JPH0429661Y2 - - Google Patents
Info
- Publication number
- JPH0429661Y2 JPH0429661Y2 JP15370287U JP15370287U JPH0429661Y2 JP H0429661 Y2 JPH0429661 Y2 JP H0429661Y2 JP 15370287 U JP15370287 U JP 15370287U JP 15370287 U JP15370287 U JP 15370287U JP H0429661 Y2 JPH0429661 Y2 JP H0429661Y2
- Authority
- JP
- Japan
- Prior art keywords
- arm
- bearing
- base end
- flag
- link
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001151 other effect Effects 0.000 description 1
Landscapes
- Toys (AREA)
Description
【考案の詳細な説明】
(産業上の利用分野)
本考案は電動で少なくとも一方の腕を動かすよ
うにした旗振りロボツトに関し、特に腕が8の字
に回動する旗振り機構を備えたロボツトの構造に
係る。[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
(従来の技術)
従来のこの種のロボツトでは、モータと減速
機、リンク等を組合わせた構造のものであつて
も、首を振つたり、腕をただ単に一方に折り曲げ
たりするのみで動きが平凡なものであつた。(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.
又、この様なロボツトに再生装置等を組込んで
アナウンスを繰返えさせたり、ランプ等を取付け
これを点滅させて平凡な動きをより効果的にする
ようにして人目を引くようにしていた。 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. .
(考案が解決しようとする問題点)
しかしながら、この従来の構造のものでは、音
が出たり光つたりするような別の効果を与えても
動きが平凡であるのでそのデイスプレイ効果は低
く、このため市中で巾広く使用され得ないという
問題点があつた。(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.
又、複雑な動作が可能な産業用ロボツト等は大
変高価なものであり、その上付属設備等も必要と
し一般のデイスプレイ用には手軽く使用できない
等の問題点があつた。 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.
(問題点を解決するための手段)
本考案は、かかる従来の問題点を解決するため
になされたもので、通常のモータに減速機、リン
ク等を組合わせた構造で、手に持つた旗が8の字
のクロスした軌跡を描く複雑な動きをすることが
でき、しかも取扱いが容易で安価に製作できる旗
振りロボツトを提供する。(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.
その要旨は、腕の基端を軸受で水平方向に回動
自在に軸支すると共に同軸受を垂直方向に回動自
在に軸支し、腕の基端と軸受とをモータで駆動す
るリンクに連結し、さらに垂直と水平回動のサイ
クル比を2:1又は1:2として腕の先端の手部
分が8の字を描く機構を形成し、上記腕の手の部
分に旗竿の基端を固定させたことを特徴とした旗
振りロボツトにある。 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.
(作用)
本考案の旗振りロボツトでは、腕の基端を軸受
で水平方向に回動自在に軸支すると共に同軸受を
垂直方向に回動自在に軸支し、さらに腕の基端と
軸受とをモータで駆動するリンクに連結してい
る。(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.
モータに通電して夫々のリンクを駆動すると、
一方の腕は基端を軸支した軸受を支点としてリン
クにより左右に回動すると共に軸受がリンクによ
つて垂直方向に回動するため腕は左右と垂直方向
の回動が組合わされた運動を同時に行うことにな
る。従つて、垂直方向の回動を2回行う間に左右
方向の回動を1回行うサイクル比のときは8の字
が横向き、その逆のサイクル比のときは8の字が
縦向きとなる。腕の先端の手の部分が横8の字、
縦8の字に動かされることで、手に固定された旗
竿が8の字に振られる。 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.
(実施例)
以下、本考案の実施例を図面に基づいて説明す
る。(Example) Hereinafter, an example of the present invention will be described based on the drawings.
本実施例の旗振りロボツト1はピエロの立姿と
し両手に夫々旗2を持ち、一方の手の旗2が横向
きの8の字を描く機構を備えたものとしている。 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.
図中3は8の字を描く機構で、4は一方の腕、
5は同一方の腕の基端、6は軸受、19は軸受6
を垂直方向に回動させるピローブロツクである。
又、7はモータ、8は大ギヤ、9は小ギヤでその
歯数比を2:1としている。又、10は水平方向
回動用リンク、11は垂直方向回動用リンクでこ
れ等は両端をボールジヨイント構造としている。 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.
又、図中12は他方の腕13用の自在形軸受、
14は回転アーム、15は減速機ピニオン、16
は首取付台、17は首取付台軸、18は大ギヤ8
の回転による他方の腕13の運動を一方の腕4の
水平方向回動用リンク10に伝える連結棒で小ギ
ヤ9による2回の垂直回動に対し1回の水平回動
を与えている。又、他方の腕13は首取付台16
を回動させるリンクを兼用している。 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.
縦向きの8の字を描くようにするには大ギヤ8
と小ギヤ9を入替えたり本機構をそのまま90度回
転させればよい。 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.
以上、本考案の実施例を説明したが、本考案の
具体的な構成はこの実施例に限定されるものでは
ない。 Although the embodiment of the present invention has been described above, the specific configuration of the present invention is not limited to this embodiment.
例えば一方の腕4のみを動かし、他方の腕13
や首取付台16は固定したままにしてもよいし、
腕は両方共8の字を描かせるようにしてもよい。 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.
尚、腕や首はモータ7で駆動するリンクで動か
すとしたが、これに限らず油圧やエアシリンダー
を利用するようにしてもよい。 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.
(考案の効果)
以上の様に本考案によれば、腕を水平に回動さ
せる軸受をさらに垂直方向に回動させ、その垂直
と左右回動のサイクル比を2:1としたので腕に
持つた旗を8の字に振り、恰も人がしているよう
に複雑な動きをして人の目を引き付けることがで
きる。(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.
又、内部構造が簡単で安価に製作でき、その上
故障がなく取扱いが容易である。 Moreover, the internal structure is simple and can be manufactured at low cost, and it is trouble-free and easy to handle.
第1図は本考案の実施例を示す説明図、第2図
は一方の腕の作動順序を示す説明図、第3図は縦
方向の8の字に旗を振るロボツトの正面図であ
る。
1……旗振りロボツト、2……旗、3……8の
字を描く機構、4……一方の腕、5……基端、6
……軸受、7……モータ、8……大ギヤ、9……
小ギヤ、10……水平方向回動用リンク、11…
…垂直方向回動用リンク、19……ピローブロツ
ク。
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)
ると共に同軸受を垂直方向に回動自在に軸支し、
腕の基端と軸受とをモータで駆動するリンクに連
結し、さらに垂直と水平回動のサイクル比を2:
1又は1:2として腕の先端の手部分が8の字を
描く機構を形成し、上記腕の手の部分に旗竿の基
端を固定させたことを特徴とした旗振りロボツ
ト。 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.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP15370287U JPH0429661Y2 (en) | 1987-10-06 | 1987-10-06 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP15370287U JPH0429661Y2 (en) | 1987-10-06 | 1987-10-06 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH0159193U JPH0159193U (en) | 1989-04-13 |
JPH0429661Y2 true JPH0429661Y2 (en) | 1992-07-17 |
Family
ID=31429779
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP15370287U Expired JPH0429661Y2 (en) | 1987-10-06 | 1987-10-06 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0429661Y2 (en) |
-
1987
- 1987-10-06 JP JP15370287U patent/JPH0429661Y2/ja not_active Expired
Also Published As
Publication number | Publication date |
---|---|
JPH0159193U (en) | 1989-04-13 |
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