JP3384405B1 - Three-dimensional operation drive structure and robot provided with the structure - Google Patents

Abstract

[PROBLEMS] To enable a three-dimensional operation with a simple configuration. A three-dimensional operation drive structure (20) according to the present invention includes a rotary shaft (24) rotatably provided inside a hole (25), and an end (14a) of an ear member (14) extending from an opening of the hole (25). A cam groove 32 formed on the inner surface of the hole 25, a projection 14 c rotatably supported by the shaft 24 and protruding from the axially supported end 14 a of the ear member 14 in a direction opposite to the extension direction. Is engaged.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure for driving a member used in a robot, a toy or the like which requires a three-dimensional movement.

[0002]

2. Description of the Related Art For example, in an animal type robot, it is desired that the members constituting the ears operate three-dimensionally. However, the conventional mechanism for performing a three-dimensional operation has many components and is complicated.

On the other hand, a mechanism using a groove cam that can simplify the structure is disclosed in Japanese Utility Model Laid-Open No. 5-15125. In this mechanism, the driven part is operated by rotating the cam provided on the end face of the cylinder, but this operation is restricted to two-dimensional operation, and three-dimensional operation, that is, three-dimensional operation is performed. It is not possible.

In addition, in the case where a member that operates three-dimensionally is used as a core member of an ear of a toy animal-type robot or toy, for example, and the ear is arbitrarily operated, it is connected to a drive system. A structure in which the ear core member is fixed to the stuffed toy is conceivable by suturing or adhering the formed ear core member to the ear of the stuffed animal. However, with this structure, it is difficult to obtain the designed movement because the load on the three-dimensional movement of the stuffed ear itself is large, and further, since sewing and bonding are required, productivity and cost are reduced. There are also problems.

[0005]

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to solve the above-mentioned problems, and the present invention provides a drive structure capable of three-dimensional operation with a simple structure and a load on the stuffed ear while ensuring flexibility. An object of the present invention is to provide an ear member of an animal type robot or toy which can move the ear part three-dimensionally without losing.

[0006]

In order to achieve the above object, a three-dimensional motion driving structure of the present invention is provided with a rotary shaft rotatably driven inside a hole, and an end of a motion member extending from an opening of the hole. A rotatably rotatably supporting part on the rotary shaft, and a protruding part protruding from the rotatably supported end part of the operating member to the side opposite to the extending direction is provided in the cam groove formed on the inner surface of the hole. It has been engaged. According to this three-dimensional drive structure, when the rotary shaft is rotationally driven, the operating member axially supported by the rotary shaft also rotates accordingly. At the same time,
When the protrusion provided at the end of the operating member moves along the cam groove, the operating member pivots about the end supported by the shaft and falls from the standing state to the lying state. Therefore, the operation member performs a three-dimensional operation of tilting while rotating by the rotational drive about one axis of the rotation axis. As described above, according to the three-dimensional movement driving structure of the present invention, the movement member can be three-dimensionally moved with a simple configuration.

In the three-dimensional operation drive structure of the present invention, the cam groove on the inner surface of the hole may be formed by combining two members. Although it is difficult to form the member having the cam groove as an integrally molded product, it is easy to manufacture the cam groove by combining the two members.

In the three-dimensional motion drive structure of the present invention,
The operation member may be an animal-type robot or a toy ear member. In this case, the extension portion of the ear member may have elasticity by forming an inverted V shape, and the inverted V shape portion of the ear member is not adhered to the inside of the stuffed ear-shaped bag sewn portion. May be inserted in. As described above, when the three-dimensional motion drive structure of the present invention is used as a drive mechanism for an ear member of an animal type robot or a toy, it is possible to perform a three-dimensional motion such as standing or lying the ear member as a production. Further, when the extending portion of the ear member has an inverted V-shape so as to have elasticity, appropriate flexibility can be obtained as compared with the case where the ear member is formed of a plate member. Further, if the inverted V-shaped portion of the ear member is inserted into the inside of the stuffed ear-shaped bag sewn portion by non-adhesion, the stuffed-ear ear portion operates in a three-dimensional manner while ensuring appropriate flexibility. The end of the inverted V-shaped portion of the ear member pushes the ear-shaped bag sewn portion from the inside without deforming the load of the ear-shaped portion to deform the stuffed toy ear portion. Since the ear member is simply inserted into the ear-shaped bag sewn portion of the stuffed animal without adhesive, it is advantageous in terms of productivity and cost.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is an overall view of a cat pet robot 1 to which the present invention is applied. This cat-shaped pet robot 1 is constructed by covering a plastic robot body 2 with a plush toy 3 of artificial fur all over the body.

The ear portion 10 of the cat-shaped pet robot 1 is
As shown in FIG. 2, the ear-shaped bag sewn portion 12 of the plush toy 3
The ear member (operating member) 14 is inserted into the interior of the non-adhesive member without bonding. The ear member 14 is made of a narrow plastic member, and is formed to have an inverted V shape with a hollowed central portion. Since the ear member 14 has elasticity because it is formed in such a shape, the ear portion 10 of the robot 1 can have appropriate flexibility. Further, the ear member 14 is, as shown in FIGS.
A drive structure described later allows a three-dimensional operation, that is, a three-dimensional operation between a standing state shown by a solid line and a prone state shown by a chain line.

FIG. 5 is an exploded perspective view of the three-dimensional movement driving structure 20 including the ear member 14, and FIGS. 6 and 7 are configuration diagrams including a partial cross section of the three-dimensional movement driving structure 20 in an assembled state. is there. The three-dimensional motion drive structure 20 includes the ear member 14
And a top cover 2 that forms a rotary shaft 24 on which one end 14a of the ear member 14 is rotatably supported by a pin 22 and a hole 25 into which the rotary shaft 24 is rotatably mounted.
6 and a cam member 28.

The top cover 26 is formed with a round hole 26a which constitutes a part of the hole 25 into which the rotary shaft 24 is mounted. Below the hole 26 a of the crown cover 26, the spherical concave portion 2 forming a part of the hole 25 into which the rotary shaft 24 is mounted.
A cam member 28 having 8a is fixed to the crown cover 26 by a screw 30. Further, the cam member 28 is formed with a spiral inclined surface 28b which is attached to the crown cover 26 and cooperates with the portion of the crown cover 26 to form the cam groove 32. The cam groove 32 thus configured is formed on the inner surface of the hole 25 into which the rotary shaft 24 is mounted. It is difficult to form a member having such a cam groove 32 as an integrally molded product made of plastic, for example, but as described above, the two members 2 are formed.
If the cam groove 32 is configured by combining 6, 28, the manufacturing becomes easy.

When the rotary shaft 24 rotatably supporting the end portion 14a of the ear member 14 is mounted inside the hole 25 formed by the crown cover 26 and the cam member 28, the ear member 14 is reversed. The V-shaped portion 14 b extends upward from the opening of the hole 25. Further, the ear member 14 has the end portion 14
It has a cylindrical protruding portion 14c protruding from a toward the side opposite to the extension direction of the inverted V-shaped portion 14b, and when the rotary shaft 24 is mounted in the hole 25, the protruding portion 1
4c engages in the cam groove 32 formed on the inner surface of the hole 25.

A pin 36 is provided at the lower end 24a of the rotary shaft 24.
The block drive member 34 is fixed by. By connecting the fixing member 34 to a drive system (not shown), the rotary shaft 24 is driven to rotate in the arrow A direction.

Next, the operation of the three-dimensional motion drive structure 20 configured as described above will be described. In the three-dimensional movement drive structure 20, when the rotating shaft 24 is rotationally driven, the ear member 14 attached to the rotating shaft 24 also rotates accordingly. At the same time, the end portion 14 of the ear member 14
By moving the protrusion 14c provided on a along the inclined surface 28b of the cam groove 32, the ear member 14 rotates about the end 14a pivotally supported by the pin 22. As a result, the ear member 14 and the ear portion 10 are changed from the standing state shown in FIG. 8A to the slightly lying state shown in FIG. 8B, and further as shown in FIG. It falls to the state of being completely prone to. Therefore, the ear member 14 and the ear portion 10
Performs a three-dimensional operation of tilting while rotating due to rotational driving of one axis of the rotary shaft 24. Of course, by rotating the rotary shaft 24 in the reverse direction, as shown in FIG.
The operation from the prone state of (c) to the standing state of (a) of the figure is also possible. As described above, according to the three-dimensional movement driving structure 20, the ear member 14 can be three-dimensionally moved with a simple configuration.

Further, since the ear member 14 is formed in an inverted V shape, the ear-shaped bag sewing portion 12 of the stuffed toy 3 can be bent at the portion 12a corresponding to the end portion 14d of the inverted V-shaped portion 14b. did it. By forming the ear member 10 in this manner, the inverted V-shaped portion 14 of the ear member 14 that operates three-dimensionally while ensuring appropriate flexibility with respect to the ear portion 10.
The end portion 14d of b is the ear-shaped bag sewing portion 12 of the stuffed animal 3
Can be pushed and deformed from the inside without being overwhelmed by its own load, and the ear 10 can be deformed into an arbitrary shape.

In the embodiment described above, the ear member 14 is formed in an inverted V shape as shown in FIG. 9 (a), but the shape of the ear member 14 is not limited to that. It may be formed in a substantially delta shape like the ear member 14 'shown in FIG. Further, the ear member 14 is not limited to being made of plastic, and may be made of, for example, hard rubber or metal wire.

Further, in the present embodiment, the example in which the three-dimensional motion drive structure 20 is applied to the ear portion 10 of the cat-shaped pet robot 1 has been described, but the present invention is the ear portion of other animal type robots or toys. Alternatively, it can be applied to other three-dimensional motion units.

[0019]

As described above, according to the three-dimensional movement driving structure of the present invention, the three-dimensional movement can be performed with a simple structure.

Further, if the three-dimensional motion drive structure of the present invention is used as a drive mechanism for an ear member of an animal type robot or toy, it is possible to perform a three-dimensional motion such as standing or lying the ear member as an effect.

Further, when the extending portion of the ear member has an inverted V-shape so as to have elasticity, appropriate flexibility can be obtained as compared with the case where the ear member is formed of a plate member.

Furthermore, if the inverted V-shaped portion of the ear member is inserted into the inside of the stuffed ear-shaped bag sewn portion without adhesion, the three-dimensional shape of the stuffed toy ear portion is ensured while ensuring appropriate flexibility. The ears of the stuffed toy can be moved to any shape by the distal end of the inverted V-shaped portion of the ear member that is mechanically operated by pushing the ear-shaped bag sewing portion from the inside without losing the load of itself and deforming it. Moreover, since the ear member is simply inserted into the stuffed toy ear-shaped bag sewn portion without adhesion, it is advantageous in terms of productivity and cost.

[Brief description of drawings]

FIG. 1 is an overall view of a cat-shaped pet robot.

FIG. 2 is a front view of the head of a cat-shaped pet robot.

FIG. 3 is a front perspective view of the head of the robot body.

FIG. 4 is a rear perspective view of the head of the robot body.

FIG. 5 is an exploded perspective view of a three-dimensional motion drive structure.

FIG. 6 is an assembly view including a partial cross section of a three-dimensional drive structure.

FIG. 7 is an assembly view including a partial cross section of a three-dimensional drive structure.

FIG. 8 is a diagram showing an operating state of an ear portion.

FIG. 9 is a diagram showing a modified example of the shape of the ear member.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Cat type pet robot, 2 ... Robot main body, 3 ... Plush toy, 10 ... Ear part, 12 ... Stuffed ear-shaped bag sewing part, 14 ... Ear member (operating member), 14a ... End part, 14b
... inverted V-shaped portion, 14c ... protruding portion, 20 ... three-dimensional operation drive structure, 24 ... rotating shaft, 25 ... hole, 28 ... cam member, 32
… Cam groove.

Continuation of the front page (56) Reference JP 2002-122202 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) F16H 25/16 A63H 3/36 A63H 11/00 A63H 29 / 00 B25J 5/00

Claims (6)

(57) [Claims] 1. A crown cover having a hole formed therein, a rotating shaft rotatably driven inside the hole, and an opening extending from an opening of the hole, the end of which rotates about the rotating shaft. A movable member that is rotatably supported, a protrusion that projects from the end of the movable member that is rotatably supported in the direction opposite to the extending direction, and an inner surface of the hole that engages with the protrusion. A three-dimensional motion drive structure having a cam groove. 2. The three-dimensional movement drive structure according to claim 1, wherein the cam groove on the inner surface of the hole is formed by combining two members. 3. The moving member is an animal-type robot or a toy ear member.
The three-dimensional motion drive structure described in. 4. The three-dimensional motion drive structure according to claim 3, wherein the extension portion of the ear member has elasticity by forming an inverted V shape. 5. The three-dimensional operation structure according to claim 4, wherein the inverted V-shaped portion of the ear member is inserted into the inside of the stuffed ear-shaped bag sewn portion without adhesive. 6. A robot provided with the three-dimensional movement drive structure according to any one of the preceding claims.