JP7347785B2 - program drive device - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Act On May 24, 2019, Hakubun Co., Ltd. disclosed to Gentosha Co., Ltd. a program drive device invented by Osamu Tsukamoto of Hakubun Co., Ltd.

The present invention relates to a program drive device, and more particularly to a program drive device that allows a user to program drive information.

2. Description of the Related Art Conventionally, there are toy vehicles that use a battery or a motor as a drive device to travel along a predetermined course.

These toy vehicles are useful not only for play, but also for educational purposes, as they allow students to understand the mechanisms of electrical circuits, the mechanism of motor torque, and the mechanism of gear mechanisms that transmit this torque to the wheels. used.

By the way, recently, the importance of education regarding programs has been emphasized. Program-related education means that a user, for example, an elementary school student, inputs information, a result is output based on the input information, and the user who obtained the output result is asked if the result was in the intended manner or not. This allows you to correct the information to be entered next time.

However, the above-mentioned conventional toy vehicles basically run along a predetermined course while the electric circuit is turned on, and there are no objects that change the running time or guide the course. It was difficult to change course on a course where there was no road. Therefore, for the purpose of education regarding programs, there has been a long-awaited desire for a program drive device that can input drive information such as how the drive should be performed in advance.

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a program drive device that can confirm a drive state based on input drive information.

In order to achieve the above object, the invention according to claim 1 is an educational program drive device, which includes a housing, into which driving information can be input, and which is detachably attached to the housing. The program medium includes a program medium to be installed, an information acquisition unit that acquires drive information from the program medium installed in the casing, and a drive unit that drives the casing based on the drive information acquired by the information acquisition unit . is capable of inputting a plurality of pieces of drive information, the information acquisition unit continuously acquires each of the plurality of pieces of drive information as time passes, and the program medium is configured to input drive information for each of the pieces of drive information in advance. A plurality of sections into which information has been input are connected in a freely connectable manner. a second slice into which drive information is input, the drive unit drives the housing according to the order of the drive information acquired by the information acquisition unit, and each of the first slice and the second slice is a flat plate-shaped slice; A main body, and a flat plate-shaped plate that is located on the start direction side of the left and right sides (orthogonal to the direction that connects the start direction and the end direction) of the main body, and has a recess that is concave inward on the outer surface. and a flat second side wall which is connected to the end direction side of the first side wall, extends in the end direction, and has a convex portion formed in an inwardly convex shape on its inner surface. The first section and the second section are connected by each of the convex sections of the first section fitting into each of the concave sections of the second section, and the first drive information and the second drive information are This is input based on the presence or absence of flat blades connected to each of the second side walls and extending outward to the left and right .

With this configuration, the housing is driven based on the input drive information. Further, the housing is continuously driven as time passes. Furthermore, by changing the connection pattern of the sections, the driving manner of the casing can be changed.

The invention as claimed in claim 2 is the configuration of the invention as claimed in claim 1, in which, in the connected state, the first section and the second section have a side end in the end direction of the blade of the first section that is connected to the main body of the second section. It is located closer to the ending direction than the starting end.

The invention as claimed in claim 3 is the configuration of the invention as claimed in claim 1 or claim 2, in which the program medium has first information on which the first ON information or the first OFF information can be selected. the information acquisition section includes a program section and a second program section in which the second on information or the second off information can be selected; a first information acquisition section that acquires information or first off information; and a second information acquisition section that acquires second on information or second off information from a second program section. At the same time, information is acquired from the first program section and the second program section at the same timing, and the drive section is arranged between a first wheel disposed on the left side of the housing and a first wheel disposed on the right side of the housing. the first wheel is rotated in the normal direction when the first information acquisition section acquires the first on information, and the first information acquisition section acquires the first off information. When the second on information is acquired, the first wheel is rotated in reverse, and when the second information acquisition section acquires the second on information, the second wheel is rotated forward, and the second information acquisition section rotates the second off information. The second wheel is reversed when information is acquired.

With this configuration, it is possible to create a program that independently instructs the driving of the first wheel and the second wheel.

The invention according to claim 4 is the configuration of the invention according to claim 3 , in which the intercept includes a first slice into which the first on information and the second on information are input, and the first off information. and a second section into which the second ON information is input, and a third section into which the first OFF information and the second OFF information are input, and by turning the second section over, , the first ON information and the second OFF information can be used as the input fourth slice.

With this configuration, it is possible to input a plurality of pieces of drive information based on the connection pattern of the first slice, the second slice, and the third slice.

The invention according to claim 5 is the invention according to claim 3, in which the program medium has a flat main body extending in the longitudinal direction, and in the main body, a first program section extending in two rows in the longitudinal direction; A changing portion in the thickness direction can be formed in the second program portion, and the information acquisition portion acquires the presence of the changing portion in the first program portion as first ON information, and The fact that there is no changing part in the program part is acquired as first off information, the existence of a changing part in the second program part is acquired as second on information, and the change in the second program part is acquired. The fact that the portion does not exist is acquired as second off information.

With this configuration, it is possible to change the drive information simply by forming a portion that changes in the thickness direction.

The invention according to claim 6 is the configuration of the invention according to any one of claims 3 to 5 , wherein the casing includes a feeding motor electrically connected to a battery through a switch, and a program medium. When the program medium is attached to the housing, the switch is on, and when the program medium is not attached to the housing, the switch is off, and the feed motor is in the program mode when the switch is on. The medium is fed from the start direction to the end direction, and after the feeding of the program medium is completed and all drive information has been acquired by the information acquisition section, the switch is turned off and the driving of the casing by the drive section ends. be.

With this configuration, the motor can operate while the information acquisition unit acquires all drive information from the program medium.

The invention according to claim 7 is the configuration of the invention according to any one of claims 3 to 6 , in which the drive section includes a motor crown gear connected to the drive motor and a motor crown gear on the left side of the motor crown gear. It is connected to the teeth on an orthogonal axis, moves a predetermined distance to the right when the information acquisition unit acquires the first ON information, and is connected to the right teeth of the first wheel drive crown gear on an orthogonal axis to acquire information. When the part acquires the first OFF information, it moves a predetermined distance to the left side, and is connected by an orthogonal shaft to the teeth on the left side of the first wheel driving crown gear, and the first crown gear for driving the first wheel. It is connected by an orthogonal shaft to the gear set for forward rotation and reverse rotation and the teeth on the right side of the crown gear for the motor, and when the information acquisition unit acquires the second on information, it moves a predetermined distance to the left and is used for driving the second wheel. It is connected to the teeth on the left side of the crown gear by an orthogonal axis, and when the information acquisition unit acquires the second off information, it moves to the right by a predetermined distance, and connects to the teeth on the right side of the second wheel drive crown gear by an orthogonal axis. and a second forward/reverse rotation gear set connected to the drive wheel for driving the second wheel, the first forward/reverse rotation gear set and the second forward/reverse rotation gear set having the same gear ratio. It consists of:

With this configuration, the first wheel and the second wheel are each connected to the drive motor via a gear mechanism having the same gear ratio.

The invention according to claim 8 is the configuration of the invention according to any one of claims 3 to 5 , wherein the casing includes a shared motor electrically connected to the battery through a switch, and the program medium is When installed in the housing, the switch is in the on state, and when the program medium is not installed in the housing, the switch is in the off state, and the shared motor is in the on state when the program medium is in the on state. The program medium is fed from the start direction to the end direction via the feed gear mechanism, and after the program medium has been fed and all drive information has been acquired by the information acquisition unit, the switch is turned off and the drive unit starts driving the casing. is completed, the drive unit is connected to the motor crown gear that is connected to the common motor, and the teeth on the left side of the motor crown gear by an orthogonal axis, and when the information acquisition unit acquires the first ON information, the drive unit The first wheel drive crown gear is connected to the right teeth of the first wheel drive crown gear by an orthogonal shaft, and when the information acquisition section acquires the first off information, the first wheel drive crown gear is moved a predetermined distance to the left and a first forward/reverse rotation gear set for driving the first wheel, which is connected to the left teeth of the drive crown gear by an orthogonal shaft; and a first forward/reverse gear set for driving the first wheel; When the information acquisition unit acquires the second ON information, it moves a predetermined distance to the left side, is connected to the left tooth of the second wheel drive crown gear by an orthogonal shaft, and the information acquisition unit acquires the second OFF information. When the wheel is acquired, it moves a predetermined distance to the right side, and connects with a second forward/reverse rotation gear set for driving the second wheel, which is connected by an orthogonal shaft to the teeth on the right side of the crown gear for driving the second wheel. The first forward/reverse rotation gear set and the second forward/reverse rotation gear set have the same gear ratio.

With this configuration, the feeding gear mechanism, the first wheel, and the second wheel are mechanically connected to the shared motor via the gear mechanism.

The invention according to claim 9 is the configuration of the invention according to any one of claims 3 to 6 , wherein the drive section is connected to the battery and the first wheel via the first forward/reverse switch. and a second motor connected to the battery and the second wheel via a second forward/reverse switch, and when the information acquisition unit acquires the first ON information. When the first forward/reverse switch is turned on and the first wheel is rotated forward, and the information acquisition section acquires the first off information, the first forward/reverse switch is turned off and the first wheel is rotated forward. When the wheels are reversed and the information acquisition unit acquires the second on information, the second forward/reverse switch is turned on, causing the second wheel to rotate forward, and the information acquisition unit acquires the second off information. When this is obtained, the second forward/reverse rotation switch is turned off and the second wheel is rotated in the reverse direction.

With this configuration, forward or reverse rotation of the wheels is quickly determined electrically based on the ON information or OFF information.

The invention according to claim 10 is the configuration of the invention according to any one of claims 1 to 9 , in which the section includes a forwarding section into which drive information for advancing the casing by a predetermined distance is input, and a section for moving the casing forward by a predetermined distance. The casing includes a left-turn section into which driving information for turning the casing to the left at a predetermined angle and a right-turn section into which driving information for turning the casing to the right by a predetermined angle are input, and by changing the connection pattern of the plurality of sections. The driving mode of the vehicle can be changed.

With this configuration, the running mode of the housing can be easily modified.

The invention according to claim 11 is the configuration of the invention according to any one of claims 1 to 10 , in which the slice is a drive start slice arranged at the beginning on the start direction side and a drive start slice that ends the drive of the casing. It further includes a drive termination segment into which drive information for causing the drive is input.

With this configuration, malfunctions at the start and end of driving can be prevented.

The invention according to claim 12 is the structure of the invention according to any one of claims 1 to 11 , in which the section has a guiding convex part and a guiding convex part protruding in the information acquisition starting direction side in the main body which is the body part thereof. A guide concave portion is formed to have a size that matches the protruding shape of the guide convex portion and is recessed from the information acquisition end direction side.

With this configuration, the guiding convex portions and the guiding concave portions of the connected sections engage with each other.
The invention according to claim 13 is an educational program drive device, which comprises: a casing; a program medium into which driving information can be input; and which is detachably attached to the casing; an information acquisition unit that acquires drive information from a program medium attached to the computer; and a drive unit that drives the casing based on the drive information acquired by the information acquisition unit, and the program medium receives a plurality of pieces of drive information. The information acquisition unit continuously acquires each of the plurality of pieces of drive information as time passes, and the program medium is configured to acquire the first ON information or the first OFF information. The information acquisition section includes a first program section capable of being selected, and a second program section capable of selecting second ON information or second OFF information. a first information acquisition section that acquires first on information or first off information from a first program section; and a first information acquisition section that acquires second on information or second off information from a second program section. The drive unit includes a second information acquisition unit that acquires information from the first program unit and the second program unit at the same timing, and the drive unit includes a second information acquisition unit that acquires information from the first program unit and the second program unit at the same timing. It includes a wheel and a second wheel disposed on the right side of the housing, and when the first information acquisition unit acquires the first on information, the first wheel is rotated in the forward direction, and the first wheel is rotated in the forward direction. When the information acquisition unit acquires the first OFF information, the first wheel is reversely rotated, and when the second information acquisition unit acquires the second ON information, the second wheel is rotated forward, and the second wheel is rotated in the forward direction. The second wheel is reversed when the information acquisition unit acquires the second off information, and the housing includes a shared motor electrically connected via a battery and a switch, and the program medium is connected to the housing. When the program medium is installed, the switch is in the on state, and when the program medium is not installed in the housing, the switch is in the off state, and the shared motor is in the gear for feeding the program medium when the switch is in the on state. The program medium is fed from the start direction to the end direction through the mechanism, and after the program medium has been fed and all drive information has been acquired by the information acquisition unit, the switch is turned off and the drive unit finishes driving the casing. , the drive unit is connected to the motor crown gear connected to the shared motor and the teeth on the left side of the motor crown gear by an orthogonal axis, and when the information acquisition unit acquires the first ON information, the drive unit moves a predetermined distance to the right side when the information acquisition unit acquires the first ON information. The first wheel driving crown gear moves to the left and is connected to the right tooth of the first wheel driving crown gear by an orthogonal shaft, and when the information acquisition unit acquires the first off information, moves to the left by a predetermined distance, and the first wheel driving crown a first forward/reverse rotation gear set connected to the left teeth of the gear by an orthogonal shaft to drive the first wheel; and an information acquisition unit connected to the right teeth of the motor crown gear by an orthogonal shaft. When it acquired the second ON information, it moved a predetermined distance to the left side, was connected to the left tooth of the second wheel drive crown gear by an orthogonal shaft, and the information acquisition unit acquired the second OFF information. a second forward/reverse rotation gear set for driving the second wheel; The first forward/reverse rotation gear set and the second forward/reverse rotation gear set are configured with the same gear ratio, the first wheel and the second wheel are each driven independently, and the shared motor is It is a single gear that serves both for feeding and driving, and the shaft of the motor crown gear extends in the front-rear direction. , each shaft extends in the left-right direction, and each shaft of the first wheel drive crown gear and the second wheel drive crown gear extends in the front-rear direction.
With this configuration, the housing is driven based on the input drive information. Further, the housing is continuously driven as time passes. Furthermore, it is possible to create a program that instructs the driving of the first wheel and the second wheel independently. Further, the feeding gear mechanism, the first wheel, and the second wheel are mechanically connected to the shared motor via the gear mechanism.
According to a fourteenth aspect of the present invention, in the configuration of the thirteenth aspect of the invention, the program medium is configured by connecting a plurality of slices to each of which drive information is input in advance so as to be freely connectable.
With this configuration, by changing the connection pattern between the pieces, it is possible to change the drive order based on the plurality of pieces of input drive information.
The invention set forth in claim 15 is the configuration of the invention set forth in claim 14, in which the intercept includes a first intercept into which the first on information and the second on information are input, and the first off information. and a second section into which the second ON information is input, and a third section into which the first OFF information and the second OFF information are input, and by turning the second section over, , the first ON information and the second OFF information can be used as the input fourth slice.
With this configuration, it is possible to input a plurality of pieces of drive information based on the connection pattern of the first slice, the second slice, and the third slice.
The invention described in claim 16 is the configuration of the invention described in claim 13, in which the program medium has a flat body extending in the longitudinal direction, and in the main body, a first program section extending in two rows in the longitudinal direction; A changing portion in the thickness direction can be formed in the second program portion, and the information acquisition portion acquires the presence of the changing portion in the first program portion as first ON information, and The fact that there is no changing part in the program part is acquired as first off information, the existence of a changing part in the second program part is acquired as second on information, and the change in the second program part is acquired. The fact that the portion does not exist is acquired as second off information.
With this configuration, it is possible to change the drive information simply by forming a portion that changes in the thickness direction.

The invention according to claim 17 is the configuration of the invention according to any one of claims 2 to 16 , wherein the housing is electrically connected to the battery, and the program medium is fed in the starting direction through the feeding gear mechanism. The program medium includes a motor that feeds the program medium from the start direction to the end direction, and has a plurality of grooves arranged in the direction from the start direction to the end direction, each of which meshes with the gears of the feed gear mechanism.

With this configuration, reading errors of the feeding gear mechanism are reduced.

As explained above, in the invention according to claim 1, since the casing is driven based on the input driving information, it is determined from the driving result of the casing whether or not the intended driving result has been obtained. , drive information that should be input in advance can be easily modified. Furthermore, since the housing is driven continuously over time, it is possible to program programs that produce more complex driving results. Furthermore, by changing the connection pattern of the sections, the drive mode of the casing can be changed, making it easy to modify the program.

In addition to the effects of the invention described in claim 1 or claim 2, the invention according to claim 3 can create a program that independently instructs the driving of the first wheel and the second wheel. For example, by rotating the first wheel in the normal direction and rotating the second wheel in the reverse direction, a variety of driving possibilities are possible, such as changing the direction to the right on the spot.

In addition to the effect of the invention as claimed in claim 3 , the invention according to claim 4 can input a plurality of pieces of drive information by the connection pattern of the first slice, the second slice, and the third slice. , it becomes easy to modify the program.

In addition to the effect of the invention described in claim 3 , the invention described in claim 5 makes it possible to change the drive information simply by forming a portion that changes in the thickness direction, making it easy to modify the program. .

The invention set forth in claim 6 provides, in addition to the effects of the invention set forth in any one of claims 3 to 5 , that the motor operates while the information acquisition section acquires all drive information from the program medium. Therefore, by loading the program medium into the casing, the process from the start of driving the casing to the end of driving is performed in a series.

In addition to the effects of the invention described in any one of claims 3 to 6 , the invention as claimed in claim 7 provides that the first wheel and the second wheel each have the same gear ratio with respect to the drive motor. Since the first wheel and the second wheel are connected through a gear mechanism, the rotational speeds of the first wheel and the second wheel are the same regardless of whether they rotate in the forward direction or in the reverse direction, and the driving state is stabilized.

In addition to the effects of the invention according to any one of claims 3 to 5 , the invention according to claim 8 provides a common motor with a feeding gear mechanism, a first wheel, and a second wheel. Since they are mechanically connected via a mechanism, the feeding speed of the program medium and the rotational speed of each of the first wheel and the second wheel can be maintained in a constant relationship. As a result, the driving state becomes more stable.

In addition to the effects of the invention described in any one of claims 3 to 6 , the invention as claimed in claim 9 provides the ability to electrically quickly determine whether the wheels are rotated in the normal or reverse direction based on the ON information or the OFF information. Therefore, the reaction speed to on information or off information becomes faster.

In addition to the effects of the invention according to any one of claims 1 to 9, the invention according to claim 10 allows the running mode of the casing to be easily modified, making it easy to modify the program. .

In addition to the effects of the invention according to any one of claims 1 to 10, the invention according to claim 11 improves the stability and safety of the drive by preventing malfunctions at the start and end of driving. do.

In addition to the effects of the invention described in any one of claims 1 to 11 , the invention as claimed in claim 12 has the advantage that the guiding convex portion and the guiding concave portion of the sections to be connected engage with each other, thereby determining the direction and connecting them. Directions are easier to understand at a glance.
According to the thirteenth aspect of the invention, since the casing is driven based on the input driving information, it is determined from the driving result of the casing whether or not the intended driving result has been obtained, and the driving that should be input in advance is determined. Information can be easily modified. Furthermore, since the housing is driven continuously over time, it is possible to program programs that produce more complex driving results. Furthermore, it is possible to create a program that instructs the driving of the first wheel and the second wheel independently, so for example, by rotating the first wheel in the forward direction and rotating the second wheel in the reverse direction, A variety of driving possibilities are possible, such as changing direction to the right on the field. Furthermore, since the feeding gear mechanism, the first wheel, and the second wheel are mechanically connected to the shared motor via the gear mechanism, the feeding speed of the program medium and the first wheel and the second wheel are different from each other. The rotational speed of each wheel can be maintained in a constant relationship. As a result, the driving state becomes more stable.
In addition to the effect of the invention as set forth in claim 13, the invention set forth in claim 14 makes it possible to change the drive order based on a plurality of pieces of input drive information by changing the connection pattern between the sections. It becomes easy to modify the program.
In addition to the effect of the invention as set forth in claim 14, the invention set forth in claim 15 allows a plurality of drive information to be input by a connected pattern of the first section, the second section, and the third section. , it becomes easy to modify the program.
In addition to the effect of the invention as set forth in claim 13, the invention set forth in claim 16 makes it possible to change the drive information simply by forming a portion that changes in the thickness direction, making it easy to modify the program. .

In addition to the effects of the invention described in any one of claims 1 to 16 , the invention set forth in claim 17 improves the forward distance of driving the casing, the left turn and Improves the accuracy of right turn angles.

FIG. 2 is a block diagram showing the configuration of a common program drive device for each embodiment of the present invention. 3 is a flowchart illustrating a common program-driven device usage for each embodiment of the invention. 1 is a perspective view showing the external appearance of a program drive device according to a first embodiment of the present invention. 4 is an exploded perspective view showing an internal mechanism of the program drive device shown in FIG. 3. FIG. 4 is a perspective view from the front side showing an internal mechanism around an information acquisition unit of the program drive device shown in FIG. 3. FIG. 4 is a perspective view from the back side showing an internal mechanism around an information acquisition unit of the program drive device shown in FIG. 3. FIG. FIG. 1 is a plan view showing a program medium used in a program drive device according to a first embodiment of the present invention, in which (1) is a state before information is input, and (2) is a state after information is input. FIG. 4 is a perspective view showing a state in which a program medium is installed in the program drive device shown in FIG. 3, in which (1) is before the start of information acquisition, and (2) is after the start of information acquisition. FIG. 4 is a schematic diagram showing the mechanism of the information acquisition unit of the program drive device shown in FIG. 3, in which (1) shows a state in which ON information has been acquired, and (2) a state in which OFF information has been acquired. FIG. 4 is a perspective view showing a part of the internal mechanism around the information acquisition unit of the program drive device shown in FIG. 3, in which (1) shows a state in which ON information has been acquired, and (2) shows a state in which ON information has been acquired; The situation is as follows. 1 is a schematic diagram showing a gear mechanism of a program drive device according to a first embodiment of the present invention. FIG. FIG. 7 is a perspective view showing a modification of the program medium of the invention. FIG. 2 is a circuit diagram showing an internal circuit structure of a program drive device according to a second embodiment of the present invention. FIG. 7 is a perspective view from the front side showing the external appearance of the internal mechanism of the program drive device according to the second embodiment of the present invention. FIG. 7 is a perspective view from the rear side showing the external appearance of the internal mechanism of the program drive device according to the second embodiment of the present invention. 15 is an exploded perspective view showing the wiring structure of the program drive device shown in FIG. 14. FIG. FIG. 3 is a perspective view showing a program medium used in a program drive device according to a second embodiment of the present invention, in which (1) is a first section, (2) is a second section, and (3) is a first section; ) is the fourth intercept, and (4) is the third intercept. FIG. 7 is a perspective view showing a connected state of program media according to a second embodiment of the invention. 19 is a plan view of the program medium shown in FIG. 18. FIG. FIG. 7 is a perspective view from the front side showing an information acquisition section of a program drive device and an attached program medium according to a second embodiment of the present invention. FIG. 7 is a perspective view from the back side showing an information acquisition section of a program drive device and an attached program medium according to a second embodiment of the present invention. FIG. 6 is a schematic diagram showing the mechanism of the information acquisition unit according to the second embodiment of the present invention, in which (1) is a state in which ON information has been acquired, and (2) is a state in which OFF information has been acquired; . FIG. 3 is a schematic diagram showing a program medium feeding mechanism in a program drive device according to a second embodiment of the present invention, in which (1) is a first step, (2) is a second step, and ( 3) is the third step, and (4) is the fourth step. FIG. 6 is a diagram showing the structure of a forward/reverse switch used in a program drive device according to a second embodiment of the present invention, in which (1) is a perspective view showing the external appearance, and (2) is a schematic diagram in an on state. (3) is a schematic diagram of the off state. FIG. 7 is a perspective view showing the external appearance of a program drive device according to a third embodiment of the present invention. FIG. 26 is a perspective view showing the external appearance of the program drive device shown in FIG. 25 with a part of the exterior thereof opened. FIG. 7 is a perspective view showing a program medium included in a program drive device according to a fourth embodiment of the present invention, in which (1) shows a first section, and (2) shows a drive start section. (3) shows the section for ending the drive. FIG. 28 is a perspective view showing a program medium in which the sections shown in FIG. 27 are connected. FIG. 21 is a perspective view showing an information acquisition section of a program drive device and an installed program medium according to a fourth embodiment of the present invention, and corresponds to FIG. 20. FIG. 30 is a perspective view showing a state in which a program medium is installed in the casing shown in FIG. 29; 31 is a plan view of the program drive device shown in FIG. 30. FIG. 32 is a cross-sectional view taken along XXXII-XXXII line shown in FIG. 31. FIG. 32 is a cross-sectional view taken along XXXIII-XXXIII line shown in FIG. 31. FIG.

FIG. 1 is a block diagram showing the configuration of a common program drive device for each embodiment of the present invention.

Referring to the figure, a program drive device 1 includes a casing (not shown), a program medium 2 into which drive information can be input and which is removably attached to the casing, and a program medium 2 that is detachably attached to the casing. The information acquisition unit 3 mainly includes an information acquisition unit 3 that acquires drive information from the program medium 2 that has been downloaded, and a drive unit 4 that drives the casing based on the drive information acquired by the information acquisition unit 3.

Drive information is input to the program medium 2 by the user before or after the program medium 2 is installed in the housing. The drive information is information for starting or ending the drive of the casing or changing the drive mode. It is implemented as a blade that allows the user to select whether or not there is an opening, and whether or not it is provided in the reading area of the reading section as the program medium 2. The drive information is transmitted from the program medium 2 to the information acquisition section 3 as indicated by an arrow 7.

The information acquisition unit 3 acquires drive information from the program medium 2 physically, electrically, or chemically. For example, a pin is pressed against the reading area of the above-mentioned reading card or reading section, and depending on whether or not the pin fits into the reading area, drive information such as the presence or absence of an opening or the presence of a blade in the reading area can be obtained. Can be mentioned. The drive information acquired by the information acquisition section 3 is transmitted to the drive section 4 via a gear mechanism and an electric circuit, as shown by an arrow 8.

The drive unit 4 drives the housing by driving it forward, backward, turning right, turning left, changing direction, etc., making a sound, emitting light, etc. based on the driving information. For example, the drive unit includes wheels placed on the bottom of the housing, and if there is an opening in the reading area mentioned above or if there are no blades, the housing is advanced by rotating the wheels in the normal direction, and the opening is closed. If there are no blades or if there are blades, the housing is moved backward by reversing the wheels.

In this way, the casing is driven based on the input driving information, so it is easy to judge from the driving result of the casing whether or not the intended driving result has been obtained, and to easily input the driving information that should be input in advance. can be corrected.

Further, as shown by the dashed line in the figure, the program medium 2 may include a first program section 10 and a second program section 11. In the first program section 10, first ON information or first OFF information can be selected, and in the second program section 11, second ON information or second ON information can be selected. OFF information can be selected. Note that it is also possible to input different drive information to the first program section 10 and the second program section 11.

Similarly, the information acquisition unit 3 includes a first information acquisition unit 12 that acquires first ON information or first OFF information from the first program unit 10, and a second information acquisition unit 12 that acquires the first ON information or the first OFF information from the first program unit 10. A second information acquisition unit 13 that acquires ON information or second OFF information may be included. At this time, the information acquisition unit 3 acquires information from the first program unit 10 and the second program unit 11 at the same timing, as shown by arrows 16 and 17.

Further, the drive unit 4 may include a first wheel 14 arranged on the left side of the casing and a second wheel 15 arranged on the right side of the casing. At this time, when the first information acquisition section 12 acquires the first ON information, the first wheel 14 is rotated in the normal direction, and when the first information acquisition section 12 acquires the first OFF information, the first wheel 14 rotates in the normal direction. When the first wheel 14 is reversed and the second information acquisition section 13 acquires the second ON information, the second wheel 15 is rotated forward, and the second information acquisition section 13 acquires the second OFF information. When the second wheel 15 is obtained, the second wheel 15 is reversed.

By doing this, it is possible to create a program that instructs the driving of the first wheel and the second wheel, so for example, by rotating the first wheel in the forward direction and rotating the second wheel in the reverse direction, A variety of driving possibilities are possible, such as changing direction to the right on the field.

The steps when using such a program drive device 1 will be explained.

FIG. 2 is a flowchart illustrating the use of a common program driven device for each embodiment of the invention.

Referring to the figure, after starting, as a first step 21, the user inputs drive information into the program medium. As a second step 22, the program medium is mounted in the housing. As a third step 23, the information acquisition section of the casing acquires drive information from the program medium. As a fourth step 24, the drive unit drives the casing based on the drive information acquired by the information acquisition unit. As the fifth step 25, the user visually or data-wise recognizes the driving result of the housing, judges whether it is the desired driving result, and if it is not the desired driving result (NO), , return to the first step 21 and modify the information to be input into the program medium at the beginning of the restart. If the driving result is the desired one (YES), the process ends.

Such a program drive device 1 is designed to help users (for example, elementary school students) intuitively understand the output results and how to modify the drive information initially inputted from there for the purpose of education regarding the above-mentioned programs. The one that allows you to easily figure out what to do is suitable. Therefore, an example of a toy vehicle will be described below in which input drive information is embodied in information that can be visually and intuitively understood, such as forward movement and direction change.

FIG. 3 is a perspective view showing the external appearance of the program drive device according to the first embodiment of the present invention, FIG. 4 is an exploded perspective view showing the internal mechanism of the program drive device shown in FIG. 3, and FIG. 6 is a perspective view from the front side showing the internal mechanism around the information acquisition section of the program drive device shown in FIG. 3, and FIG. 6 is a perspective view from the back side showing the internal mechanism around the information acquisition section of the program drive device shown in FIG. FIG. 7 is a perspective view, and FIG. 7 is a plan view showing a program medium used in the program drive device according to the first embodiment of the present invention, in which (1) is a state before information is input, and (2) is a state before information is input. FIG. 8 is a perspective view showing a state after information is input, and FIG. 8 is a perspective view showing a state in which a program medium is installed in the program drive device shown in FIG. This is after information acquisition has started.

First, referring to FIGS. 3, 4, 7, and 8, the program drive device 31 is made of synthetic resin or the like, and has an information acquisition section and a drive section, which will be described later, mounted on its housing 32. A flat program medium 53 shown in (2) can be installed. The housing 32 includes an upper half 33 and a lower half 34. The upper half 33 slides the program medium according to the arrow-shaped patterns 35a and 35b, and operates the feed switch 36 from the front side of the program drive device 31 to the rear side (see the arrow indicating the front-rear direction in FIG. 3). It can be passed while it is in the on state. The lower half 34 is equipped with a battery 38 and a motor 39 (a shared motor serving as a feed motor and a drive motor) that is electrically connected to the battery 38, and transmits the torque of the motor 39 to the housing 32 through a gear mechanism. A first wheel 40 disposed on the left side of the housing 32 and a second wheel 41 disposed on the right side of the housing 32 are supplied. Although the casing 32 also includes a switch (not shown) for operating the entire structure, the following description will be made assuming that the operating switch is basically in an on state and the battery 38 is connected to the circuit.

Referring to FIG. 7(1), the program medium 52 is made of cardboard or the like and has a flat body 55 extending in the longitudinal direction, and is in a state before drive information is input. Furthermore, in the main body 55, ruled lines 54a and 54b are provided in the first program section 57 and the second program section 58 extending in two rows in the longitudinal direction to indicate locations where openings are formed as changes in the thickness direction. is formed. That is, the user forms an opening as the drive information in each of the locations defined by the ruled lines 54a and 54b in the first program section 57 and the second program section 58. As a result, the program medium 53 is in the state shown in FIG. 7(2) after the drive information has been input.

In the program medium 53, a plurality of pieces of drive information are input into a first program section 59 and a second program section 60. For example, as will be described in detail later, in the first program section 59a and the second program section 60a that are acquired at the same specific timing, both are paper surfaces with no openings formed, and the respective first program section 59a and second program section 60a are An information acquisition unit (to be described later) determines that the OFF information and the second OFF information have been input. Further, for example, in the first program section 59b and the second program section 60b that are acquired at the same timing, openings are formed in both of them, and the first on-state information and the second on-state information are obtained, respectively. The information acquisition unit determines that the information has been input.

As shown in FIG. 8(1), the program medium 53 is first loaded into the housing 32 from one end (starting direction). Then, the program medium 53 is fed from the start direction to the end direction as shown in (2) in the figure, while the drive information input thereto is acquired by the information acquisition section of the housing 32, and all the drive After the information is acquired, the operation of the housing 32 stops.

Next, referring to FIGS. 5 and 6 together, an internal mechanism 44 mounted inside the casing 32 includes a motor 39 and a feeding mechanism connected to the motor 39 for feeding the program medium 53 in a certain direction. a gear mechanism 45 , a first forward/reverse gear set 46 connected to the motor 39 to drive the first wheel 40 , and a second gear set 46 connected to the motor 39 to drive the second wheel 41 . It mainly consists of a gear set 47 for forward rotation and reverse rotation.

When the program medium 53 is attached to the housing 32 along the patterns 35a and 35b, the feed switch 36 shown in FIG. , feeding wheels 48a and 48b included in the feeding gear mechanism 45 feed the program medium 53 from the starting direction to the ending direction while pressing the program medium 53. Further, when the program medium 53 is fed to the end in the end direction, the feed switch 36 is in an OFF state where it is not pressed by the main body 56 of the program medium 53, and the feed gear mechanism 45 is stopped. That is, after the information acquisition section acquires all the drive information of the program medium 53, the feed switch 36 is turned off, and the driving of the housing 32 by the drive section ends. Therefore, the user can easily understand intuitively that the execution of the program has ended.

In this way, the motor can operate while the information acquisition unit is acquiring drive information from the program medium, so the process up to driving the housing is completed by attaching the program medium to the housing. .

Next, the operation of acquiring drive information of the program medium 53 will be explained.

FIG. 9 is a schematic diagram showing the mechanism of the information acquisition unit of the program drive device shown in FIG. 3, in which (1) is a state in which ON information has been acquired, and (2) is a state in which OFF information has been acquired. FIG. 10 is a perspective view showing a part of the internal mechanism around the information acquisition unit of the program drive device shown in FIG. is the state in which the off information has been acquired.

First, referring to (1) in FIG. 9, the rotary lever 70 as an information acquisition unit is rotatably provided around a shaft body 63 whose position in the internal mechanism is fixed, and one end of the rotary lever 70 A pin 64 provided in the information acquisition unit 64 is urged upward by a spring 62 as shown by an arrow 65 (that is, in a direction from the information acquisition unit to the program medium).

Therefore, when the program medium 53 is fed in a certain direction as shown by the arrow 66 and the pin 64 comes to the position of the opening 61 (on information), the pin 64 fits into the opening 61 and acquires the on information. The state will be as follows. As a result, the claw portion 67 provided at the other end opposite to the pin 64 is included in the first forward/reverse rotation gear set 46 or the second forward/reverse rotation gear set 47 shown in FIG. It is in a state where it does not come into contact with the worm gear 68 that is being rotated.

On the other hand, as shown in (2) of FIG. 9, when the program medium 53 is further fed in the direction shown by the arrow 66 and the pin 64 comes to the position of the paper surface 69 where the opening 61 is not formed, the pin 64 is moved to the paper surface 69. (Off information) comes into contact with the lower surface and becomes in a state where Off information is acquired. As a result, the claw portion 67 rotates around the shaft body 63 as shown by an arrow 71 and comes into contact with the worm gear 68.

Next, a process of transmitting information from the information acquisition section to the drive section will be explained.

First, referring to (1) in FIG. 10, which corresponds to (1) in FIG. do not have. Further, in the first forward/reverse rotation gear set 46, a spring 72 arranged along the gear shaft 74 so as to surround it has a left end portion that is connected to a wall whose position in the internal mechanism is fixed. 73, and its right end is attached to the worm gear 68, so the worm gear 68 is biased to the right. Therefore, the gear shaft 74 to which the worm gear 68 is fixedly attached, the motor side gear 76 and the wheel side gear 77 move to the right by a predetermined distance set by the axial length of the worm gear 68, and the wheel side gear 77 is in contact with the wall 73 and stopped. As a result, in the state where ON information is acquired, the wheel side gear 77 is aligned with the right tooth 79 of the first wheel drive crown gear 85 with an axis perpendicular to the right tooth 79 (that is, the axis of the first wheel drive crown gear 85). The front-rear direction is orthogonal to the left-right direction, which is the axial direction of the wheel-side gear 77). Further, the motor side gear 76 has an axis perpendicular to the teeth 80 on the left side of the motor crown gear 75 connected to a drive motor (not shown) (the motor 39 shown in FIG. 4, etc.) (that is, the motor side gear 76 The motor-side gear 76 is connected in such a manner that the front-rear direction, which is the axial direction, and the left-right direction, which is the axial direction of the motor-side gear 76, are perpendicular to each other.

Therefore, as shown by arrows 81a to 81e, when information that the rotation lever 70 is on is acquired, the wheels are rotated in the normal direction.

On the other hand, referring to (2) in FIG. 10 which corresponds to (2) in FIG. It is in contact with the shaped groove. As a result, the worm gear 68 rotates along the spiral groove, and while compressing the spring 72, the gear shaft 74, motor side gear 76, and wheel side gear 77 are set to the axial length of the worm gear 68. move to the left a predetermined distance. At this time, the axial length of the wheel side gear 77 is set so that it is connected to the left tooth 83 of the first wheel drive crown gear 85 by an orthogonal shaft. On the other hand, the axial length of the motor side gear 76 is set so that it is connected to the teeth 80 on the left side of the motor crown gear 75 by an orthogonal axis even in the state shown in (2) in the figure.

Therefore, as shown by arrows 82a to 82e, when information that the rotation lever 70 is off is acquired, the wheels are reversed.

In this way, the gear ratio between the motor and the wheels can be kept constant, and the meshing of the gears is fixed, resulting in a stable driving state. Furthermore, since it is possible to calculate the number of revolutions of the motor required for one rotation of the wheel, it becomes easy to adjust the speed and stability of the driving state by changing the gear design.

Further, the first wheel side is also provided with a gear mechanism similar to that shown in FIG. 10, which is the second wheel side. Hereinafter, the gear mechanism will be explained in a simplified manner.

FIG. 11 is a schematic diagram showing the gear mechanism of the program drive device according to the first embodiment of the present invention.

The motor 39 serves as a feed motor as a power source for the feed wheels 48 via a feed gear mechanism 45, and also operates a first forward/reverse rotation gear set 46 and a second forward/reverse rotation gear set 47. It becomes a driving motor for driving the first wheel 40 and the second wheel 41 via the motor.

Further, the ON information or OFF information as the drive information acquired by each of the rotary levers 70a and 70b as the information acquisition unit is the first forward/reverse rotation gear set 46 and the second forward/reverse rotation gear set 46. 47 to move them to the left or right, as shown by arrows 84a, 84b.

That is, the first forward/reverse rotation gear set 46 is connected to the left tooth of the motor crown gear 75 by an orthogonal axis, and when the information acquisition section acquires the first ON information (the state shown in the figure) ) moves to the right a predetermined distance and is connected to the teeth on the right side of the first wheel drive crown gear 85 by an orthogonal shaft, and when the information acquisition section acquires the first OFF information, moves a predetermined distance to the left and It is connected to the left tooth of the wheel drive crown gear 85 of No. 1 by an orthogonal shaft. Further, the second forward/reverse rotation gear set 47 is connected to the right teeth of the motor crown gear 75 by an orthogonal shaft, and when the information acquisition section acquires the second ON information (the state shown in the figure) ) moves to the left by a predetermined distance and is connected to the left tooth of the second wheel drive crown gear 78 by an orthogonal shaft, and when the information acquisition unit acquires the second off information, moves to the right by a predetermined distance and connects to the left tooth of the second wheel drive crown gear 78. It is connected to the right tooth of the second wheel drive crown gear 78 by an orthogonal shaft. The first forward/reverse rotation gear set 46 and the second forward/reverse rotation gear set 47 have the same gear ratio.

By doing this, referring back to FIG. 7, when the information acquisition unit acquires the first on information and the second on information (corresponding to the "A" part in the figure), The housing moves forward because the first wheel is rotated in the normal direction and the second wheel is also rotated in the normal direction. Also, when the information acquisition unit acquires the first ON information and the second OFF information (corresponding to the "B" part in the figure), the first wheel is rotated forward and the second wheel is rotated. To reverse the situation, the casing changes direction to the right on the spot. Also, when the information acquisition unit acquires the first OFF information and the second ON information (corresponding to the "C" part in the figure), the first wheel is reversed and the second wheel is rotated in the correct direction. To do this, the casing turns to the left on the spot. Also, when the information acquisition unit acquires the first OFF information and the second OFF information (corresponding to the "D" part in the figure), it reverses the first wheel and also reverses the second wheel. The casing is moved backwards to allow the

In this way, the first wheel and the second wheel are each connected to the drive motor via a gear mechanism with the same gear ratio, so that the first wheel (on the left side of the housing) The rotational speeds of the first and second wheels (on the right side of the housing) match, and the driving state becomes stable.

Furthermore, as described above, since the information acquisition section continuously acquires each of the plural pieces of drive information input to the program medium 53 over time by the feeding gear mechanism 45, Since the housing is driven continuously over time, programs that produce more complex driving results are possible.

As a result, the user can intuitively understand what kind of driving result will be output based on the drive information inputted into the program medium 53 in the form of the presence or absence of an opening, based on the running mode of the housing. It is possible to easily modify the drive information that should be input in advance by determining whether or not the desired drive result has been achieved. For example, one method of use is to use a combination of forward motion and direction changes so that the chassis travels from a start point to a goal point while avoiding obstacles.

Incidentally, FIG. 12 is a perspective view showing another embodiment of the program medium of the present invention.

As shown in the figure, by forming the program medium 86 into a ring plate shape, it is also possible to set the acquisition of driving information in a loop so that the housing 32 repeats driving. Incidentally, such a ring plate-like member is also configured to be detachable by cutting off a part of the program medium 86. Further, by separating a part of the program medium 86, after the information acquisition up to the separated part is completed, the feeding switch is turned off, and the drive of the housing 32 by the drive unit can be ended.

As explained above, the program drive device 31 according to the first embodiment of the present invention uses the flat program media 52 and 53, and uses a gear mechanism to connect the information acquisition section to the drive section. It transmits on- or off-line information.

Next, the program drive device according to the second embodiment of the present invention uses a caterpillar type program medium, and also uses an electric circuit to transmit information on or off from the information acquisition section to the drive section. It conveys information. Note that the basic structure is the same as that of the first embodiment described above, so the differences will be mainly explained below.

FIG. 13 is a circuit diagram showing the internal circuit structure of a program drive device according to a second embodiment of the invention.

Referring to the same figure, since the battery 93 is electrically connected to the feed motor 94 via the feed switch 101, the program medium to be described later can be oriented in a certain direction when installed in the housing. sent. Further, the battery 93 is connected to a first wheel (not shown) via a first forward/reverse switch 96 (first forward/reverse switches 96a, 96b that are integrally switched between an on state and an off state). through a first motor 95, a second wheel (not shown), and a second forward/reverse switch 98 (second forward/reverse switches 98a, 98b that are integrally switched between the ON state and the OFF state). It is electrically connected to a second motor 97 to which it is connected.

Then, depending on the first on information or the first off information acquired by the information acquisition unit 99a on the first motor 95 side, the first forward/reverse switches 96a and 96b are integrally turned on or off. The state changes. The same applies to the information acquisition section 99b on the second motor 97 side.

FIG. 14 is a perspective view from the front side showing the external appearance of the internal mechanism of the program drive device according to the second embodiment of the invention, and FIG. 15 is an internal view of the program drive device according to the second embodiment of the invention. 16 is an exploded perspective view showing the wiring structure of the program drive device shown in FIG. 14, and FIG. 24 is a perspective view showing the external appearance of the mechanism from the rear side. FIG. 1 is a diagram showing the structure of a forward/reverse switch used in a drive device, in which (1) is a perspective view showing the external appearance, (2) is a schematic diagram in an on state, and (3) is a schematic diagram in an off state. It is a schematic diagram.

Referring to these figures, the structures of the feed switch 101 and the feed wheel 102 will be described in detail later, but are basically the same as those of the first embodiment described above, and a program medium (not shown) is used. When installed in the housing, the program medium is fed from the start direction to the end direction.

In addition, as shown in FIG. 16, in these drive units, a battery 93 and a first motor 95 are electrically connected via a first forward/reverse switch 96, and a battery 93 and a second motor 97 are electrically connected. are electrically connected via a second forward/reverse switch 98.

Here, the first forward/reverse rotation switch 96 and the second forward/reverse rotation switch 98 will be explained. First, referring to (1) in FIG. 24, the first forward/reverse switch 96 has first terminals 107a, 107b, second terminals 108a, 108b, and third terminals 109a, 109b on the left and right sides. arranged in rows. Further, the button 110 that receives external force has a movable contact piece 111 that simultaneously acts on two rows of left and right inside the first forward/reverse switch 96, as shown in (2) and (3) of the same figure. It's linked. Therefore, when the button 110 shown in (2) in the figure is not pressed, the first terminal 107 (first terminals 107a, 107b) and the third terminal 109 (third terminals 109a, 109b) are electrically connected and the button 110 shown in (3) in the figure is pressed, the first terminal 107 (first terminals 107a, 107b) and the second terminal 108 (second terminal 108a , 108b) are electrically connected.

Therefore, by connecting the second terminal 108a and the third terminal 109b and connecting the second terminal 108b and the third terminal 109a as shown in FIG. 16, the button 110 is pressed. The positive and negative electrodes switch when the button is not pressed.

That is, the rotation direction of the first motor 95 is switched depending on whether the first forward/reverse rotation switch 96 is in the on state or the off state. The same applies to the second motor 97.

FIG. 17 is a perspective view showing a program medium used in a program drive device according to a second embodiment of the present invention, in which (1) is a first section, and (2) is a second section. , (3) is the fourth section, (4) is the third section, FIG. 18 is a perspective view showing the connected state of the program medium according to the second embodiment of the present invention, and FIG. is a plan view of the program medium shown in FIG. 18, and FIG. 20 is a perspective view from the front side showing the information acquisition section of the program drive device and the installed program medium according to the second embodiment of the present invention, FIG. 21 is a perspective view from the back side showing the information acquisition section of the program drive device and the installed program medium according to the second embodiment of the invention, and FIG. FIG. 3 is a schematic diagram showing the mechanism of the acquisition unit, in which (1) shows a state in which ON information has been acquired, and (2) a state in which OFF information has been acquired.

Referring to these figures, the program medium of the second embodiment is constructed by connecting a plurality of sections, each of which has drive information inputted in advance, so as to be freely connectable. Specifically, as shown in (1) in the figure, the first ON information (no blade on the left side) and the second ON information (no blade on the right side) are input to the main body 125. As shown in (2) of the same figure, the first OFF information (with blade 129 on the left side) and the second ON information (with no blade on the right side) are input to the section 121 of 1 and the main body 126, as shown in (2) of the same figure. As shown in (4) in the same figure, the second section 122 has first off information (with the left wing 130) and second off information (with the right wing 131) on its main body 127. , and a third intercept 123 in which the input is inputted.

Furthermore, since the second section 122 is configured symmetrically with the fourth section 124, by turning the second section 122 over, the first section 128 is attached to the main body 128, as shown in (3) in the figure. The ON information (no blade on the left side) and the second OFF information (with the blade 132 on the right side) can be used as the input fourth intercept 124.

The first section 121 is made of synthetic resin or the like, and includes a flat main body 125 and a shoulder portion 113a that is connected to the outside of the main body 125 and extends outward in a cylindrical shape having a diameter larger than the thickness of the main body 125. . convex portions 116a, 116b which are connected to the outer sides of the ends in the end direction of each of the first side walls 115a, 115b, extend in the end direction, and are inwardly convex on the inner surface thereof; The second side walls 117a and 117b each have a flat plate shape.

In the figure, the term "outside" or "outward" refers to the direction from the main body 125 to the first side wall 115a (ie, leftward direction) or 115b (ie, rightward direction), and "inside" or "inward" refers to the opposite direction.

Furthermore, the size and position of the convex portions 116a and 116b correspond to the size and position of the concave portions 114a and 114b, and the first section 121 to the fourth section 124 all have structures such as these concave portions and convex portions. The elements are common and differ in whether or not each of the second side walls is provided with a vane on the outside. Therefore, for example, the first section 121 and the second section 122 are arranged in the start direction and the end direction, and the first section 121 When the first side walls 115a, 115b on the starting direction side are inserted, the second side walls 119a, 119b of the second section 122 first bend and expand, and when further inserted, the convex portion 118a of the second section 122, 118b fit into each of the recesses 114a, 114b of the first section 121. In this way, the sections can be connected. Further, contrary to the case where the sections are connected, the connected state of the sections can be released by pulling the sections together.

As described above, as shown in FIG. 18, the program medium 120 has segments (the first segment 121, the second segment 122, the third segment 123, and the fourth segment) each of which has drive information input in advance. A plurality of sections 124) are connected in a freely connectable manner. As a result, the first section 121 is used as a forward section, the second section 122 is used as a left turn section, the third section 123 is used as a backward section, and the fourth section 124 is used as a right turn section. Used as a section.

In this way, by changing the connection pattern between sections, the drive order based on multiple pieces of input drive information can be changed, so the running mode of the housing can be easily modified, and the program can be easily corrected.

Further, as described above, since a plurality of pieces of drive information can be input by the connection pattern of the first section, the second section, and the third section, it becomes easy to modify the program.

Furthermore, as shown in FIG. 19 and the like, on the surface of the bodies 134a to 134e of each section of the program medium 120, there is a pattern 135a that suggests what kind of drive information is input to each section (i.e., the drive result). 135e, it is easy to intuitively understand the drive information and it is easier to modify the drive information.

Therefore, in this embodiment, inputting drive information (including the case of a plurality of pieces) to the program medium includes selecting each such slice (including a combination thereof).

Further, referring to FIGS. 20 and 21, the program medium 120 can be slid into the housing 137 from the front.

As shown in (1) of FIG. 22, similarly to the detection of the presence or absence of an opening in the program medium in the first embodiment, when the blade on the left side of the specific section does not exist, the first The button 110 of the forward/reverse switch 96 is not pressed, but is acquired as first ON information, and the first wheel (not shown) of the drive section rotates forward. Further, as shown in (2) of FIG. 22, when the blade 139 on the left side of the specific section exists, the button 110 of the first forward/reverse switch 96 is pressed via the pin 138 in the information acquisition section. is obtained as the first off information, and the first wheel of the drive unit rotates in reverse. Similarly, in the second forward/reverse switch 98, the presence or absence of the blade on the right side of each section is acquired as second on information or second off information.

That is, when the information acquisition unit acquires the first ON information, the first forward/reverse rotation switch is turned on, causing the first wheel to rotate forward, and the information acquisition unit acquires the first OFF information. When the first forward/reverse rotation switch is in the OFF state and the first wheel is reversed, and when the information acquisition section acquires the second ON information, the second forward/reverse switch is in the ON state and the second wheel is reversed. When the wheels are rotated forward and the information acquisition section acquires the second OFF information, the second forward/reverse switch is turned off and the second wheels are rotated in reverse.

In this way, the normal/reverse rotation of the wheels is electrically and quickly determined based on the ON information or OFF information, so that the reaction speed to the ON information or OFF information becomes faster.

FIG. 23 is a schematic diagram showing a program medium feeding mechanism in a program drive device according to a second embodiment of the present invention, in which (1) is a first step, and (2) is a second step. (3) is the third step, and (4) is the fourth step.

First, referring to (1) in the figure, the sprocket 145 is inserted into the space between the shoulder 142 of the front section 141 of the program medium 120 and the shoulder 144 of the rear section 143 adjacent thereto.

As the sprocket 145 rotates and the feeding wheel 102 presses the program medium 120, the program medium 120 is moved as shown by arrows 146a to 146d, referring also to (2) to (4) in the figure. 120 is sent from the start direction to the end direction.

FIG. 25 is a perspective view showing the external appearance of the program drive device according to the third embodiment of the present invention, and FIG. 26 is a perspective view showing the appearance of the program drive device shown in FIG. FIG.

The basic structure of the program drive device according to this embodiment is the same as that of the first embodiment or the second embodiment, so the differences will be mainly explained below.

Referring to these figures, store a program medium (not shown) inside the first container 152, and move the feed switch 153 of the housing 151 and the feed wheels 154a to 154a from the tip side where you want to start acquiring information about the program medium. Insert between 154e and 154e. Then, the program medium is fed from the start direction to the end direction by the feed wheels 154a to 154e and sprockets 156a and 156b, similar to the structure of the feed wheels 102 and sprockets 145 in the second embodiment described above. Then, the program medium is stored in the second container 155 from the tip side where information acquisition is completed.

The size and shape of the first container and the second container can be changed in various ways, so if the program medium is flat as in the first embodiment, or as in the case of a caterpillar as in the second embodiment, In any case, the housing according to the third embodiment can be applied.

FIG. 27 is a perspective view showing a program medium included in a program drive device according to a fourth embodiment of the present invention, in which (1) shows the first section, and (2) shows the program medium for starting the drive. 28 is a perspective view showing a program medium in which the sections shown in FIG. 27 are connected.

Note that the program drive device according to the fourth embodiment of the present invention has basically the same structure as that according to the second embodiment described above, so the following description will focus on the differences.

First, referring to (1) in FIG. 27, the first section 161, which is the forward section, has a main body 162, which is the trunk thereof, a guiding convex part 163 that protrudes in the starting direction of information acquisition, and a guiding convex part 163 that protrudes in the ending direction. A guiding recess 164 recessed from the side is formed. The concave shape of the guiding concave portion 164 has a size that matches the protruding shape of the guiding convex portion 163 .

Further, the first section 161 has a plurality of grooves 165a and 165b lined up from the start direction to the end direction, which are formed at each of the left and right ends.

Furthermore, the other sections (second section 174, third section 175, and fourth section 173) shown in FIG. It has a configuration equivalent to . Therefore, a plurality of first sections 161 and other sections can be connected from the start direction to the end direction.

Further, by having the guiding protrusion 163 and the guiding recess 164 in this way, the guiding protrusions and the guiding recesses of the sections to be connected engage with each other, thereby determining the direction and making it easy to understand at a glance the connecting direction. Become.

Next, referring to (2), the program medium of the program drive device according to the fourth embodiment includes a drive start segment 166. The drive start section 166 has a guide recess 168 having a shape similar to the guide recess 164 described above on the end direction side of the main body 167. Therefore, the first section 161 and other sections can be connected to the end direction side of the drive start section 166.

The width of the drive start section 166 including the blades formed at its left and right ends is larger than the inner distance between the steps 148a and 148b, and the drive start section 166 has a width that does not fit within the inner distance between the steps 148a and 148b. By being placed at the beginning, it primarily functions as a direction indicator.

Further, on the main body 167 of the drive start section 166, a pattern of letters "START" is provided so that it can be recognized at a glance that it is for drive start and that it is on the front side.

Furthermore, the drive start piece 166 is configured to have a vertically asymmetrical shape, and is configured so that it cannot be attached to the casing with the front and back sides reversed. This also functions to determine the direction of the front and back sides.

Next, referring to (3), the program medium of the program drive device according to the fourth embodiment includes a drive termination segment 169. The drive termination section 169 has a guiding convex portion 171 having a similar shape to the aforementioned guiding convex portion 163 on the start direction side of its main body 170 . Therefore, the first section 161 and other sections can be connected to the start direction side of the drive end section 169.

Further, on the left and right ends of the main body 170 of the drive termination piece 169, through grooves 172a and 172b are formed that extend from the start direction to the end direction. The details will be described later.

Referring to the figure, the program medium 160 includes, in order from the starting direction, a drive start section 166, a fourth section 173 which is a right turn section, a second section 174 which is a left turn section, and a backward section. A third section 175, a first section 161 which is a forward section, and a drive end section 169 are connected to each other.

FIG. 29 is a perspective view showing the information acquisition section of the program drive device and the installed program medium according to the fourth embodiment of the present invention, and corresponds to FIG. 20, and FIG. FIG. 31 is a perspective view showing a state in which a program medium is installed in the housing, and FIG. 31 is a plan view of the program drive device shown in FIG. 30.

Referring to these figures, in the program drive device 159, the program medium 160 can be loaded from the front and above of the casing 177.

Steps 148a and 148b that protrude upward are formed at the left and right ends of the housing 177. By engaging and positioning the end portion of the drive start section 166 located at the head of the program medium 160 in the start direction with these steps 148a and 148b, the mounting state shown in FIGS. 30 and 31 can be achieved, that is, the drive information The acquisition is now ready to start.

Further, on the inner side (center side) of the steps 148a and 148b, there are pins 149a and 149b for acquiring drive information from the presence or absence of the left and right blades of the sections after the drive start section 166 (as in the second embodiment described above). pin 138) is provided.

Furthermore, gears 150a and 150b of a feeding gear mechanism for feeding the program medium 160 from the starting direction to the ending direction are provided inside (center side) of the pins 149a and 149b.

Further, it protrudes on the inner side (center side) of the gears 150a and 150b to a size that engages with the through grooves 172a and 172b of the drive termination piece 169, and can be stored inside the lower housing 177 by pressing from above. Spring pins 157a and 157b are provided that are biased upward.

FIG. 32 is a cross-sectional view taken along XXXII-XXXII line shown in FIG. 31.

Referring to the figure, gear 150b is connected to a motor (feed motor or shared motor), not shown, and corresponds to sprocket 145 in the second embodiment described above.

Further, at least on the back side (gear 150 side) of the section constituting the program medium 160, a plurality of grooves 165b having a size that engages with the teeth 158 of the gear 150 are formed in line from the start direction to the end direction, as described above. ing.

Therefore, when the gear 150b is rotated by the motor, the groove 165 of the program medium 160 sequentially meshes with the teeth 158 of the gear 150b, so that the program medium 160 is sent from the starting direction to the ending direction.

As described above, in the feed gear mechanism according to the fourth embodiment, the gear 150 and the plurality of grooves 165 are engaged with each other, so that the shoulder of the section 141 in the second embodiment described above is improved. The pitch is shorter than the engagement between the portion 142 and the sprocket 145. Depending on the length of the piece to be fed from the start direction to the end direction, for example, if it is the first piece 161, the predetermined distance to move forward is determined, and for example, if it is the second piece 174, the angle to turn left is determined, so the shorter the pitch, the faster the feed will be. The reading error of the gear mechanism can be reduced. Therefore, the accuracy of the forward distance of driving the housing and the angles of left and right turns is improved.

Note that the grooves 165b of the first section 161, the second section 174, the third section 175, the fourth section 173, and the drive termination section 169 are provided at symmetrical positions on the front and back sides. Therefore, it is also permissible to use it upside down, which improves convenience. Also, in this case, the second section 174 can be used as the fourth section 173 as described above.

FIG. 33 is a sectional view taken along the XXXIII-XXXIII line shown in FIG. 31.

Referring to the figure, since the program medium 160 is mounted above, the spring pin 157b is housed inside the casing 177 and is urged upward as described above.

Further, as described above, a through groove 172b is formed in the drive termination section 169 located at the end of the program medium 160 in the end direction from the end 176 in the start direction to near the center.

Therefore, when the program medium 160 is fed from the start direction to the end direction by the feed gear mechanism and the spring pin 157b and the through groove 172b are aligned, the spring pin 157b protrudes upward, and the drive end section is removed. 169 and the feeding mechanism is stopped, and the driving of the housing 177 is completed.

That is, in the drive termination section 169, drive information indicating the presence of the through groove 172b for terminating the drive of the housing 177 is input.

As described above, in the program drive device 159 according to the fourth embodiment, there is a drive start section 166 indicating that the drive is on the drive start side, and a drive end section 169 in which drive information for ending the drive is input. By providing this, malfunctions at the start and end of driving are prevented, thereby improving the stability and safety of driving.

Furthermore, the start and end of driving can be recognized at a glance, making it suitable for program education.

As described above, in the program drive device of the present invention, the program medium is configured by connecting a plurality of slices into each of which drive information is inputted in advance, and the slices are attached to the housing. A first slice in which the first drive information is input (for example, corresponds to the first slice in which the forward drive information is input as a result), and a second slice in which the first drive information is different from the first drive information (for example, the first slice in which the forward drive information is input as a result) and a second slice in which a fourth slice in which right-turn drive information is input (equivalent to a fourth slice in which drive information for a right turn is input) is input, and the drive unit drives the housing according to the order of the drive information acquired by the information acquisition unit. be. With this configuration, the drive mode of the housing can be changed by changing the connection pattern of the sections, making it easy to modify the program.

In each embodiment of the present invention, the casing, program medium, information acquisition section, and drive section are specific, but they may have other shapes, sizes, and positional relationships. good. Also, other components may be added. For example, an arm may be provided on the front side of the casing, or a cleaning brush or a suction port may be provided on the rear side of the casing.

Further, in each embodiment of the present invention, the program medium is mainly shaped like a flat plate, but it may have other shapes. For example, there may be a rod-shaped or disc-shaped one into which drive information is input at a predetermined position. Alternatively, the program medium may be fed in a vertical orientation. Furthermore, it may be possible to use a method that does not provide a portion that changes in the thickness direction, and for example, a mark type may be used in which information is input by determining whether or not a predetermined position is filled in black with a pencil.

Furthermore, in each embodiment of the present invention, the information acquisition section is a specific one such as a rotary lever, but it may be another one. For example, a program medium fed in a certain direction is sandwiched between a light emitting element and a light receiving element, and optical detection is performed to determine whether or not an opening is formed at a predetermined position of the program medium. For example, by pressing an arm, lever, etc. from the left and right against a program medium in which a convex portion is formed as a portion that changes in the thickness direction, the existence and formation position of the convex portion can be read and acquired as drive information. One example is one that directly transmits information to the drive unit.

Further, in each embodiment of the present invention, a plurality of pieces of drive information can be input, but it is also possible to input one type of drive information.

Furthermore, in each embodiment of the present invention, each of the plurality of pieces of drive information is acquired continuously as time passes, but it is not necessary to acquire the pieces of drive information at the same intervals. For example, it is possible to set the left and right direction change to stop after turning 90 degrees, and to drive forward or backward for a longer time than the direction change.

Further, in each embodiment of the present invention, the program medium includes the first program section and the second program section, but it is also possible to input a single program section. .

Furthermore, in each embodiment of the present invention, information is acquired from the first program section and the second program section at the same timing, but the same timing refers to the information acquired from both. It is sufficient if the timings are substantially equivalent to the extent that the two are associated with each other. For example, even if one piece of information is intentionally acquired later than the other, as long as both pieces of information are associated, they are included in the same timing.

Further, in each of the embodiments of the present invention, the state where there is an opening in the program medium is used as on information, and the state where there is no opening is used as off information, but the relationship may be reversed. The same applies to the presence or absence of blades.

Further, in the second embodiment of the present invention, the program medium is constructed by connecting the sections so that they can be freely connected, but the sections may not be connected.

Further, in the second embodiment of the present invention, the second section is used as the fourth section by turning it over, but the fourth section may be formed separately without turning it over.

Further, in the first embodiment of the present invention, the opening is formed as a portion that changes in the thickness direction, but it may also be a recessed portion or a convex portion.

Furthermore, in each embodiment of the present invention, there is one first wheel and one second wheel, but there may be a plurality of them. Alternatively, only one wheel among a plurality of wheels may be driven. For example, in addition to the left and right wheels, one wheel for changing direction may be provided in the rear or front width center area, and the wheel for changing direction may be installed based on the drive information regarding left or right turns acquired by the information acquisition unit. One example is one in which the left and right angles of the left and right angles are changed.

Furthermore, although each embodiment of the present invention is provided with a mechanism for feeding the program medium in a fixed direction, it is not necessary to provide such a feeding mechanism. Furthermore, the present invention also includes a system in which the position of the program medium is fixed and information on the program medium is acquired while the casing side moves.

Furthermore, in each embodiment of the present invention, the first wheel was located on the left side of the housing, and the second wheel was located on the right side of the housing, but they may be interchanged in the left-right direction. The same applies to the program section and information acquisition section.

Furthermore, in each embodiment of the present invention, the wheels were rotated forward to move forward, and the wheels were reversed to move backward, but conversely, the wheels were rotated forward to move backward, and the wheels were moved forward. It may be possible to move forward by reversing.

Furthermore, although the second embodiment of the present invention has a specific circuit structure in which the motors are connected in series, other circuit structures may be used. For example, the battery and the motor may be connected in parallel. That is, the number and connection manner of batteries and motors can be changed in various ways.

Furthermore, in the first embodiment of the present invention, the motor (drive motor) and the motor crown gear were connected via a gear mechanism, but there is no gear mechanism between them. It's okay. Further, the number of gears and the number of teeth may be increased or decreased. Furthermore, the same applies to other motors and gears and between gears.

Further, the program drive device according to the first embodiment of the present invention uses a flat program medium, and uses a gear mechanism to transmit ON or OFF information from the information acquisition unit to the drive unit. The program drive device according to the second embodiment uses a caterpillar type program medium, and uses an electric circuit to transmit information from the information acquisition section to the drive section. Or, although the OFF information was transmitted, it is also possible to apply an electric circuit type to a flat program medium. Further, it is also possible to apply a gear mechanism type to a caterpillar type program medium.

Further, in each embodiment of the present invention, the feeding motor feeds the attached program medium from the starting direction to the ending direction via the feeding gear mechanism (including the sprocket). The program medium may also be sent using the following mechanism.

Further, in the first embodiment of the present invention, the feed motor and the drive motor are specific shared motors, but separate motors may be used. However, if the feed motor and drive motor are shared, the feed gear mechanism, the first wheel, and the second wheel are mechanically connected to the shared motor via the gear mechanism. Therefore, the feeding speed of the program medium and the rotational speed of each of the first wheel and the second wheel can be maintained in a constant relationship. As a result, the driving state becomes more stable, which is preferable. In other words, for example, if a gear mechanism is applied to a caterpillar-shaped program medium, if one section is set to change direction by 90 degrees, and the number of rotations of the wheels at that time is derived, the system can be used continuously. Even if the battery performance deteriorates, it is possible to maintain a configuration in which the direction can be changed by 90 degrees with a single section. This is because the time required to feed one section coincides with the time during which the first wheel and the second wheel are rotating. Similarly, the distance moved forward or backward by one section can also be fixed.

Furthermore, in the fourth embodiment of the present invention, drive information for terminating the drive is inputted in the drive termination section through the through groove, but information for turning off the electrical switch of the casing, etc. , other aspects are also possible.

Further, in the fourth embodiment of the present invention, the shapes of the guiding convex portion and the guiding concave portion are specific, but other shapes may be used as long as the two engage with each other. .

Furthermore, in the fourth embodiment of the present invention, specific grooves are formed in rows on the program medium, but a groove in which protruding portions are formed in rows on the base is also included as an embodiment of the grooves. .

Furthermore, in the second to fourth embodiments of the present invention, although the sections include specific types, at least the first section and the second section (driving information different from the first section) It is good if it contains the information entered (input). Other embodiments include, for example, a forward movement section, a left turn section, and a right turn section.

Furthermore, in each embodiment of the present invention, the drive unit drives the housing every time the information acquisition unit acquires information from the program medium, but the drive unit starts driving after acquiring all the information. It may also be an aspect in which

1, 31, 91, 159...Program drive device 2, 52, 53, 86, 120, 160...Program medium 3, 99...Information acquisition section 4...Drive section 10, 57, 59...First program section 11, 58 , 60... Second program section 12... First information acquisition section 13... Second information acquisition section 14, 40, 104... First wheel 15, 41, 105... Second wheel 32, 137, 151, 177... Housing 36, 101, 153... Feed switch 38, 93... Battery 39... Motor 46... First forward/reverse rotation gear set 47... Second forward/reverse rotation gear set 55, 56, 125-128 , 134, 162, 167, 170...Body 61...Opening 64...Pin 70...Rotary lever 75...Motor crown gear 78...Second wheel drive crown gear 79...Right side teeth 80...Left side teeth 83...Left side Teeth 85...First wheel drive crown gear 94...Feeding motor 95...First motor 96...First forward/reverse switch 97...Second motor 98...Second forward/reverse switch 121, 161... First section 122, 174... Second section 123, 175... Third section 124, 173... Fourth section 129-132, 139... Vane 141, 143... Section 150... Gear 163, 171... Guidance Convex parts 164, 168...Guiding recessed part 165...Groove 166...Slice for starting drive 169...Slice for ending drive 172...Through groove In each figure, the same reference numerals indicate the same or equivalent parts.

Claims (17)

An educational program-driven device,
A casing and
a program medium into which driving information can be input and which is detachably attached to the housing;
an information acquisition unit that acquires the drive information from a program medium attached to the casing;
and a drive unit that drives the casing based on the drive information acquired by the information acquisition unit ,
The program medium is capable of inputting a plurality of pieces of drive information,
The information acquisition unit continuously acquires each of the plurality of pieces of drive information as time passes;
The program medium is configured by connecting a plurality of slices, each of which has driving information inputted in advance, in a freely connectable manner,
The section includes a first section in which first drive information is inputted about the housing, and a second section in which second drive information different from the first drive information is inputted,
The drive unit drives the casing according to the order of the drive information acquired by the information acquisition unit,
Each of the first section and the second section is located on the start direction side of a flat main body and the left and right sides (direction orthogonal to the direction connecting the start direction and the end direction) of the main body, a flat first side wall having an inwardly concave recess formed on its outer surface; connected to the end direction side of the first side wall, extending in the end direction and convex inwardly on its inner surface; a flat second side wall on which a convex portion having a shape is formed;
The first section and the second section are connected by each of the convex parts of the first section fitting into each of the concave parts of the second section,
The first drive information and the second drive information are input based on the presence or absence of flat blades connected to each of the second side walls and extending outward from the left and right. In the connected state of the first section and the second section, the end of the blade of the first section in the ending direction is located closer to the end of the main body than the end of the second section in the starting direction. The program drive device according to claim 1. The program medium includes a first program section in which first on information or first off information can be selected, and second on information or second off information can be selected. a second program section capable of
The information acquisition section includes a first information acquisition section that acquires the first ON information or the first OFF information from the first program section, and a first information acquisition section that acquires the first ON information or the first OFF information from the first program section; a second information acquisition unit that acquires ON information or the second OFF information, and acquires information from the first program unit and the second program unit at the same timing;
The driving section includes a first wheel disposed on the left side of the casing and a second wheel disposed on the right side of the casing, and the first information acquisition section When the first ON information is acquired, the first wheel is rotated in the normal direction; when the first information acquisition section acquires the first OFF information, the first wheel is rotated in the reverse direction; When the second information acquisition unit acquires the second ON information, the second wheel is rotated in the normal direction, and when the second information acquisition unit acquires the second OFF information, the second wheel is rotated in the forward direction. The program drive device according to claim 1 or claim 2 , which reverses the wheels. The sections include a first section into which first ON information and second ON information are input, and a second section into which first OFF information and second ON information are input. a third intercept into which the first off information and the second off information are input;
4. The program-driven device according to claim 3 , wherein by turning the second section over, it can be used as a fourth section into which the first ON information and the second OFF information are input. The program medium has a flat body extending in the longitudinal direction,
In the main body, a thickness direction changing portion may be formed in the first program portion and the second program portion extending in two rows in the longitudinal direction,
The information acquisition unit acquires the presence of the changed part in the first program part as the first ON information, and the information that the changed part does not exist in the first program part as the first ON information. , the presence of the changed part in the second program section is acquired as the second on information, and the information that the changed part does not exist in the second program section is acquired as the second on information. 4. The program-driven device according to claim 3, wherein the information is acquired as second OFF information. The housing includes a sending motor electrically connected to a battery through a switch,
When the program medium is installed in the housing, the switch is in an on state, and when the program medium is not installed in the housing, the switch is in an off state,
The feed motor feeds the program medium from a start direction to an end direction when the switch is in an on state;
After the feeding of the program medium is completed and all the drive information is acquired by the information acquisition unit, the switch is turned off and the driving of the casing by the drive unit is completed. 5. The program drive device according to any one of 5 . The drive unit includes a motor crown gear connected to a drive motor;
It is connected to the left tooth of the motor crown gear by an orthogonal axis, and when the information acquisition section acquires the first ON information, it moves a predetermined distance to the right and connects the right tooth of the first wheel drive crown gear. The information acquisition section moves a predetermined distance to the left when acquiring the first OFF information, and is connected to the teeth on the left side of the first wheel drive crown gear by an orthogonal axis. , a first forward/reverse rotation gear set for driving the first wheel;
It is connected to the right tooth of the motor crown gear by an orthogonal axis, and when the information acquisition section acquires the second ON information, it moves a predetermined distance to the left, and the left tooth of the second wheel drive crown gear is connected to the right tooth of the motor crown gear. It is connected to the tooth on the right side of the second wheel drive crown gear by an orthogonal axis, and moves a predetermined distance to the right when the information acquisition unit acquires the second off information, and is connected to the right side tooth of the second wheel drive crown gear by an orthogonal axis. , a second forward/reverse rotation gear set for driving the second wheel;
The program drive device according to any one of claims 3 to 6 , wherein the first forward/reverse rotation gear set and the second forward/reverse rotation gear set have the same gear ratio. The housing includes a shared motor electrically connected to a battery through a switch,
When the program medium is installed in the housing, the switch is in an on state, and when the program medium is not installed in the housing, the switch is in an off state,
The shared motor feeds the program medium from a starting direction to an ending direction via a feeding gear mechanism when the switch is in an on state;
After the feeding of the program medium is completed and all the drive information is acquired by the information acquisition unit, the switch is turned off, and the driving of the casing by the drive unit is completed;
The drive unit includes a motor crown gear connected to the shared motor;
It is connected to the left tooth of the motor crown gear by an orthogonal axis, and when the information acquisition section acquires the first ON information, it moves a predetermined distance to the right and connects the right tooth of the first wheel drive crown gear. The information acquisition section moves a predetermined distance to the left when acquiring the first OFF information, and is connected to the teeth on the left side of the first wheel drive crown gear by an orthogonal axis. , a first forward/reverse rotation gear set for driving the first wheel;
It is connected to the right tooth of the motor crown gear by an orthogonal axis, and when the information acquisition section acquires the second ON information, it moves a predetermined distance to the left, and the left tooth of the second wheel drive crown gear is connected to the right tooth of the motor crown gear. It is connected to the tooth on the right side of the second wheel drive crown gear by an orthogonal axis, and moves a predetermined distance to the right when the information acquisition unit acquires the second off information, and is connected to the right side tooth of the second wheel drive crown gear by an orthogonal axis. , a second forward/reverse rotation gear set for driving the second wheel;
The program drive device according to any one of claims 3 to 5 , wherein the first forward/reverse rotation gear set and the second forward/reverse rotation gear set have the same gear ratio. The drive unit includes a battery and a first motor connected to the first wheel via a first forward/reverse switch;
including a battery and a second motor connected to the second wheel via a second forward/reverse switch;
When the information acquisition unit acquires the first on information, the first forward/reverse switch is turned on and rotates the first wheel in the forward direction, and the information acquisition unit acquires the first off information. When the information is acquired, the first forward/reverse switch is turned off to reverse the first wheel, and when the information acquisition section acquires the second on information, the second forward/reverse switch is turned off. When the switch for normal rotation and reverse rotation is turned on and the second wheel is rotated in the forward direction, and when the information acquisition section acquires the information that the second wheel is off, the second switch for normal rotation and reverse rotation is turned off and the second wheel is rotated forward. The program drive device according to any one of claims 3 to 6 , wherein the program drive device reverses the rotation speed. The segments include a forward segment into which drive information for moving the casing forward by a predetermined distance is input, a left-turn segment into which drive information for causing the casing to turn left at a predetermined angle, and a left-turn segment for causing the casing to turn right at a predetermined angle. and a right turn section into which drive information is input;
The program drive device according to any one of claims 1 to 9 , wherein the running mode of the housing can be changed by changing a connection pattern of a plurality of the sections. The segment further includes a drive start segment disposed at the beginning in the starting direction, and a drive end segment into which drive information for terminating the drive of the casing is input. The program driven device according to any one of the above. The section is formed with a guiding convex part that protrudes in the information acquisition start direction side and a guiding concave part that is recessed from the information acquisition end direction side to a size that matches the protruding shape of the guiding convex part in the main body, which is the body part. The program drive device according to any one of claims 1 to 11 . An educational program-driven device,
A casing and
a program medium into which driving information can be input and which is detachably attached to the housing;
an information acquisition unit that acquires the drive information from a program medium attached to the casing;
and a drive unit that drives the casing based on the drive information acquired by the information acquisition unit,
The program medium is capable of inputting a plurality of pieces of drive information,
The information acquisition unit continuously acquires each of the plurality of pieces of drive information as time passes;
The program medium includes a first program section in which first on information or first off information can be selected, and second on information or second off information can be selected. a second program section capable of
The information acquisition section includes a first information acquisition section that acquires the first ON information or the first OFF information from the first program section, and a first information acquisition section that acquires the first ON information or the first OFF information from the first program section; a second information acquisition unit that acquires ON information or the second OFF information, and acquires information from the first program unit and the second program unit at the same timing;
The driving section includes a first wheel disposed on the left side of the casing and a second wheel disposed on the right side of the casing, and the first information acquisition section When the first ON information is acquired, the first wheel is rotated in the normal direction; when the first information acquisition section acquires the first OFF information, the first wheel is rotated in the reverse direction; When the second information acquisition unit acquires the second ON information, the second wheel is rotated in the normal direction, and when the second information acquisition unit acquires the second OFF information, the second wheel is rotated in the forward direction. Reverse the wheel
The housing includes a shared motor electrically connected to a battery through a switch,
When the program medium is installed in the housing, the switch is in an on state, and when the program medium is not installed in the housing, the switch is in an off state,
The shared motor feeds the program medium from a starting direction to an ending direction via a feeding gear mechanism when the switch is in an on state;
After the feeding of the program medium is completed and all the drive information is acquired by the information acquisition unit, the switch is turned off, and the driving of the casing by the drive unit is completed;
The drive unit includes a motor crown gear connected to the shared motor;
It is connected to the left tooth of the motor crown gear by an orthogonal axis, and when the information acquisition section acquires the first ON information, it moves a predetermined distance to the right and connects the right tooth of the first wheel drive crown gear. The information acquisition section moves a predetermined distance to the left when acquiring the first OFF information, and is connected to the teeth on the left side of the first wheel drive crown gear by an orthogonal axis. , a first forward/reverse rotation gear set for driving the first wheel;
It is connected to the right tooth of the motor crown gear by an orthogonal axis, and when the information acquisition section acquires the second ON information, it moves a predetermined distance to the left, and the left tooth of the second wheel drive crown gear is connected to the right tooth of the motor crown gear. It is connected to the tooth on the right side of the second wheel drive crown gear by an orthogonal axis, and moves a predetermined distance to the right when the information acquisition unit acquires the second off information, and is connected to the right side tooth of the second wheel drive crown gear by an orthogonal axis. , a second forward/reverse rotation gear set for driving the second wheel;
The first forward/reverse rotation gear set and the second forward/reverse rotation gear set are configured with the same gear ratio,
each of the first wheel and the second wheel is independently driven;
The shared motor is a single motor that serves both for feeding and driving,
The crown gear for a motor has a shaft extending in the front-rear direction,
The first normal/reverse rotation gear set and the second normal/reverse rotation gear set each have a shaft extending in the left-right direction,
The first wheel drive crown gear and the second wheel drive crown gear each have axes extending in the front-rear direction, the program drive device. 14. The program drive device according to claim 13, wherein the program medium is configured by connecting a plurality of sections to each of which drive information is input in advance in a freely connectable manner. The sections include a first section into which first ON information and second ON information are input, and a second section into which first OFF information and second ON information are input. a third intercept into which the first off information and the second off information are input;
15. The program-driven device according to claim 14, wherein by turning over the second slice, it can be used as a fourth slice into which the first ON information and the second OFF information are input. The program medium has a flat body extending in the longitudinal direction,
In the main body, a thickness direction changing portion may be formed in the first program portion and the second program portion extending in two rows in the longitudinal direction,
The information acquisition unit acquires the presence of the changed part in the first program part as the first ON information, and the information that the changed part does not exist in the first program part as the first ON information. , the presence of the changed part in the second program section is acquired as the second on information, and the information that the changed part does not exist in the second program section is acquired as the second on information. The program-driven device according to claim 13, wherein the program-driven device is acquired as second OFF information. The casing includes a motor that is electrically connected to a battery and that feeds the program medium from a starting direction to an ending direction via a feeding gear mechanism,
17. The program drive device according to claim 1 , wherein the program medium has a plurality of grooves arranged from a start direction to an end direction and each of which meshes with a gear of the feeding gear mechanism.

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