JPH0465713B2 - - Google Patents

Description

[Detailed Description of the Invention] "Industrial Application Field" The present invention is applicable to robot toys, etc., which are equipped with a flywheel in the body and walk upright while maintaining their posture by utilizing the gyroscope effect when rotating at high speed. It concerns the structure of a humanoid walking toy.

``Prior Art'' Conventional walking toys such as dolls that walk in an upright position are equipped with a power device in the body that includes a single motor and a speed reduction device connected to the motor, and a crankshaft is formed on the output side of the power device. The left and right leg members were linked to the same crankshaft, and the walking movement was performed by moving the left and right leg members back and forth alternately using the driving force of the power unit.

``Problems to be Solved by the Invention'' However, according to the above-mentioned conventional structure, since the power unit is located within the torso, the center of gravity is high and located approximately midway between the legs, so during walking motion, the leg members cannot move back and forth. This had the disadvantage that the center of gravity swayed from side to side each time, making it prone to falling over and impairing its upright stability. As a countermeasure for this, some devices have U-shaped auxiliary members protruding from the inside of each foot in order to obtain a certain degree of upright stability even with one leg, but this has the disadvantage of spoiling the appearance and causing unnatural movement. It had drawbacks such as being able to only move straight ahead and not being able to freely change directions.

"Means for Solving the Problems" The present invention eliminates the drawbacks of the conventional type described above.
It has a frame member equipped with a power device and a pair of leg members, and the upper part of one leg member and the upper part of the other leg member are connected to an upper linking member and a lower linking member located below the upper linking member. Therefore, the support legs are rotatably provided at the lower portions of both leg members, the frame member is swingably suspended approximately at the center of the lower linking member, and the power device is It consists of a flywheel rotatably attached to a frame member and a group of reduction gears linked to this flywheel, an eccentric shaft member is provided on the output shaft of this group of reduction gears, and a gear is connected to the eccentric shaft member. One end of the shaft is rotatably attached, and the other end of the connecting shaft is rotatably attached to one side of the lower linking member.

``Embodiment'' The present invention will be described with reference to an embodiment shown in the drawings below. Reference numeral 1 denotes a support leg, and the support leg 1 is formed into a substantially disk shape, and a shaft member 2 is vertically protruded from the center thereof. A leg member 3 is rotatably mounted on each coaxial member 2.

A bearing plate 4 with shaft holes 5 and 6 formed at a predetermined interval vertically is provided on the upper part of the pair of leg members 3, while two linking members 7 each having shaft holes 9 and 10 are provided. 8, and connect the linking members 7 and 8 with rivets 1 in the upper and lower shaft holes 5 and 6 and shaft holes 9 and 10, respectively.
1 and 12 are installed to link the left and right leg members 3 so as to move parallel to each other in the vertical direction.

Reference numeral 13 denotes a frame member formed into a box shape, and a plurality of bearing plates 14, 15, 16 are formed on this frame member 13. A bearing hole 17 is formed in the upper part of this frame member 13, and a shaft member 21 such as a rivet is installed in the bearing hole 17 through a bearing hole 18 provided at the center of the linking member 7. It hangs swingably from the lower part of the linking member 7.

Reference numeral 22 denotes a flywheel bearing on the bearing plates 14 and 16. A pinion 23 is provided on the shaft of the flywheel 22, a spur gear 24 meshes with the pinion 23, and a pinion 25 integral with the spur gear 24. The power unit includes a group of reduction gears including a spur gear 26 that meshes with the worm gear 26, a worm gear 27 that is integral with the spur gear 26, a gear 29 that meshes with the worm gear 27, and the like.

An eccentric shaft member 30 is provided on the rotating shaft on the output side of this power plant, and a connecting shaft 32 that engages with an engagement hole 31 formed on one side of the linking member 7 is provided on the eccentric shaft of the eccentric shaft member 30. It's linked.

The bearing plates 15 and 16 are provided with a gear 33 having an elongated hole and bearing the pinion 23 so as to be able to move toward and away from it. A guide groove is formed which communicates with the guide groove, and the pinion 34 is configured to mesh with the rack of the rack belt 35 inserted through the guide groove.

``Operation'' To explain the operation of the above-mentioned configuration, when the rack belt 34 is inserted through the guide groove and the handle 36 at the end is pulled as hard as possible,
The pinion 34 that meshes with the rack rotates as the rack moves, and the gear 33 integrated with the pinion 34 rotates at high speed while maintaining mesh with the pinion 23, thereby driving the flywheel 22 that is integrated with the pinion 23. be able to. After the rack belt 34 is pulled out from the guide groove, the gear 33 separates from the pinion 23, but the flywheel 2
2 continues to rotate at high speed due to its energy storage effect.

As the flywheel 22 rotates at a high speed, a gyroscope effect occurs, which acts to keep the frame member 13 bearing the flywheel 22 vertically at all times.

On the other hand, due to the rotation of the flywheel 22,
A power device equipped with a group of reduction gears connected to the pinion 23 operates and rotates the eccentric shaft member 30 on the output side at an appropriately reduced speed, and
A linking member 7 linked to this via a linking shaft 32
can be swung.

However, due to the above-mentioned gyroscope effect, the frame member 1
The inclination of 3 is automatically corrected so that it is always vertical, and as the linking member 7 swings, the state shown in FIG. When the other supporting leg 1b leaves the floor by standing on one leg, for example as shown in FIG. The frame member 13 can be horizontally rotated to a predetermined position by the torque associated with the above-mentioned gyroscope effect. Next, when the direction of inclination of the linking member 7 changes, the supporting leg 1a side is raised while the frame member 13 is always held vertically due to the gyroscope effect, and the supporting leg 1b side is brought into contact with the floor surface, as shown in FIGS. Change the posture of standing on one leg, and move the frame member 1 around the shaft member 2 of the support leg 1b.
3 can be rotated in the horizontal direction.
Thereafter, while holding the frame member 13 vertically with the gyroscope effect caused by the rotation of the flywheel 22, the frame member 13 is alternately changed from the above-mentioned one-legged stance to center around the support leg 1 in contact with the floor. The direction of the robot can be changed, and by changing the direction of standing on one leg, the robot can perform a walking motion that takes one step at a time.

Note that the flywheel 22 may be configured to be driven by a power device having another power source such as a mainspring in addition to a motor.

Moreover, instead of the connecting shaft 32, an eccentric shaft is provided protruding from the eccentric shaft member 30, and an engaging piece with a long groove is provided protrudingly from the linking member 7, and the eccentric shaft is configured to engage with the long groove. It's okay.

Further, since the leg member 3 can be constructed so as to be always held vertically by its own weight, the linking member 8 can be omitted if necessary.

"Effects of the Invention" As described above, when a flywheel and a means for driving the flywheel are provided in the frame member and the flywheel is rotated at high speed, a gyroscope effect is obtained by the flywheel, and the main body of the bipedal walking toy is always stabilized. By using a linked drive device to alternately float both leg members, it is possible to perform a walking motion while changing the direction of the frame member using the torque associated with the gyroscope effect. .

In particular, by providing the flywheel on the lower side of the frame member that hangs down at the center of the linking member, the overall center of gravity can be lowered, which improves the automatic restoring force due to the gyroscope effect and the upright stability when walking. can be improved.

[Brief explanation of drawings]

FIG. 1 is an exploded perspective view of the main parts of a walking toy showing an embodiment of the present invention, FIG. 2 is a cutaway front view of the main parts of the walking toy, and FIG. 3 is a cutaway side view of the main parts of the walking toy. FIG. 4 is also an explanatory diagram of the operation of the walking toy. In the figure, 1 is a support leg, 2 is a shaft member, 3 is a leg member, 7 and 8 are linking members, 13 is a frame member, 14, 1
5 and 16 are bearing plates, 22 is a flywheel, 23
is a pinion, 30 is an eccentric shaft member, 31 is an engagement hole,
32 is a connecting shaft, and 34 is a rack belt.

Claims (1)

[Claims] 1. A walking toy having the following requirements. (a) It must have a frame member equipped with a power device and a pair of leg members. (b) The upper part of one leg member and the upper part of the other leg member are rotatably linked by an upper linking member and a lower linking member located below the upper linking member. (c) Support feet shall be rotatably provided at the bottom of both leg members. (d) The frame member shall be swingably suspended approximately at the center of the lower linking member. (c) The power device consists of a flywheel rotatably attached to a frame member and a group of reduction gears linked to the flywheel, and an eccentric shaft member is provided on the output shaft of the group of reduction gears. That's what I'm doing. (f) One end of a connecting shaft is rotatably attached to the eccentric shaft member, and the other end of this connecting shaft is rotatably attached to one side of the lower connecting member.