JPH05285277A - Action mechanism of doll and the like and method for setting initial position of motion - Google Patents

Abstract

PURPOSE:To provide an action mechanism capable of starting action successively to the operation for setting a motion initial position, and a method for setting the motion initial position capable of detecting the position of a purality of movable parts with one position sensor. CONSTITUTION:In an action mechanism of a doll having a pluratity of movable bodies 4, 6, 7 and a pluraity of driving sources 71, 81 connected to each movable body, the first rotating driving source 71 for giving an initial motion; the first movable body 4 made movable by the driving source 71; the second movable body 7 connected to the first movable body 4 through an epicyclic gear mechanism; the second rotating driving source 81 for driving the second movable body 7; and a regulating means 30cb for regulating the movable area of the second movable body 7 are provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an action mechanism for driving a movable body such as a doll which imitates a person or an animal, and a method for setting an initial position of its operation.

[0002]

2. Description of the Related Art Attempts have been made to move a pet doll or the like, which originally does not move, by a mechanical device.
"Karakuri" in Japan, "Automata" in Europe and America
It is called, and many of them realize the certain movement by driving the doll's neck and limbs by using the whole dance as a driving source. The actions are divided into those that imitate human daily activities, such as writing letters and makeup, and those that dance to music.

The applicant of the present invention has a plurality of movable bodies including a torso, a chest (upper body), and legs as an action mechanism for performing the above-mentioned operations, and a plurality of the above-mentioned plurality of movable bodies arranged outside a doll or the like. A doll having a plurality of drive motors for driving a movable body and a plurality of drive shafts arranged coaxially and coupled with the movable bodies, and connecting the drive motors with the drive shafts. Proposed action mechanism such as. In this action mechanism, by arranging a plurality of drive shafts on the same axis, it is possible to simplify the connecting structure between a plurality of drive motors provided outside of a doll or the like and a plurality of movable bodies. By controlling the on / off of the motor and the rotation direction with a computer such as a microcomputer, it is possible to perform various dynamic and action.

When the operation of a plurality of movable bodies is controlled by a computer, it is necessary to detect the absolute position of the movable bodies when the control device is turned on and off. Generally, a position sensor is provided for each movable body, the drive motor is rotated in a certain direction at the same time when the power of the control device is turned on, and the program is reset when the position sensor operates.

[0005]

Providing a position sensor on a movable body requires a signal line to be routed between the doll body and a control circuit provided outside the doll. It becomes an obstacle. Therefore, it is conceivable to detect the rotational position of each movable body by detecting the rotational position of a drive member such as a drive shaft or a drive gear that is arranged outside the doll body and drives each movable body. .. But,
Providing the position sensor for each of the plurality of movable body driving members has a problem that the number of parts increases and the cost increases.

Further, when a plurality of movable bodies move toward the initial position independently of each other when setting the initial position of the action of an action such as a doll, it becomes inconsistent with the action operation starting after the initial position setting operation. However, there is also the problem that the action taken is ruined.

Therefore, an object of the present invention is to provide an action mechanism such as a doll capable of starting an action action subsequent to the action of setting an initial action position, and an action initial stage capable of detecting the positions of a plurality of movable bodies by one position sensor. It is to provide a position setting method.

[0008]

An action mechanism for a doll or the like according to the present invention provides an initial action in an action mechanism for a doll or the like having a plurality of movable bodies and a plurality of drive sources coupled to the respective movable bodies. A first rotary drive source, a first movable body movable by the first rotary drive source, a second movable body connected to the first movable body via a planetary gear mechanism, and a second movable body. A second rotary drive source for driving the second movable body, and a regulating means for regulating the movable area of the second movable body.

In the method of setting the initial position of the action of an action mechanism such as a doll, the second movable body driving action of the second rotary drive source is cut off, and the first movable body is rotated by the first rotary drive source. Thus, the second movable body is planetarily moved to position the second movable body at the end of the movable region, and this position is set as the operation initial position of the action mechanism.

[0010]

When the first and second drive sources operate independently or simultaneously, the single or plural movable bodies are independently or simultaneously driven through the single or plural drive shafts, and the plural movable bodies such as dolls are combined. Take the action you did.

When the drive of the second movable body by the second rotary drive source is cut off and the first rotary drive source operates the first movable body, the first rotary body is connected to the first movable body via the planetary gear mechanism. The moving second movable body is planet-moved and positioned at the end of the movable region. The movable area of the second movable body is regulated by the regulation means. When the rotation position of one movable body detects that the second movable body is positioned at the end of the movable region and rotates, this position is determined as an operation initial position and is output as a program reset signal. The operation of the first movable body and the operation of the second movable body that is interlocked with the operation of the first movable body are executed as a series of operations, and the action is started following the determination of the operation initial position.

[0012]

The present invention will be described in detail below with reference to the illustrated embodiments.

1 and 2, reference numeral 1 indicates a doll stand accommodating a rotary drive source and a control circuit, and reference numeral 2 indicates a doll. As will be described later in detail, the doll 2 can rotate (turn) the entire doll around its right leg, the upper body can swing to the left and right with its movable area restricted, and the left leg can move to the movable area. It is a structure that can be rocked (kicked) forward and backward around the crotch joint part as a center.

The doll body shown by the chain line is a first movable body 4 composed of a whole body including a body part containing a gear box 3 and a right leg.
And a second movable body 7 composed of a left leg swingably supported by the first movable body 4, and a chest, a head and upper arms of both arms swingably supported by a swing shaft 5. It is composed of a third movable body 6 as one second movable body. That is,
The doll 2 of the illustrated embodiment has one first movable body 4 and a second movable body 4.
It is composed of a third movable body 6 and a second movable body 7 as movable bodies.

1 to 6, the gear box 3 fixed to the first movable body 4 includes a support frame 30, a plurality of drive shafts fixedly or rotatably supported by the support frame 30, and revolving these drive shafts. It consists of a planetary gear mechanism consisting of a combination of a plurality of bevel gears at the center. A tubular portion 30a is formed at the lower end portion of the support frame 30, and an upper end 31a of a first drive shaft 31 formed of a tubular body through which the right leg 4a is passed through is fixed. A lower end portion 31b of the first drive shaft 31 penetrates the doll stand 1 and is fixedly connected to the first drive gear 70.

A pinion 73 fixed to an output shaft 72 of a first drive motor 71 as a first rotary drive source for providing an initial motion provided at the lower portion of the doll stand 1 meshes with the first drive gear 70. There is. The rotation of the first drive motor 71 is
The first drive shaft 3 via the pinion 72 and the first drive gear 70
It is decelerated to 1 and transmitted to rotate (turn) the first movable body 4, that is, the entire body of the doll 2 in the forward and reverse directions about the right leg.

A second drive shaft 32, which is a cylindrical body, is rotatably inserted through the first drive shaft 31. Second drive shaft 32
A sun gear 32b made of a bevel gear is fixed to the upper end portion 32a of the. The lower end portion 32c of the second drive shaft 32 projects from the lower end of the first drive shaft 31, and the second drive gear 8
0 is stuck. A second pinion 83 fixed to an output shaft 82 of a second drive motor 81 as a second rotary drive source meshes with the second drive gear 80. The rotation of the second drive motor 81 is decelerated via the pinion 83 and the second drive gear 80 and transmitted to the sun gear 32b.

The sun gear 32b meshes with a decelerating planetary gear 33a fixed to a shaft 33 that is rotatably supported by the support portions 30c and 30c of the support frame 30. Axis 33
Are provided orthogonal to the second drive shaft 32. Axis 33
The upper end portion 7 of the lever 7a inserted into the second movable body 7.
The aa is inserted and fixed. That is, the planetary gear 3
The 3a and the lever 7a are integrally connected to each other.

The lever 7a is projected downward from the lower end opening 30ca of the supporting portions 30c, 30c, and its swinging region is defined by the edge portions 30cb, 30cb (see FIG. 3 (a)) of the opening as restricting means. It is becoming regulated. That is, the movable region of the second movable body 7 is restricted by the edge portion 30cb.

As will be described in detail later, the lever 7a, that is, the second movable body 7, is composed of a first drive motor 71 and a second drive motor 8
It oscillates (kicks) back and forth at high and low speeds and stops, respectively, depending on 0 rotation / stop or rotation direction.

The second drive shaft 32 includes a solid third drive shaft 3
4 is inserted. A sun gear 34b made of a bevel gear is fixed to the upper end 34a of the shaft. As shown in FIG. 4, a third drive gear 90 provided inside the doll stand 1 is fixed to the lower end portion 34c of the third drive shaft 34. A third pinion 93 fixed to an output shaft 92 of a third drive motor 91 as another second rotary drive source meshes with the third drive gear 90.

A decelerating planetary gear 60, which is rotatably inserted through the swing shaft 5, meshes with the sun gear 34b.
The swing shaft 5 is a bearing portion 30 formed on the upper end of the support frame 30.
It is supported by b and 30b. The planetary gear 60 is fixed to the support 61 of the third movable body 6. The support 61 is
The swing is regulated by a regulation means (not shown) formed on the bearing portion 30b. Therefore, the third movable body 6
Means that its movable region of swinging is restricted.

The edge portion 3 for restricting the movable area of the second movable body 7.
0cb and the regulating means for regulating the movable area of the third movable body 6 receive the torque from the respective drive motors,
It is given the strength and structure to withstand this.

As will be described in detail later, the third movable body 6 is the third
Depending on the rotation / stop or the rotation direction of the drive motor 91 and the first drive motor 71, the drive motor 91 swings (swings) or stops at different high and low speeds.

7 to 10 are provided on the lower surface of the ceiling of the doll stand 1.
As shown in, a zero position sensor S for detecting the rotational position of the first movable body 4, that is, the initial operation position of the doll body is provided. The zero position sensor S may be either a contact type switch or a non-contact type switch.

First drive motor 71, second drive motor 81
The third drive motor 91 is connected to a control circuit 100 (see FIGS. 1 and 2) including a microcomputer, and its rotation / stop and rotation direction are controlled. Also,
The zero position sensor S is also connected to the control circuit and outputs a signal that detects the rotation of the first movable body 4 to the control circuit. The control circuit ignores the input first signal, but processes the second signal as a reset signal for the program by taking it in and processing it as a setting signal for the operation initial position to start the action program. .. The doll 2 performs various operations described later by controlling the rotation of each drive motor.

The operation of the embodiment configured as described above will be described. First, the basic operation of each movable body will be described with reference to FIGS. 1, 2 and 6. When the first drive motor 71 that imparts the initial operation rotates in the A direction, the first movable body 4 passes through the first pinion 73, the first drive gear 70, and the first drive shaft 31.
That is, the whole body of the doll 2 turns left in the direction of arrow X. When the first drive motor 71 rotates in the arrow a direction, the doll 2 turns right in the arrow Y direction.

When only the second drive motor 81 rotates in the direction of arrow B, the second pinion 83, the second drive gear 80, the second
The sun gear 32b rotates via the drive shaft 32, and the left leg (7) swings in the rear kick direction indicated by an arrow B1 in FIG. 2 via the planetary gear 33a and the arm 7a. When the second drive motor 81 rotates in the direction of arrow b, the second movable portion 7, which is the left leg, swings in the front kick direction indicated by arrow b1. Left leg 7
Although the maximum swing angle to the front and back of is controlled by the edges 30cb and 30cb, the size of the kick can be changed depending on the length of the energization time to the second drive motor 81.

When only the third drive motor 91 rotates in the direction of arrow D, the third pinion 93, the third drive gear 90, and the third
The sun gear 34b rotates via the drive shaft 34, and the planetary gear 60 meshing with the sun gear 34b rotates to cause the third movable body 6 to right-swing in the direction of arrow e (see FIG. 1). Third drive motor 9
When 1 rotates in the direction of arrow d, the third movable body 6 swings to the right as shown by arrow E in FIG. The swing of the third movable body 6 is regulated by a regulation means (not shown), but the size of the swing of the third movable body (upper half body) 6 is changed by controlling the energization time to the third drive motor 91. Of course.

When the second drive motor 81 and the third drive motor 91 are stopped and the first drive motor 71 is rotated, the second movable body 7 and the third movable body 6 become the sun gear and the planetary gear. Because of the relationship, the puppets will operate relative to each other as the doll rotates.

Now, referring to FIG. 6, the second drive motor 81
Suppose that is not rotating and is stopped. When the first drive motor 71 rotates in the direction of arrow a in this state, the first movable body 4 turns right as indicated by arrow Y. At this time,
Second movable body 7 and planetary gear 33a fixed thereto
Revolves around the sun gear 32b together with the first movable body 4, but since it meshes with the sun gear 32b fixed to the second drive shaft 32, the second drive shaft 32 tries to rotate. To do. However, since the second drive shaft 32 is coupled to the second drive motor 81 via the second drive gear 80 and the second pinion 83, the second drive shaft 32 does not easily rotate due to the load according to the stop torque of the motor. Therefore, the planetary gear 33a makes planetary movement (revolution) around the sun gear 32b. That is, the left leg of the second movable body 7 is shown in FIG.
In, in the direction of the rear kick, as shown by the arrow B1, it is rotated. When the first drive motor 71 rotates in the direction of arrow A, the left leg (7) kicks forward. Third movable body 6
Similarly, the upper half of the body swings (swings) on the principle of the sun gear and the planetary gears.

Then, in order to rotate the entire doll without moving the first movable body 4, that is, without moving the left leg or the upper body,
Since it suffices that the movable body 7 and the third movable body 6 do not rotate relative to each other, the second drive shaft 32 and the third drive shaft 34 are connected to the first drive shaft 31.
It may be rotated at the same speed in the same direction as.

Then, the doll 2 in FIGS.
Will be described for each mode.

First, a method of setting the initial operation position of the action mechanism will be described. FIG. 7 (a) shows the initial state of the doll 2 in action (the state in which the previous action action has been stopped), in which the second movable body (hereinafter referred to as the "left leg") 7 is shaken backward and then kicked. The third movable body (hereinafter, referred to as “upper body”) 6 in the position is shown in a state in which the third movable body (hereinafter, referred to as “upper body”) 6 is placed in a position slightly inclined to the right of the neutral position (right-swing position).
The first movable body (hereinafter referred to as the "whole body") 4 faces either left or right with respect to the doll stand 1, but in FIGS. 7 to 11, the doll 2 is viewed from the left front. It is indicated by.

Now, the first drive motor 71 is driven to drive the first
When the drive gear 70 is rotated in the X1 direction of FIG. 7A,
The whole body 4 makes a left turn in the X direction. At this time, if the second drive motor 81 is stopped, the left leg 7 swings (previous kick) in the b1 direction by the planetary gear 33a being rotated by the sun gear 32b according to the principle of the planetary gear mechanism. Similarly, when the third drive motor 91 is stopped, the upper body 6 swings (left swing) in the E direction as the planetary gear 60 is rotated by the sun gear 34b.

FIG. 7B shows a state in which the first drive gear 70 is rotated by about 20 degrees in the X1 direction (mark 70a of the gear 70).
(See reference) from the front left, the upper body 6 is located at the left end Ea (left swing end) of the movable region. When the first drive gear 70 further rotates in the X1 direction in the state shown in FIG. 7B, the pinion 93 meshed with the third drive gear 90 is driven by the principle of the planetary gear mechanism as the whole body 4 rotates. The third drive motor 91 (see FIG. 6) is rotated through the upper body 6 in the left swing state.
In the X direction. At this time, the first drive motor 71 (see FIG. 6) has sufficient torque to rotate the stopped third drive motor 91.

When the upper body 6 swings to the left (Ea),
The left leg 7 is in the middle of swinging in the b1 direction and is still in a swingable state.

FIG. 8A shows a state in which the first drive gear 70 is further rotated in the X1 direction as seen from the left front side of the doll. The first drive gear 70 and the third drive gear 90 are marked 70a. , 90a, they rotate together in the X1 direction without any relative displacement. Therefore, upper body 6
Remains at the end Ea of the left swing (see FIG. 7A). On the other hand, the left leg 7 has a front end portion ba of the front kick.
Has reached the end of this movable area. The movable region of the left leg 7 is restricted by the front edge portion 30cb (see FIG. 3A).

When the first drive motor 70 further rotates in the X1 direction while the swing of the left leg 7 is restricted, that is, when the whole body 4 rotates in the X direction, the planetary gear 33a, the sun gear 32b and the pinion 83 are rotated. The second drive motor 81 is rotated via the second drive gear 80, and the second drive gear 80 also starts rotating in the X2 direction. Therefore, as shown in FIG. 8A, the upper body 6 is located at the left swing end Ea, and the left leg 7 is located at the front kick end ba.
When the whole body 4 makes a left turn in the X direction while being located at,
The drive gears 7, 80, 90 rotate without being relatively displaced.

As shown in FIG. 8 (a), when the whole body 4 rotates in the X direction, if the upper body 6 and the left leg 7 are located at the ends of their respective movable regions, new movements are made to them. Does not occur. When the whole body 4 is rotated in the Y direction (see FIGS. 1 and 2) with the second drive motor 81 and the third drive motor 91 stopped, the upper body 6 is positioned at the end of the right swing. The left leg 7 is positioned at the end of the rear kick and is turned right together with the whole body 4.

As described above, when the whole body 4 is sufficiently rotated in either the left or right direction, the upper body 6 and the left leg 7 are oscillated in any oscillating position at the beginning. It will be rotated together with the whole body 4 in a state of being positioned at any of the left, right, front and rear ends. Therefore, if the whole body 4 is further rotated and comes to a fixed position with respect to the doll stand 1, it means that all the movable bodies of the doll have been placed at the initial position there.

To detect that the initial positions of all the movable bodies have been determined, it is sufficient to detect the position of one movable body, for example, the first drive gear 70 integrated with the first movable body 4 by the zero position sensor S. .. Only the first drive motor 71 is driven to drive the first
When the movable body 4 is rotated, the second movable body 7 and the third movable body 6
Are located at the ends of their respective movable areas and are placed in an initial position. The rotational position of the first drive gear 70 may be detected by the zero position sensor S before the second and third movable bodies are swung to the initial position. For example, when the sensor operating portion of the first drive gear 70 starts rotating from the position immediately before the zero position sensor S, the first drive gear 70 is located before the second and third movable bodies 7 and 6 are located at the ends of the movable region. In some cases, the rotational position of 70 is detected, and the program starts before the complete initial position is set.

Therefore, the control circuit 100 (see FIG. 1) is
The first position detection signal from the zero position sensor S is ignored, and when the second position detection signal is fetched, it is processed as a signal for ending the setting of the operation initial position. That is, only by detecting the rotational position of the first drive gear 70, the positions of other movable bodies are also detected, and the zero position sensor that detects the initial operation position is one regardless of the number of movable bodies. Will be enough.

At the time when the initial position of operation of each movable body is set and detected, the control circuit 100 drives the drive motors 71, 81, 91 according to a preset program to drive the upper body 6 and the left leg 7. Also, the movable body such as the whole body 4 is moved by a set angle to perform an action. The initial position of movement of the doll 2 when the programmed action is started, in other words, the doll's posture is constant,
The action is started following the posture after completion of the initial position setting operation. Looking at this with the movement of the doll, the movement set at the initial position and the movement according to the program are a series of movements, and the movement before the start of the action and the movement after that are connected unnaturally Is observed.

The individual movements and the combined movements of the movable body will be described later, but in FIG.
When 0 is stopped and the second drive gear 80 is rotated in the X2 direction, the left leg 7 kicks backward in the B1 direction. In FIG. 9A, the second drive gear 80 is moved in the X2 direction and the third drive gear 9 is moved.
When 0 is simultaneously rotated in the X3 direction, the left leg 7 kicks backward in the B1 direction, and the upper body 6 swings right in the e direction.

In the embodiment described above, the left leg 7 as the second movable body and the upper half body 6 are positionally regulated at the ends of their movable regions, so that the load of one gear constituting the planetary gear mechanism is the other. It utilizes the fact that it is larger than the gears. Therefore, sufficient strength is required for the second movable body and the member (regulating means) that supports them. Further, in the initial position setting operation, there is an inefficient portion in terms of force transmission efficiency such as a bevel gear mechanism between the drive motor and the driven motor.

Therefore, an embodiment having means for solving these points will be described. In FIG. 10, the first drive gear 70 has a rotation regulating pin 101a planted downward, and the second drive gear 80 and the third drive gear 90 each have a regulation long hole 101b formed in an arc shape. , 101c are loosely fitted. Pin 101a and long holes 101b, 101
c has a function as a regulation means for regulating the movable area of the second movable body (7, 6). That is, the long hole 101
The angle of b is the swing range α of the left leg 7 as the second movable body.
(See FIG. 11 (b)), the long hole 101c is set to the swing range β of the upper body 6 as the third movable body.
The angle is set to regulate (see FIG. 11A).

As shown in FIG. 10, when the pin 101a is located at one end of the elongated hole 101b and the pin is located in the middle of the elongated hole 101c, the second drive motor 8
1, when the first drive gear 70 is rotated in the X1 direction with the third drive motor 91 stopped, the second drive gear 80,
The third drive gear 90 includes a second drive motor 81 and a third drive motor 9 that mesh with each other via the pinions 83 and 93.
A load of 1 will try to stay in that position. However, because of the positional relationship between the pin 101a and the long holes 101b and 101c,
The upper body 6 and the left leg 7 swing until their movable regions are restricted by the principle of the planetary gear mechanism. That is, FIG.
In, the left leg 7 makes a front kick in the b1 direction, and the upper body 6 swings left in the E direction.

Then, as shown in FIG. 11A, when the pin 101a reaches the end of the elongated hole 101c, the first drive gear 70 starts directly rotating the third drive gear 90. As a result, the upper body 6 is restricted from swinging independently, and is positioned at the initial operation position of the end portion Ea of the left swing.

When the first drive gear 70 for rotating the third drive gear 90 further rotates in the X1 direction and the pin 101a reaches the end of the elongated hole 101b, as shown in FIG. 7 can no longer swing independently and can be rotated in the X2 direction as the first drive gear 70 rotates. Therefore, the left leg 7 is restricted to the operation initial position of the movable region end portion ba. At this point, the second drive gear 80 and the third drive gear 90 rotate with the first drive gear 70, and the left leg 7 and the upper body 6 are located at the ends of their respective movable regions. In other words, the first movable body 4, the second movable body 7, and the third movable body 6 rotate in the X direction while keeping their relative positional relationship immovable.

When setting the operation initial position, the rotational position signal of the first movable body 4 is detected by the zero position sensor S. The first signal is ignored, but when the second position detection signal is detected, the second movable body 7 and the third movable body 6 are detected.
Since the initial position of is set, the control circuit 100 which receives this signal starts the program. As the timing of the first movable body 4 for starting the action program, an appropriate rotational position may be selected such as when the doll faces the front or when the doll faces the back.

In the embodiment shown in FIGS. 10 and 11,
Means for directly restricting the movable areas of the second and third movable bodies by restricting the rotation areas of the gears that drive the second and third movable bodies 7 and 6 (see edge portion 30cb of FIG. 3A). However, the left leg 7 and the upper body 6 operate as if they have a structure in which their movements are restricted.

Next, the movement of the doll 2 will be described for each mode with reference to FIGS. 1, 2 and 6. In the following description, “whole body” refers to the entire doll 2, “left leg” refers to the second movable body 7, and “upper body” refers to the third movable body 6.

A. Whole body: right turn, left leg: stop The first drive motor 71 is rotated in the direction of arrow a to rotate the first movable body 4 right in the direction of arrow Y, and the second drive motor 81 is rotated in the direction of arrow b to set the sun. Gear 32b, planetary gear 33
The second movable body 7 is not rotated by not rotating a relative to each other. Only the first movable body 4 rotates to the right in the direction of the arrow Y, and the left leg remains stopped. Looking at this with the movement of the doll,
Turn the whole body to the right with the left leg closed or open and stopped.

B. Whole body: right turn, left leg: kick after double speed, the first drive motor 71 is rotated in the arrow a direction to rotate the first movable body 4 right in the arrow Y direction and the second drive motor 81 is rotated in the arrow B direction. Then, the planetary gear 33a rotates while revolving in the counter direction with respect to the sun gear 32b, so that the planetary gear 33a rotates at a double speed.
The movable body 7 swings in the direction of arrow B1 at double speed. The movement of the doll 2 is that the left leg is swiftly kicked backward while turning the whole body to the right.

C. Whole body: right turn, left leg: rear kick The first drive motor 71 is rotated in the direction of arrow a to rotate the first movable body 4 right in the direction of arrow Y, and the second drive motor 81 is stopped. The second movable body 7 makes a rear kick in the direction of the arrow B1 while planetarily moving around the sun gear 32b. Doll 2
Kicks his left leg backward while making a full body right turn.

D. Whole body: left turn, left leg: double speed front kick The first drive motor 71 is rotated in the direction of arrow A to rotate the first movable body 4 left in the direction of arrow X, and the second drive motor 81 is rotated in the direction of arrow b. Then, the second movable body 7 is swung in the direction of arrow b1 at double speed. The doll 2 turns the whole body to the left and kicks the left leg forward.

E. Whole body: left turn, left leg: stop The first drive motor 71 is rotated in the arrow A direction to rotate the first movable body 4 left in the arrow X direction, and the second drive motor 81 is rotated in the arrow B direction. The planet gear 33a is the sun gear 3
Since it revolves around 2b, the second movable body 7
Is placed in a stopped state regardless of the open / close position of the left leg. The doll 2 turns the whole body to the left with the left leg stopped.

F. Whole body: left turn / left leg: front kick The first drive motor 71 is rotated in the direction of arrow A to rotate the first movable body 4 left in the direction of arrow X, and the second drive motor 81 is stopped. The second movable body 7 swings in the arrow b1 direction as the planetary gear 33a planetarily moves around the sun gear 32b. The doll 2 turns the whole body to the left and kicks the left leg forward.

G. Whole body: Stop / Left leg: Front kick The first drive motor 71 is stopped to stop the rotation of the first movable body 4, and the second drive motor 81 is rotated in the direction of the arrow b to move the second movable body 7 to the arrow b1. Rotate in the direction. Doll 2 kicks his left leg forward without turning.

H. Whole body: Stop / Left leg: Rear kick When the first drive motor 71 is stopped to stop the rotation of the first movable body 4 and the second drive motor is rotated in the arrow B direction, the second movable body 7 is moved in the arrow B1 direction. Rock to. The doll 2 kicks the left leg backward without turning.

I. Whole body: stop, left leg: stop The first drive motor 71 and the second drive motor 81 are stopped, the first movable body 4 and the second movable body 7 are stopped, and both the turn and the kick are stopped. The doll is placed in a state where it does not turn and its left leg does not move.

J. Whole body: right turn / upper body: stop The first drive motor 71 is rotated in the direction of arrow a to rotate the first movable body 4 right in the direction of arrow Y, and the third drive motor 91 is rotated in the direction of arrow d to move the third position. The movable body 6 is stopped. That is, as the planetary gear 60 revolves while revolving,
The third movable body 6 does not move relative to the sun gear 34b and does not swing. The doll 2 turns the whole body to the right with the upper body stopped.

K. Whole body: right turn / upper body: double speed right swing The first drive motor 71 is rotated in the direction of arrow a to rotate the first movable body 4 right in the direction of arrow Y, and the third drive motor 91 is rotated in the direction of arrow D. The third movable body 6 is swung right in the direction of arrow e at double speed. Since the rotation direction of the sun gear 34b and the revolving direction of the planetary gear 60 are counter directions, the rotation of the planetary gear 60 becomes double speed and the third movable body 6 is swung to the right quickly. The doll 2 turns the whole body to the right and swings the upper body to the right at a high speed.

L. Whole body: right turn / upper body: right swing The first drive motor 71 is rotated in the direction of arrow a to rotate the first movable body 4 right in the direction of arrow Y, the third drive motor 91 is stopped, and the planetary gear 60 is moved to the sun. The third movable body 6 is swung to the right in the direction of arrow e by rotating the gear 34b while moving the planets. Doll 2 turns the upper body to the right while turning the whole body to the right.

M. Whole body: left turn / upper body: double speed left swing Rotate the first drive motor 71 in the arrow A direction to rotate the first movable body 4 counterclockwise in the arrow X direction, and rotate the third drive motor 91 in the arrow d direction. The third movable body 6 is swung left in the direction of arrow E at double speed. Since the rotation direction of the sun gear 34b and the revolution direction of the planetary gear 60 are counter directions, the rotation of the planetary gear 60 rotates at a double speed, and the third movable body 6 is swung to the left quickly. The doll 2 swivels its upper body to the left quickly while turning the whole body to the left.

N. Whole body: left turn / upper body: stop The first drive motor 71 is rotated in the direction of arrow A to rotate the first movable body 4 left in the direction of arrow X, and the third drive motor is rotated in the direction of arrow D to move third. Revolving the body 6 causes it to stop relatively. The doll 2 makes a left turn over the whole body with the upper body stopped.

O. Whole body: left turn / upper body: left swing The first drive motor 71 is rotated in the direction of arrow A to rotate the first movable body 4 counterclockwise in the direction of arrow X, and the third drive motor 91 is stopped to rotate the third movable body 6. Is swung to the left in the direction of arrow E.
The doll 2 turns the whole body to the left and swings the upper body to the left.

P. Whole body: stop / upper body: left swing The first drive motor 71 is stopped to stop the first movable body 4, and the third drive motor 91 is rotated in the direction of arrow d to move the third body.
The movable body 6 is swung to the left in the direction of arrow E. The doll 2 swings its upper body to the left without turning.

Q. Whole body: Stop / Upper body: Right swing The first drive motor 71 is stopped to stop the first movable body 4, and the third drive motor 91 is rotated in the direction of arrow D to move the third body.
The movable body 6 is swung right in the direction of arrow e. The doll 2 swings its upper body to the right without turning.

R. Whole body: stop / upper body: stop Both the first drive motor 71 and the third drive motor 91 are stopped to stop the first movable body 4 and the third movable body 6. Doll 2
Is placed stationary.

The operation of the doll 2 described above is a combination of ON / OFF of the first drive motor 71 and the second drive motor 81, and the first drive motor 71 and the third drive motor 91.
It is a combination of turning and stopping the whole body, kicking and stopping before and after the left leg, and swinging and stopping the upper body, but when the three drive motors are turned on and off together and these are executed as a series of actions, it is as if the doll danced. Can be observed as if

By preparing a program in which the operating order of a plurality of movable bodies is changed, the doll can be caused to perform different dances.

In the illustrated embodiment, the rotational position of the first drive gear 70 integrated with the first movable body is the zero position (the initial operation position).
However, the zero position may be detected by the rotational position of the drive gear that is substantially integrated with another movable body.

[0075]

As described above, according to the present invention, when the first movable body is driven, the second movable body is set to the operation initial position in accordance with the planetary gear mechanism, so that the operation of the initial position setting is continued. The action operation can be executed as a series of movements, and the feeling of strangeness in the operation of the initial position setting prior to the start of the action is eliminated.

When the first movable body is driven by the first rotary drive source, the second movable body is positioned at the end portion of the movable region and set to the operation initial position. The initial position setting can be detected simply by detecting the position. This means that only a single zero position sensor needs to be provided, and the number of parts can be reduced and the cost can be reduced.

[Brief description of drawings]

FIG. 1 is a front view of an action mechanism of a doll or the like showing an embodiment of the present invention.

FIG. 2 is a left side view of the above doll.

FIG. 3A is a right side sectional view showing an example of a connection mode between a drive shaft and a movable body, and FIG. 3B is an enlarged left side sectional view of FIG. 3A.

FIG. 4 is an enlarged front sectional view showing a connection mode between a drive shaft and a rotary drive source.

FIG. 5 is a front cross-sectional view showing an example of a connection mode between a drive shaft and a movable body.

FIG. 6 is a plan view showing relative positions of a rotary drive source and a drive shaft.

7A is a perspective view showing the model of the doll shown in FIG. 1 and showing an example of an initial operation state, and FIG. 7B is one of the second movable bodies (6) during the initial position setting operation. 3) is a perspective view showing a state in which the position is regulated at the initial position.

FIG. 8A is a perspective view showing a state where the initial position setting operation of all the second movable bodies is completed, and FIG. 8B shows a state in which only the second movable body (7) is moved after the initial position setting. It is a perspective view shown.

FIG. 9 is a perspective view showing a state in which two second movable bodies (6, 7) are moved.

FIG. 10 is a perspective view schematically showing an embodiment according to claim 2 and showing an initial state of an initial position setting operation.

11A is a perspective view showing a state in which one of the second movable bodies (6) is set to an initial position, and FIG. 11 (b) is an initial position setting of all the second movable bodies (6, 7). It is a perspective view which shows the state which was completed.

[Explanation of symbols]

 1 ... Doll stand 2 ... Doll 4 ... 1st movable body (whole body) 5 ... Oscillation axis 6 ... 3rd movable body (left leg) 7 ... 2nd movable body (Upper body) 30 ... Support frame 30cb ... Edge (regulating means) 31 ... First drive shaft 32 ... Second drive shaft 32b ... Sun gear 33a ... Planetary gear 34 ... -Third drive shaft 34b ... Sun gear 60 ... Planetary gear 70 ... First drive gear 71 ... First drive motor 80 ... Second drive gear 81 ... Second drive motor 90・ ・ ・ Third drive gear 91 ・ ・ ・ Third drive motor 100 ・ ・ ・ Control circuit S ・ ・ ・ Zero position sensor 101 ・ ・ ・ Regulating means 101a ・ ・ ・ Regulating pin 101b ・ ・ ・ Long hole 101c ・ ・・ Long hole

Claims (3)

[Claims] 1. An action mechanism such as a doll having a plurality of movable bodies and a plurality of drive sources coupled to the respective movable bodies, a first rotary drive source for giving an initial motion, and the first rotary drive source. And a second movable body that is connected to the first movable body via a planetary gear mechanism.
An action mechanism such as a doll, comprising a movable body, a second rotary drive source for driving the second movable body, and a regulation means for regulating the movable region of the second movable body. 2. The doll according to claim 1, wherein the regulating means is provided between the drive shaft of the first movable body and the drive shaft of the second movable body. Action mechanism such as. 3. The second movable body driving action of the second rotary drive source is cut off, and the first movable body is rotated by the first rotary drive source, whereby the second movable body is planet-moved. A method of setting an initial position of movement of a doll or the like, characterized in that the second movable body is positioned at an end of a movable area and is set to be the initial position of movement of the action mechanism.