JPH0429661Y2 - - Google Patents

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to a flag-waving robot that moves at least one arm electrically, and in particular a robot that has a flag-waving mechanism that rotates the arm in a figure-eight pattern. Regarding the structure of

(Prior technology) Conventional robots of this type, even if they have a structure that combines a motor, a speed reducer, a link, etc., can move simply by shaking their heads or simply bending their arms to one side. was ordinary.

In addition, such robots were equipped with playback devices to make them repeat announcements, and lamps were attached to make them blink to make their mundane movements more effective and attract people's attention. .

(Problem that the invention aims to solve) However, with this conventional structure, even if other effects such as sound or light are given, the movement is ordinary, so the display effect is low. Therefore, there was a problem that it could not be widely used in the market.

In addition, industrial robots that can perform complex operations are very expensive and require additional equipment, making them difficult to use for general display purposes.

(Means for Solving the Problems) The present invention was made to solve the problems of the conventional art. To provide a flag-waving robot which can perform a complicated movement in which the robots draw a figure-eight crossed locus, is easy to handle, and can be manufactured at low cost.

The gist is that the base end of the arm is rotatably supported in the horizontal direction by a bearing, and the same bearing is rotatably supported in the vertical direction, and the base end of the arm and the bearing are connected to a link driven by a motor. In addition, the cycle ratio of vertical and horizontal rotation is set to 2:1 or 1:2 to form a mechanism in which the hand part at the tip of the arm draws a figure 8, and the base end of the flagpole is attached to the hand part of the arm. It is in a flag-waving robot that is characterized by being fixed.

(Function) In the flag-waving robot of the present invention, the base end of the arm is rotatably supported in the horizontal direction by a bearing, and the same bearing is rotatably supported in the vertical direction. and are connected to a link driven by a motor.

When the motor is energized to drive each link,
One arm rotates left and right by a link using a bearing that supports the base end as a fulcrum, and the bearing rotates vertically by a link, so the arm performs a combination of horizontal and vertical rotation. They will be done at the same time. Therefore, when the cycle ratio is such that one rotation in the horizontal direction is performed during two rotations in the vertical direction, the figure 8 is oriented horizontally, and when the cycle ratio is the opposite, the figure 8 is oriented vertically. . The hand at the end of the arm is a horizontal figure 8,
By being moved vertically in a figure eight, the flagpole fixed to the hand is swung in a figure eight.

(Example) Hereinafter, an example of the present invention will be described based on the drawings.

The flag-waving robot 1 of this embodiment has a standing clown shape, holds a flag 2 in each hand, and is equipped with a mechanism in which the flag 2 in one hand draws a horizontal figure eight.

In the figure, 3 is a mechanism that draws a figure 8, 4 is one arm,
5 is the base end of the same arm, 6 is the bearing, 19 is the bearing 6
It is a pillow block that rotates vertically.
Further, 7 is a motor, 8 is a large gear, and 9 is a small gear, with a tooth ratio of 2:1. Further, 10 is a link for horizontal rotation, and 11 is a link for vertical rotation, both of which have a ball joint structure at both ends.

In addition, 12 in the figure is a swivel bearing for the other arm 13,
14 is a rotating arm, 15 is a reducer pinion, 16
is the neck mount, 17 is the neck mount shaft, 18 is the large gear 8
The connecting rod transmits the movement of the other arm 13 due to the rotation of the arm 4 to the horizontal rotation link 10 of one arm 4, and provides one horizontal rotation for every two vertical rotations made by the small gear 9. Also, the other arm 13 is attached to the neck mount 16
It also serves as a link to rotate the.

To draw a vertical figure 8, use large gear 8.
All you have to do is replace the small gear 9 or simply rotate this mechanism 90 degrees.

Although the embodiment of the present invention has been described above, the specific configuration of the present invention is not limited to this embodiment.

For example, move only one arm 4 and move the other arm 13.
The neck mount 16 may remain fixed, or
Both arms may form a figure eight.

Although the arms and neck are moved by links driven by the motor 7, the present invention is not limited to this, and hydraulic pressure or air cylinders may also be used.

(Effects of the invention) As described above, according to the invention, the bearing that rotates the arm horizontally is further rotated in the vertical direction, and the cycle ratio of vertical and horizontal rotation is 2:1, so that the arm can be rotated horizontally. They can attract people's attention by waving the flag they are holding in a figure-eight pattern, making complex movements that look just like people do.

Moreover, the internal structure is simple and can be manufactured at low cost, and it is trouble-free and easy to handle.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram showing an embodiment of the present invention, FIG. 2 is an explanatory diagram showing the operating order of one arm, and FIG. 3 is a front view of a robot waving a flag in a vertical figure eight pattern. 1... Flag-waving robot, 2... Flag, 3... Figure-8 drawing mechanism, 4... One arm, 5... Base end, 6
...Bearing, 7...Motor, 8...Large gear, 9...
Small gear, 10...Horizontal rotation link, 11...
...Link for vertical rotation, 19...Pillow block.

Claims (1)

[Scope of utility model registration request] The base end of the arm is rotatably supported in the horizontal direction by a bearing, and the same bearing is rotatably supported in the vertical direction.
The base end of the arm and the bearing are connected to a link driven by a motor, and the cycle ratio of vertical and horizontal rotation is set to 2:
1 or 1:2, the hand part at the tip of the arm forms a mechanism that draws a figure 8, and the base end of a flagpole is fixed to the hand part of the arm.