotates together,
Out of the left and right foot portions arranged in the front-rear direction while being grounded to the walking surface by the rotation of the universal joint, one rear foot portion separating from the walking surface is outside the other foot portion. And the pair of legs are swung in synchronism with a footing operation so that the one foot that overtakes the other foot and contacts the other foot in the front-rear direction. It is characterized by letting.

The invention according to claim 2 is the robot toy according to claim 1,
The power transmission mechanism is
A second joint member mounting member on which the second joint member is rotatably mounted;
The first joint member includes a first cam portion that protrudes toward the second joint member mounting member.
The second joint member mounting member includes two second cam portions that are arranged substantially concentrically and project to the first joint member side,
The pair of leg portions are swung in synchronism with a footing operation by bringing the first cam portion and the two second cam portions into sliding contact with the rotation of the universal joint.

The invention according to claim 3 is the robot toy according to claim 1,
The power transmission mechanism is
A pair of leg support members provided to be swingable about an axis in the front-rear direction with respect to the body part, and supporting each of the pair of leg parts;
The first joint member includes a first cam portion protruding to the leg support member side,
The leg support member includes an insertion hole through which the second joint member is inserted, and two second cam portions that are arranged substantially concentrically and project to the first joint member side,
The pair of leg support members are swung in synchronism with a footing operation by bringing the first cam portion and the two second cam portions into sliding contact with the rotation of the universal joint.

The invention according to claim 4 is the robot toy according to claim 3,
Among the pair of leg support members, the leg support member that supports the leg part that includes the one foot part that is separated from the walking surface is tilted in a direction in which the leg part side approaches the body part, and the other leg part is supported. By tilting the leg support member that supports the leg portion including the foot portion in a direction in which the leg portion is separated from the body portion, the one foot portion is swung so as to be disposed outside the other foot portion. It is characterized by moving.

According to the first aspect of the present invention, by rotating the universal joint, the pair of legs are synchronized with the gait operation, and the left and right feet that are in contact with the walking surface are separated from the walking surface. The pair of legs can be swung so that one foot on the rear side is disposed outside the other foot, and one foot that overtakes the other foot and grounds The pair of legs can be swung so as to line up with the other leg in the front-rear direction.
In this way, by swinging the pair of leg portions in synchronization with the gait operation by rotating the universal joint, the left and right foot portions can be arranged in the front-rear direction while being grounded on the walking surface, Of the left and right foot parts, one foot part extended to the front side can be separated from the walking surface and supported by only the leg part having the other foot part, with a simpler structure and more natural Can be realized.

  According to the invention described in claim 2, the pair of legs is formed by sliding the first cam portion of the first joint member and the two second cam portions of the second joint member mounting member by rotation of the universal joint. The portion can be swung in synchronism with the gait operation, and the same effect as that of the first aspect of the invention can be obtained.

  According to the third aspect of the present invention, it is of course possible to obtain the same effect as the first aspect of the invention, and in particular, the first cam portion and the leg of the first joint member by the rotation of the universal joint. By bringing the two second cam portions of the support member into sliding contact with each other, the pair of leg support members can be swung in synchronization with the footing operation, thereby synchronizing the pair of leg portions with the footing operation. Can be swung.

According to the invention described in claim 4, it is of course possible to obtain the same effect as that of the invention described in claim 3. In particular, of the pair of leg support members, one leg that separates from the walking surface. The leg support member that supports the leg portion including the leg portion is tilted in a direction in which the leg portion side approaches the body portion, and the leg support member that supports the leg portion including the other foot portion is separated from the body portion. It can be tilted away.
Thus, even if the center of gravity moves by separating one foot and supporting it with only the leg having the other foot, it is relatively relative to the leg support member that supports the other leg. The leg can be balanced by the tilted torso part and the leg part having one leg part tilted in the direction in which the leg side of the leg support member approaches the torso part. Space can be secured.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. However, the scope of the invention is not limited to the illustrated examples.
FIG. 1 is a perspective view showing a robot toy 100 according to an embodiment to which the present invention is applied. FIG. 2 is an enlarged perspective view showing the body part 1 of the robot toy 100.

As shown in FIG. 1, the robot toy 100 is configured to walk on two legs by alternately moving the left and right legs 2L and 2R. Specifically, the robot toy 100 and the pair of left and right legs 2L 2R, and a power transmission mechanism 3 that transmits the driving force of the driving unit 11 to the legs 2L and 2R.
In the following description, the traveling direction side of the robot toy 100 is a front side, and the opposite side is a rear side. Furthermore, one direction orthogonal to the front-rear direction is defined as the left-right direction, and a direction orthogonal to both the front-rear direction and the left-right direction is defined as the up-down direction.

First, the body part 1 will be described.
The body part 1 is formed, for example, in a long direction in the front-rear direction, and the body part 1 is provided with a drive part 11 at a substantially central part in the front-rear direction.
The drive unit 11 includes a drive motor (not shown), a gear unit (not shown) that is connected to the rotation shaft of the drive motor and transmits the drive force of the drive motor via a reduction gear, a worm gear, a bevel gear, and the like. Power supply battery 11a, an ON / OFF switch (not shown), and the like.
The configuration of the gear portion is an example, and is not limited to the above.

Further, as shown in FIG. 2, the drive unit 11 includes a storage unit 12 that stores a drive motor, a gear unit, and the like, and an inner leg support plate of the power transmission mechanism 3 is provided on each of the left and right side walls of the storage unit 12. Two leg support plate support portions 121 and 121 are formed to support 33 (described later; see FIG. 3) so as to be swingable about a longitudinal axis.
In FIG. 2, the left side wall of the storage unit 12 is illustrated in an enlarged manner, but the right side wall of the storage unit 12 has substantially the same configuration as the left side wall.

Each leg support plate support portion 121 is formed at each of both ends in the front-rear direction of the storage portion 12. Each leg support plate support 121 includes a front plate-like portion 121a and a rear plate-like portion 121b that are arranged at a predetermined interval in the front-rear direction.
The front side plate-like portion 121a and the rear side plate-like portion 121b are disposed so as to protrude in the left-right direction from the surface of the leg support plate support portion 121, and penetrate through in the front-rear direction, respectively, so that the swing shaft 13 (see FIG. 1) An insertion hole 121c through which is inserted is formed.
The insertion holes 121c of the front plate portion 121a and the rear plate portion 121b are formed to have substantially the same shape and are concentric.

Further, between the two leg support plate support portions 121, 121 on the left and right side walls, insertion holes (not shown) formed so as to penetrate the left and right side walls on the front and back sides are respectively provided. Each of the first joint members 31 of two universal joints 30 and 30 (described later) connected to the output gear (not shown) of the gear portion is inserted into each of the holes.
That is, the two first joint members 31 and 31 are disposed so as to be sandwiched between the two leg support plate support portions 121 and 121 in the front-rear direction.

Next, the power transmission mechanism 3 will be described with reference to FIGS.
Here, FIG. 3 is an enlarged perspective view showing the inner leg support plate 33 provided in the power transmission mechanism 3 of the robot toy 100. FIGS. 4A and 4B are enlarged perspective views showing the universal joint 30 provided in the power transmission mechanism 3 of the robot toy 100.
In FIGS. 4A and 4B, the inner leg support plate 33 is schematically represented by a two-dot chain line for simplification.

  The power transmission mechanism 3 supports the four universal joints 30 including the first joint member 31 and the second joint member 32, and a pair of left and right legs 2L and 2R, and rotates the universal joint 30. And an inner leg support plate 33 and an outer leg support plate 34 that swing about an axis in the front-rear direction.

First, the universal joint 30 will be described.
Of the four universal joints 30..., Two arranged side by side in the front-rear direction on the left side of the robot toy 100 are for transmitting driving force to the left leg 2L, and these two are synchronized in the same direction. It rotates at a predetermined speed in the direction indicated by the arrows in FIGS. On the other hand, two robots arranged in parallel in the front-rear direction on the right side of the robot toy 100 are for transmitting driving force to the right leg 2R, and these two are synchronized in the same direction (not shown) at a predetermined speed. Rotate.
The four universal joints 30 rotate at a constant speed, but transmit the driving force to the right leg 2R and the phase of the rotation axis of the universal joint 30 that transmits the driving force to the left leg 2L. The phase of the rotating shaft of the universal joint 30 is shifted by a half cycle, thereby realizing the walking motion of the left and right leg portions 2L, 2R (described later).

The first joint member 31 is a member connected and fixed to each of the four output gears (not shown) of the gear portion. As shown in FIGS. 2, 4 (a) and 4 (b), the first joint member 31 is a second joint member 31. The joint member 32 side is provided with a main body portion 31a formed in a cylindrical shape, and two slits 31b and 31b are formed at portions facing each other across the axis of the main body portion 31a.
The slit 31b engages with the protrusion 32b of the second joint member 32, and the depth of the slit 31b is the second joint member even if the inner leg support plate 33 and the outer leg support plate 34 are swung. 32 is set to such an extent that the engagement with the protrusion 32b is not released (see FIGS. 5A to 5C).

In addition, the outer peripheral portion of the main body 31 a protrudes toward the inner leg support plate 33 from the tip of the main body 31 a and is in sliding contact with the surfaces of the two second cam portions 332 and 332 of the inner leg support plate 33. A cam portion 31c is provided.
The distal end portion of the first cam portion 31c is formed in a substantially circular arc shape, and is inclined so as to gradually increase as the protruding amount becomes the central portion side. Further, the protruding length of the first cam portion 31c is set such that the inner leg support plate 33 can swing while the first joint member 31 and the second joint member 32 are connected.

The second joint member 32 is a member that is connected and fixed to each of the left and right leg portions 2L, 2R. As shown in FIGS. 3, 4A, and 4B, the main body of the first joint member 31 is provided. A shaft-like portion 32a inserted inside the portion 31a is provided, and two projecting portions 32b, 32b that engage with each of the two slits 31b are formed at the tip of the shaft-like portion 32a.
The diameter of the shaft portion 32a is smaller than the inner diameter of the main body portion 31a, and the shaft portion 32a is loosely fitted to the main body portion 31a.

  Then, the shaft-like portion 32a of the second joint member 32 is inserted inside the main body portion 31a of the first joint member 31, and the slit 31b of the first joint member 31 and the protrusion 32b of the second joint member 32 are engaged. In the combined state, the first joint member 31 and the second joint member 32 are integrally rotated based on the drive of the drive unit 11.

Next, the inner leg support plate 33 and the outer leg support plate 34 will be described.
The inner leg support plate 33 and the outer leg support plate 34 are provided corresponding to each of the pair of left and right legs 2L, 2R, and each leg 2L, 2R is formed by the inner leg support plate 33 and the outer leg support plate 34. The pedestrian can be operated in a supported state (described later).

The inner leg support plate 33 and the outer leg support plate 34 are arranged at a predetermined interval by sandwiching a plurality of gap forming members 35, 35 screwed by mounting screws, and the leg portions 2 </ b> L, A part of 2R (for example, the upper first link 23 and the upper second link 24 (described later)) can be arranged.
Further, the inner leg support plate 33 and the outer leg support plate 34 are members that extend substantially parallel to the front-rear direction and the vertical direction.
As shown in FIG. 3, body part attachment plate parts 331 attached to the leg support plate support parts 121 are respectively formed at both ends in the front-rear direction of the inner leg support plate 33.
In FIG. 3, the inner leg support plate 33 that supports the left leg 2L is shown enlarged, but the inner leg support plate 33 that supports the right leg 2R has substantially the same configuration. Yes.

Each body portion mounting plate portion 331 is disposed so as to protrude inward in the left-right direction from the inner surface of the inner leg support plate 33, and an insertion hole 331a through which the swing shaft 13 is inserted is formed. Has been.
Further, the thickness in the front-rear direction of each body portion mounting plate portion 331 is substantially equal to or slightly smaller than the interval between the front plate portion 121a and the rear plate portion 121b of each leg support plate support portion 121. Has been.
Thereby, each trunk | drum part attaching plate part 331 is inserted between the front side plate-like part 121a and the rear side plate-like part 121b, and each insertion hole 121c of the front side plate-like part 121a and the rear side plate-like part 121b and this state The inner leg support plate 33 is attached to the body portion 1 by inserting the swing shaft 13 through the insertion holes 121c and the insertion holes 331a arranged substantially coaxially.

Further, two insertion holes (not shown) penetrating the inner leg support plate 33 on the front and back sides are formed between the two body part mounting plate portions 331 and 331 of the inner leg support plate 33. Each of the second joint members 32 of the two universal joints 30 and 30 is inserted into each of the holes.
In other words, the two second joint members 32 and 32 are disposed so as to be sandwiched in the front-rear direction by the two body portion mounting plate portions 331 and 331.

Further, two second cam portions 332 and 332 projecting toward the first joint member 31 are disposed around the respective insertion holes through which the two second joint members 32 and 32 of the inner leg support plate 33 are inserted. Has been.
Each second cam portion 332 has a substantially semicircular arc shape, and is inclined so that the amount of protrusion from the surface of the inner leg support plate 33 gradually increases toward the center portion side. Further, the two second cam portions 332 and 332 are arranged substantially concentrically so as to sandwich the insertion holes vertically.
As a result, of the two second cam portions 332 and 332, the upper second cam portion 332 has a maximum protruding amount from the surface of the inner leg support plate 33 at the upper end portion, and the lower second cam portion 332. The lower end portion of the two cam portion 332 has a maximum protruding amount from the surface of the inner leg support plate 33.
Then, with the inner leg support plate 33 attached to the body portion 1, the first cam portion 31 c slides on the surfaces of the two second cam portions 332 and 332 as the first joint member 31 rotates. As a result, the inner leg support plate 33 is swung around the longitudinal axis with respect to the body portion 1 (see FIGS. 5A to 5C).

Below, the rocking | fluctuation operation | movement of the inner side leg support plate 33 is demonstrated with reference to Fig.5 (a)-FIG.5 (c).
FIG. 5A to FIG. 5C are diagrams for explaining the swinging operation of the inner leg support plate 33 using the universal joint 30, and FIG. 5A is a diagram of the first joint member 31. FIG. 5B shows a state in which the first cam portion 31 c is in contact with the upper second cam portion 332, and FIG. 5B shows the first cam portion 31 c of the first joint member 31 between the two second cam portions 332 and 332. FIG. 5C shows a state in which the first cam portion 31 c of the first joint member 31 is in contact with the lower second cam portion 332.
5A to 5C show the swinging motion of the inner leg support plate 33 that supports the left leg 2L, but the inner leg support that supports the right leg 2R. The plate 33 performs a substantially symmetrical operation with the phase shifted by a half cycle with respect to the inner leg support plate 33 that supports the left leg portion 2L and the surface extending in the front-rear direction and the vertical direction.

  As shown in FIG. 5B, in the state where the first cam portion 31c of the first joint member 31 is moved between the two second cam portions 332 and 332, the first cam portion 31c is the second cam portion 332. Therefore, the inner leg support plate 33 is swingable about the axis in the front-rear direction with respect to the body portion 1.

When the first joint member 31 rotates in a predetermined direction and the first cam portion 31c slides along the surface of the upper second cam portion 332, the protruding length of the second cam portion 332 gradually increases. Since it is large, the inner leg support plate 33 rotates (swings) about the swinging shaft 13 of the body portion mounting plate portion 331 so as to tilt the upper end portion outward. And when the 1st cam part 31c reaches the uppermost side, the said 1st cam part 31c will contact the most projecting part of the 2nd cam part 332, and will be in the state which the inner side leg support plate 33 inclined most (FIG. 5). (See (a)).
When the first joint member 31 is further rotated from this state, the protruding length of the second cam portion 332 gradually decreases, so that the inner leg support plate 33 is centered on the swing shaft 13 of the body portion mounting plate portion 331. It turns inward (swings) so that its upper end is restored. And when the 1st cam part 31c reaches between the 2nd 2 cam parts 332 and 332, the inner side leg support plate 33 will be in the state which stood substantially up-down direction (refer FIG.5 (b)).

Further, when the first joint member 31 rotates in a predetermined direction and the first cam portion 31c slides along the surface of the lower second cam portion 332, the protruding length of the second cam portion 332 is increased. Since it gradually increases, the inner leg support plate 33 rotates (swings) so that the upper end portion thereof is tilted inward with the swinging shaft 13 of the body portion mounting plate portion 331 as the center. And when the 1st cam part 31c reaches the lowest side, the said 1st cam part 31c will contact the most projecting part of the 2nd cam part 332, and will be in the state which the inner side leg support plate 33 inclined most (FIG. 5 (c)).
When the first joint member 31 is further rotated from this state, the protruding length of the second cam portion 332 gradually decreases, so that the inner leg support plate 33 is centered on the swing shaft 13 of the body portion mounting plate portion 331. It rotates (swings) outward so that its upper end is restored. And when the 1st cam part 31c reaches between the 2nd 2 cam parts 332 and 332, the inner side leg support plate 33 will be in the state which stood substantially up-down direction (refer FIG.5 (b)).

  Of the plurality of gap forming members 35, 35, the two gap forming members 35, 35 arranged on the uppermost side are inserted into the long holes of the upper first link 23 and the upper second link 24 (described later) and It functions as a guide for guiding the operations of the links 23 and 24.

Next, the pair of left and right legs 2L and 2R will be described with reference to FIGS.
FIG. 6 is an enlarged perspective view showing the left leg 2L of the robot toy 100. As shown in FIG. 7-10 is a figure for demonstrating the footing operation | movement of a pair of leg parts 2L and 2R on either side.

Each of the pair of left and right legs 2L and 2R includes a first rotating shaft portion 21, a second rotating shaft portion 22, an upper first link 23, an upper second link 24, a front first link 251 and a rear side. A first parallel link 25 composed of a first link 252; a second parallel link 26 composed of a front second link 261 and a rear second link 262; a link connecting member 27; an inner link 28; The foot part 20 is provided.
In the following description, first, the left leg 2L will be described.

The first rotation shaft portion 21 is connected to the rotation shaft of the second joint member 32 on the front side, and rotates in the same direction as the second joint member 32 rotates in a predetermined direction (see FIG. 3).
The first rotating shaft 21 includes an inner eccentric cam (not shown) fixed to the rotating shaft of the second joint member 32, and an inner disk member 21a (see FIG. 1) fixed to the inner eccentric cam. An outer disk member 21b rotatably attached to the upper first link 23 rotatably attached to the inner disk member 21a, and an outer eccentric cam 21c fixed to the outer disk member 21b. And.

The inner eccentric cam and the outer eccentric cam 21c are round cams disposed at positions where the rotation center axis is eccentric.
Although not shown, the inner eccentric cam is inserted into the long hole of the inner link 28 to guide the operation of the link 28. Further, the outer eccentric cam 21 c is inserted into the long hole of the front first link 251 of the first parallel link 25 to guide the operation of the link 251.

For example, the inner disc member 21a and the outer disc member 21b are formed to have a larger diameter than the inner eccentric cam and the outer eccentric cam 21c.
Moreover, the upper side 1st link 23 is rotatably attached to the position which the inner side disk member 21a and the outer side disk member 21b eccentrically.

The second rotation shaft portion 22 is connected to the rotation shaft of the second joint member 32 on the rear side, and is accompanied by the rotation of the second joint member 32 in a predetermined direction (for example, counterclockwise when viewed from the left side). Rotate in the same direction.
The second rotating shaft portion 22 is connected to an inner disk member 21a fixed to the rotating shaft of the second joint member 32 and an upper second link 24 rotatably attached to the inner disk member 21a. An outer disk member 21b that is rotatably attached and an outer eccentric cam 21c fixed to the outer disk member 21b are provided.
That is, the second rotating shaft portion 22 has substantially the same configuration as the first rotating shaft portion 21 except that the inner rotating cam is not provided.

  The outer eccentric cam 21c is a round cam disposed at a position where the rotation center axis is eccentric. Further, the outer eccentric cam 21 c is inserted into the long hole of the rear first link 252 of the first parallel link 25 to guide the operation of the link 252.

For example, the inner disc member 21a and the outer disc member 21b are formed to have a larger diameter than the inner eccentric cam and the outer eccentric cam 21c.
Moreover, the upper side 2nd link 24 is rotatably attached to the position which the inner side disk member 21a and the outer side disk member 21b eccentrically.

The upper first link 23 is a long member, and a gap forming member 35 is inserted into a long hole formed in the upper end portion, while a shaft-like portion (not shown) formed in the lower end portion is a front side. The first link 251 is inserted through the insertion hole and is rotatably connected.
And since the upper side 1st link 23 is rotatably attached to the eccentric position of the inner side disk member 21a and the outer side disk member 21b of the 1st rotating shaft part 21, the said 1st rotating shaft part 21 is concerned. In addition to moving in the vertical direction, the lower part is swung in the front-rear direction around the elongated hole part through which the gap forming member 35 is inserted in synchronization with the movement.

The upper second link 24 is a member having substantially the same shape as the upper first link 23. That is, the upper second link 24 is a long member, and a gap forming member 35 is inserted into a long hole formed in the upper end portion, while a shaft-like portion (not shown) formed in the lower end portion. Is inserted through an insertion hole (not shown) of the rear first link 252 and is rotatably connected.
And since the upper side 2nd link 24 is rotatably attached to the eccentric position of the inner side disk member 21a and the outer side disk member 21b of the 2nd rotating shaft part 22, the said 2nd rotating shaft part 22 is concerned. As the motor rotates in the vertical direction, the lower part is swung in the front-rear direction around the elongated hole part through which the gap forming member 35 is inserted in synchronization with the movement.
Note that the upper second link 24 has an inner circle so that the upper first link 23 and the upper second link 24 are substantially parallel to each other during the above operation. The plate member 21a and the outer disk member 21b are rotatably attached.

  The front first link 251 and the rear first link 252 constitute a first parallel link 25 and perform a predetermined operation in synchronization with the operations of the upper first link 23 and the upper second link 24 (described later).

The front first link 251 is a member bent in a substantially “h” shape, and the outer eccentric cam 21c of the first rotating shaft portion 21 is inserted into a long hole formed in a short piece portion arranged on the upper side. A connecting shaft-like portion (not shown) of the link connecting member 27 is inserted into an insertion hole (not shown) formed in the long piece portion arranged on the lower side and is rotatably connected.
Further, a shaft-like portion (not shown) of the upper first link 23 is inserted into an insertion hole (not shown) formed in a connecting portion between the short piece portion and the long piece portion, and is rotatably connected.

The rear first link 252 is a member having substantially the same shape as the front first link 251. That is, the rear first link 252 is a member bent in a substantially “h” shape, and the outer eccentric cam 21 c of the second rotating shaft portion 22 is inserted into a long hole formed in the short piece portion arranged on the upper side. The connecting shaft-like portion (not shown) of the link connecting member 27 is inserted into an insertion hole (not shown) formed in the long piece portion that is inserted and is disposed on the lower side, and is rotatably connected.
Further, the shaft-like portion (not shown) of the upper second link 24 is inserted into an insertion hole (not shown) formed in the connecting portion between the short piece portion and the long piece portion, and is rotatably connected.

  The front second link 261 and the rear second link 262 constitute a second parallel link 26 and operate in a predetermined manner in synchronization with the operation of the first parallel link 25 connected via the link connecting member 27 ( Later).

  The front second link 261 is a long member, and the front connecting shaft-like portion (not shown) of the link connecting member 27 is inserted into an insertion hole (not shown) formed in the upper end portion so as to be rotatable. On the other hand, a shaft-like portion (not shown) on the front side of the foot portion 20 is inserted into an insertion hole (not shown) formed in the lower end portion and is rotatably connected.

The rear second link 262 is a member having substantially the same shape as the front second link 261. In other words, the rear second link 262 is a long member, and a connecting shaft-like portion (not shown) on the rear side of the link connecting member 27 is inserted into an insertion hole (not shown) formed in the upper end portion. On the other hand, a shaft-like portion (not shown) on the rear side of the foot 20 is inserted into an insertion hole (not shown) formed in the lower end portion, and is rotatably connected. Yes.
Further, a shaft-like portion (not shown) is formed slightly below the insertion hole at the upper end of the rear second link 262, and the shaft-like portion is inserted into the insertion hole of the connecting link 29 and rotated. It is connected freely.

The foot portion 20 is formed in a shape simulating an animal foot, for example, and two shaft-like portions (not shown) arranged in the front-rear direction are inserted through the front second link 261 and the rear second link 262, respectively. And is rotatably connected.
The foot 20 operates in synchronization with predetermined operations of the first parallel link 25 and the second parallel link 26. That is, the upper first link 23 and the upper second link 24 move in the vertical direction and the front-rear direction by the rotation of the first rotary shaft portion 21 and the second rotary shaft portion 22, and the first parallel is accompanied by the movement. As the link 25 and the second parallel link 26 move in the vertical direction and the front-rear direction, the foot 20 moves in synchronization with the movement of the first parallel link 25 and the second parallel link 26.

The inner link 28 is a long member, and a long hole through which the inner eccentric cam of the first rotating shaft portion 21 is inserted is formed in the upper end portion, while the insertion hole of the connecting link 29 is formed in the lower end portion. A shaft-like portion (not shown) to be inserted is formed.
The connecting link 29 is a long member, and the shaft-like portion of the inner link 28 is inserted into an insertion hole (not shown) formed in the upper end portion so as to be rotatable. A shaft-like portion of the rear second link 262 is inserted into an insertion hole (not shown) formed in the shaft and is rotatably connected.

  The left leg portion 2L having the above configuration is accompanied by the vertical and longitudinal movements of the upper first link 23 and the upper second link 24 based on the rotation of the first rotating shaft portion 21 and the second rotating shaft portion 22. When the first parallel link 25 and the second parallel link 26 operate in the vertical direction and the front-rear direction, the rear second link 262 is moved in the front-rear direction via the inner link 28 and the connecting link 29 in synchronization with the operation. A walking motion is performed by swinging and feeding the foot 20 forward relative to the right leg 2R (described later).

The right leg 2R has substantially the same configuration and operation as the left leg 2L, and a detailed description thereof is omitted.
The right leg 2R and the left leg 2L are out of phase with each other by a half cycle in the walking motion. That is, of the left and right leg portions 2L and 2R, the other leg portion with respect to the rotation axis of the first rotation shaft portion 21 and the second rotation shaft portion 22 of one leg portion (for example, the left leg portion 2L). The phases of the rotating shafts of the first rotating shaft portion 21 and the second rotating shaft portion 22 (for example, the right leg portion 2R) are shifted by a half cycle.

As a result, the left and right leg portions 2L, 2R separate the foot portion 20 of one leg portion and feed it forward relative to the other leg portion, so that the bottom surface of the foot portion 20 of the other leg portion is extended. The robot toy 100 is supported while the robot is grounded on the walking surface, while the other leg 20 is released from the ground and the one leg is moved forward relative to the other leg. The robot toy 100 is supported while the bottom surface of the leg portion 20 of the leg is in contact with the walking surface.
Specifically, for example, in the case of a footing operation in which the foot part 20 of the left leg part 2L is extended forward relative to the right leg part 2R, as shown in FIGS. By rotating the first parallel link 25 and the second parallel link 26 and the inner link 28 and the connecting link 29 of the left leg 2L from the state where the bottom surface of the foot 20 of the parts 2L and 2R is grounded (see FIG. 7). Then, it is pulled up in synchronization with the movement of moving the foot 20 forward (see FIGS. 8 and 9). As a result, the foot 20 of the left leg 2L is in a detached state, but the bottom of the foot 20 of the right leg 2R supports the robot toy 100 while being in contact with the walking surface.
When the foot portion 20 of the left leg portion 2L passes the foot portion 20 of the right leg portion 2R, the foot portion is rotated by the rotation of the first parallel link 25 and the second parallel link 26 and the inner link 28 and the connecting link 29. 20 is pushed down in synchronization with the operation of moving the front side, and the bottom surface of the foot 20 of the left leg 2L is grounded to the walking surface (see FIG. 10).

  Subsequently, the right leg 2R is walked by performing the footing motion of the right leg 2L in substantially the same manner as the left leg 2L, and alternately repeating the footing motion of the left and right legs 2L, 2R.

Next, the swinging operation synchronized with the footing operation of the left and right legs 2L and 2R will be described with reference to FIGS. 11 (a) to 11 (e) and FIGS. 12 (a) to 12 (d). .
FIG. 11A to FIG. 11E are diagrams for explaining the swinging operation synchronized with the footing operation of the left and right leg portions 2L and 2R. 12 (a) to 12 (e) are diagrams schematically showing the arrangement of the foot 20 corresponding to each of FIGS. 11 (a) to 11 (e).
In addition, in Fig.11 (a)-FIG.11 (e), the robot toy 100 is represented typically. Further, in FIGS. 12A to 12E, the foot 20 that has left the ground is represented by a rectangular frame, and the foot 20 that is grounded is represented by a rectangular frame with diagonal lines.

  First, as shown in FIG. 11 (a) and FIG. 12 (a), in the state where the bottom surface of the foot 20 of the left and right legs 2L, 2R is grounded to the walking surface, the first joints of the four universal joints 30,. Although the first cam portion 31 c of the member 31 is not in contact with any of the two second cam portions 332 and 332, the swing shaft 13 of the body portion mounting plate portion 331 is moved by the weight of the robot toy 100. As a center, the left and right inner leg support plates 33, 33 are in a state of rotating so that the lower ends thereof are tilted inward.

From this state, the left and right universal joints 30 are rotated in a predetermined direction based on the drive of the drive unit 11, so that the foot 20 of the right leg 2 </ b> R is separated from the left leg 2 </ b> L. In synchronism with the footing operation that extends forward, the first cam portion 31c of the first joint member 31 on the right side slides along the portion where the protruding length of the surface of the upper second cam portion 332 gradually increases, The inner leg support plate 33 rotates around the swing shaft 13 of the body portion mounting plate portion 331 so that the upper end portion thereof is tilted outward, and the first cam portion 31c of the first joint member 31 on the left side is rotated. The inner leg support plate 33 slides along a portion where the protruding length of the surface of the lower second cam portion 332 gradually increases, and the upper end of the inner leg support plate 33 is centered on the swing shaft 13 of the body portion mounting plate portion 331. It is rotated so as to tilt inward (see FIGS. 11B and 12B).
The first cam portion 31c of the first joint member 31 on the right side is disposed on the uppermost side, so that the first cam portion 31c is in contact with the most protruding portion of the second cam portion 332, and the inner leg support plate 33 is in a state in which the upper end portion thereof is tilted to the outermost side, and the first cam portion 31c of the first joint member 31 on the left side is disposed on the lowermost side, so that the first cam portion 31c is a second cam. The inner leg support plate 33 is in contact with the most protruding portion of the portion 332, and the upper end portion thereof is tilted inwardly (see FIGS. 11C and 12C).

  Thus, the left leg 2L is supported when the foot 20 of the right leg 2R on the rear side of the left and right legs 20 arranged in the front-rear direction in contact with the walking surface is released. The inner leg support plate 33 is swung so that the upper end portion thereof tilts inward (in the direction in which the leg portion is separated from the body portion 1), and the inner leg support plate 33 that supports the right leg portion 2R has an upper end portion thereof. By swinging outward (in the direction in which the leg part approaches the body part 1), the foot part 20 of the right leg part 2R is arranged outside the leg part 20 of the left leg part 2L. The left and right leg portions 2L, 2R are swung in synchronization with the gait operation.

Further, the right and left universal joints 30 are rotated in a predetermined direction, and in synchronization with the operation in which the foot part 20 of the right leg part 2R is extended before the left leg part 2L, The first cam portion 31 c slides along a portion where the protruding length of the surface of the upper second cam portion 332 gradually decreases, and the inner leg support plate 33 is centered on the swing shaft 13 of the body portion mounting plate portion 331. Is rotated inward so as to return the upper end thereof to the original position, and the first cam portion 31c of the left first joint member 31 gradually reduces the protruding length of the surface of the lower second cam portion 332. Sliding along the portion, the inner leg support plate 33 is rotated outwardly so that the upper end of the inner leg support plate 33 is returned to the original position around the swing shaft 13 of the body portion mounting plate portion 331 (FIG. 11D). ) And FIG. 12 (d)).
And the 1st cam part 31c of the 1st joint member 31 of all the universal joints 30 will be in the state arrange | positioned between the two 2nd cam parts 332 and 332, and it is a robot like FIG. 11 (a). Due to the weight of the toy 100, the left and right inner leg support plates 33, 33 are pivoted inwardly about the swing shaft 13 of the body portion mounting plate portion 331, and the foot portions 20 of the left and right leg portions 2L, 2R are turned inward. Are aligned in the front-rear direction (see FIGS. 11E and 12E).
In this way, when the foot 20 of the right leg 2R overtakes the left leg 2L and touches the ground, the left and right legs 2L, 2R are arranged so that the legs 20 of the left and right legs 2L, 2R are aligned in the front-rear direction. Swing in synchronization with the gait movement.

  Subsequently, the walking operation of the left leg 2L is performed in substantially the same manner as that of the right leg 2R, and walking is performed by alternately repeating the footing operations of the left and right legs 2L, 2R.

As described above, according to the robot toy 100 of the present embodiment, by rotating the universal joint 30 that transmits the driving force of the driving unit 11 to the pair of left and right legs 2L and 2R, the pair of legs 2L, Of the left and right feet 20, 20 that are in contact with the walking surface in synchronization with the walking motion, the foot portion of one of the rear legs (eg, the left leg portion 2L) that leaves the walking surface. The pair of legs 2L and 2R can be swung so that 20 is disposed outside the leg 20 of the other leg (for example, the right leg 2R), and the other leg The pair of leg portions 2L and 2R can be swung so that the foot portion 20 of one leg that overtakes the foot portion 20 and is in contact with the foot portion 20 of the other leg portion in the front-rear direction. Specifically, by rotating the universal joint 30, the first cam portion 31c of the first joint member 31 and the two second cam portions 332 and 332 of the inner leg support plate 33 are brought into sliding contact with each other, thereby causing a pair of left and right legs. The inner leg support plates 33, 33 that support the portions 2L, 2R can be swung in synchronization with the gait operation.
Thus, by swinging the pair of leg portions 2L, 2R in synchronization with the gait operation by the rotation of the universal joint 30, the left and right foot portions 20, 20 are moved in the front-rear direction while grounded on the walking surface. While being able to line up, among the right and left foot parts 20, the foot part 20 of one leg extended to the front side is separated from the walking surface and is supported only by the leg part having the other foot part 20 And a more natural walking motion can be realized with a simpler structure.

Further, the inner leg support plate 33 that supports the leg portion including the one foot portion 20 that is separated from the walking surface among the pair of inner leg support plates 33, 33 is arranged so that the lower end side thereof approaches the body portion 1. While tilting, the inner leg support plate 33 that supports the leg portion including the other foot portion 20 can be tilted in the direction in which the lower end side is away from the body portion 1.
As a result, even if the center of gravity moves by separating one foot 20 and supporting only by the leg having the other foot 20, the inner leg support plate 33 that supports the other leg is supported. The body portion 1 that is relatively inclined and the leg portion including the one foot portion 20 that is inclined in the direction in which the lower end side of the inner leg support plate 33 approaches the body portion 1 can be balanced, It is possible to secure a space for the footing operation of the foot 20 of the foot.

The present invention is not limited to the above-described embodiment, and various improvements and design changes may be made without departing from the spirit of the present invention.
For example, in the above embodiment, the second cam portion 332 is provided on the inner leg support plate 33, but the arrangement position of the second cam portion 332 is not limited to this, and the first joint member In the case where 31 is connected to the leg and the second joint member 32 is connected to the rotation shaft of the drive unit 11, the second joint member mounting member (for example, the second joint member 32 is rotatably mounted) The left and right side walls of the storage unit 12 may be provided.
Even with this configuration, it is possible to obtain substantially the same effect as in the above embodiment.

  Further, the first cam portion 31c of the first joint member 31 and the two second cam portions 332 of the inner leg support plate 33 are brought into sliding contact with each other so that the pair of inner leg support plates 33 and 33 are centered on the front-rear axis. However, the mechanism for swinging the pair of inner leg support plates 33, 33 is not limited to this, and any mechanism may be used.

  Furthermore, it is needless to say that other specific detailed structures can be appropriately changed. For example, in the above embodiment, the robot toy 100 is illustrated as walking on two legs, but a configuration in which two or more pairs of leg portions 2L and 2R are arranged and walking with four or more legs is provided. May be.

  In addition, it should be thought that embodiment disclosed this time is an illustration and restrictive at no points. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

It is a perspective view which shows the robot toy of one Embodiment to which this invention is applied. It is a perspective view which expands and shows the trunk | drum part of the robot toy of FIG. It is a perspective view which expands and shows the inner leg support plate of the robot toy of FIG. It is a perspective view which expands and shows the universal joint of the robot toy of FIG. It is a figure for demonstrating rocking | fluctuation operation | movement of the inner side leg support plate using the universal joint of FIG. It is a perspective view which expands and shows the leg part of the robot toy of FIG. It is a figure for demonstrating the footing operation | movement of the leg part of FIG. It is a figure for demonstrating the footing operation | movement of the leg part of FIG. It is a figure for demonstrating the footing operation | movement of the leg part of FIG. It is a figure for demonstrating the footing operation | movement of the leg part of FIG. It is a figure for demonstrating the rocking | fluctuation operation | movement synchronized with the footing operation | movement of the leg part of FIG. It is a figure which shows typically arrangement | positioning of the foot part in the footing operation | movement of the leg part of FIG.

Explanation of symbols

100 Robot Toy 1 Body 11 Drive Source 3 Power Transmission Mechanism 30 Universal Joint 31 First Joint Member 31c First Cam Part 32 Second Joint Member 33 Inner Leg Support Plate (Second Joint Member Mounting Member)
332 Second cam portion 2L Left leg portion 2R Right foot portion 20 Foot portion

Claims (4)

A body portion having a drive source, at least a pair of legs that carry the left and right feet alternately forward, and a power transmission mechanism that transmits the driving force of the drive source to each of the pair of legs. A robot toy comprising:
The pair of leg portions are provided so as to be swingable around an axis in the front-rear direction with respect to the body portion,
The power transmission mechanism is
Each of the pair of leg portions and the rotation shaft of the drive source has a first joint member connected to either one and a second joint member connected to the other, based on the drive of the drive source The first joint member and the second joint member include a universal joint that rotates together,
Out of the left and right foot portions arranged in the front-rear direction while being grounded to the walking surface by the rotation of the universal joint, one rear foot portion separating from the walking surface is outside the other foot portion. And the pair of legs are swung in synchronism with a footing operation so that the one foot that overtakes the other foot and contacts the other foot in the front-rear direction. Robot toy characterized by letting. The power transmission mechanism is
A second joint member mounting member on which the second joint member is rotatably mounted;
The first joint member includes a first cam portion that protrudes toward the second joint member mounting member.
The second joint member mounting member includes two second cam portions that are arranged substantially concentrically and project to the first joint member side,
The pair of leg portions are swung in synchronism with a gait operation by slidingly contacting the first cam portion and the two second cam portions by rotation of the universal joint. The robot toy according to 1. The power transmission mechanism is
A pair of leg support members provided to be swingable about an axis in the front-rear direction with respect to the body part, and supporting each of the pair of leg parts;
The first joint member includes a first cam portion protruding to the leg support member side,
The leg support member includes an insertion hole through which the second joint member is inserted, and two second cam portions that are arranged substantially concentrically and project to the first joint member side,
The pair of leg support members are swung in synchronism with a footing operation by bringing the first cam portion and the two second cam portions into sliding contact with the rotation of the universal joint. Item 2. The robot toy according to item 1.   Among the pair of leg support members, the leg support member that supports the leg part that includes the one foot part that is separated from the walking surface is tilted in a direction in which the leg part side approaches the body part, and the other leg part is supported. By tilting the leg support member that supports the leg portion including the foot portion in a direction in which the leg portion is separated from the body portion, the one foot portion is swung so as to be disposed outside the other foot portion. The robot toy according to claim 3, wherein the robot toy is moved.