JPH09313743A - Expression forming mechanism for imitative living being apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To express a various kind of expression such as laugh and anger by providing a transmission mechanism for interlockedly rotating respective parts which constitute the face of an initiative living being, selecting a prescribed interlocked state out of a plurality of interlocked states of the respective parts which are set for expressing an arbitrary expression, and driving the transmission mechanism. SOLUTION: When anger expression is set on an initiative living being apparatus, the rotation direction of a motor is set by changing the terminal of a switch to an R side and a monitor time TM is set to '0' initially to decide the rotation time of the motor. When an ON/OFF switch is turned on in this state, the motor is rotated, then the eyebrows 22, the eyes 23, the mouth 26, etc., move interlockedly by the rotation via a gear row and the normal expression (b) is started to change into the anger expression (c). When the monitor time reaches a prescribed time, a cam opens a micro switch so that the ON/OFF switch turns to off and the initiative living being shows the anger expression. On the other hand, when the sad expression is selected, the motor is rotated inversely for a prescribed time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pseudo-biological device which receives information from a third party including an operator and responds to the information mechanically or by changing voice, color, etc., and in particular, its facial expression. The mechanism for forming the.

[0002]

2. Description of the Related Art FIG. 56 shows a robot apparatus, in which 1 is a main body, 2 is a head, 3 is a base, 4 is a left arm, 5 is a right arm, 6 is a clock adjusting screw, 7 is a clock, and 8 is a clock. Is a response switch,
Reference numeral 9 represents a contact cover, 10 represents an eye, and 11 represents a mouth. The eye 10 has a spherical shape that is divided into an "eyelid" portion and a white "pupil" portion as shown by the diagonal lines. In this device, when the response switch 8 is pressed, the head 2 starts vertical movement (in the direction of arrow A in FIG. 1), and the eye 10 synchronizes with the inclination of the head 2 and the relationship between the "eyelid" and the "pupil". Changes, mouth 11
Performs open / close. When the inclination of the head 2 becomes large, when viewed from the front, the eyes 10 are gradually opened and the mouth 11 is closed. Further, the hand of this device makes the same rotary motion of both arms 4 and 5 within a certain rotation range in a cycle shorter than the vertical motion of the head 2. In addition to the above-mentioned operation, in the present apparatus, both arms 4 and 5 hit the base 3 to generate a collision sound or an alarm sound of the timepiece 7 to enhance the previous response operation. .

FIG. 57 shows a device in which a proximity sensor is incorporated into a bird character. In response to an object approaching this device, the voice of the bird is emitted while moving the head or the like. In FIG. 57, 12 is a bird body, 13 is a head, 14 is an upper beak, 15 is a lower beak, 16 is a leg, 17 is a branch, and 18 is a proximity sensor provided on a base. In this device, the head 13 rotates in the direction of arrow A in FIG. 2, the lower beak 15 reciprocates up and down, and the bird body 12 vertically moves. The movement of each part is mechanically controlled by cams and links connected to rotary movement from one motor, as in FIG.

[0004]

However, the conventional apparatus merely repeats a simple series of operations within a certain range in response to the strength and weakness of the voice, the pitch of the scale, and the like. Further, when the voice is weak, the device does not react and other operations are stopped. On the other hand, in the environment where the device is installed, for example, at midnight, when it is not possible to make a sound, it is preferable that another operation can be selectively executed.

[0005]

The present invention has been made by paying attention to the above points and has the following configuration. <Structure 1> A predetermined linkage state is selected from among a plurality of linkage states of each component that is set in advance to express an arbitrary expression, and a conduction mechanism that rotates the components that form the face of the pseudo creature in a linked manner. And a drive unit that drives the conduction mechanism until the selected linked state is reached.

<Explanation> The pseudo creature refers to any form such as a dog or cat-like creature, an anthropomorphic one like a hero of a cartoon, or a fictional one. The parts forming the face are parts such as eyes, eyebrows, nose and mouth. The reason why the parts are moved in a coordinated manner is that the respective parts need to cooperate with each other in order to give a specific facial expression. Rotational motion means that each component makes rotation or revolution about an arbitrary axis of rotation. Each part is mounted asymmetrically or eccentrically with respect to the axis of rotation in order to change its appearance by the rotational movement.

The transmission mechanism is a gear or the like meshing with each other for linking operation. The drive unit is composed of, for example, a drive motor. By doing so, various expressions such as laughter and anger can be expressed by a simple mechanism and a simple operation. In addition, changes in facial expressions can be made continuous and unique. By providing the switch means to stop the drive unit, it is possible to maintain a specific facial expression.

<Structure 2> Attaching protruding parts constituting the face of the pseudo creature so as to protrude outward from the periphery of the face,
A driving unit is provided that selects a predetermined protruding state from a plurality of protruding states of the protruding component set in advance to express an arbitrary expression and drives the protruding component until the selected protruding state is reached. Facial expression formation mechanism of pseudo-biological equipment.

<Explanation> As the protruding parts, for example, a hat,
Glasses, buns, feathers, crows, etc. These parts have the effect of emphasizing a facial expression or making a humorous expression by changing the state according to the facial expression. In addition, the facial expression itself has the effect that the facial expression can be inferred even if it cannot be seen at a distance. The protruding state refers to the inclination and movement of the protruding parts.

<Constitution 3> A predetermined appearance is selected from a plurality of appearance states of the appearance parts which are set in advance to express an arbitrary expression, by attaching appearance parts which make up the face of the pseudo creature and appear and disappear from a part of the face. A facial expression forming mechanism for a pseudo-biological device, comprising: a drive unit that selects the appearance / removal state and drives the appearance / retraction part until the selected appearance / retraction state is reached.

<Explanation> The nose, ears, mouth, tongue and other parts of the face can be made to project and retract from the face to enhance the expression. In addition, the facial expression itself has the effect that the facial expression can be inferred even if it cannot be seen at a distance. The retracted state refers to the state of protruding and retracting.

<Structure 4> A facial expression forming mechanism for a pseudo-biological device, which is provided with a posture control unit for changing and controlling the posture of the main body of the pseudo-living body in association with a change in the facial expression of the face constituting the pseudo-living organism.

<Explanation> Generally, by expressing sadness and joy with the body, it is possible to convey the feelings to the other person without words. Here, the pseudo-biological body refers to the entire face or the entire body. By rotating or rocking these, rich expression is possible.

<Structure 5> Facial expression formation of a pseudo-biological device characterized by comprising a toe drive control unit for controlling swinging of the toes of the pseudo-animal in association with a change in facial expression of the pseudo-animal. mechanism.

<Explanation> For example, in animation for children, sadness and joy are often expressed by the movement of the foot. In the pseudo creature, it is the easiest to control the swinging of the toes, and it is possible to express emotions by the rhythm and timing of moving the toes. Moreover, the floor surface can be moved by vibrating only the toes.

<Structure 6> In the structure 5, the toe drive control unit rotationally drives the toes of the toes at an arbitrary timing, which is a facial expression forming mechanism of a pseudo biological device.

<Explanation> By rotatably driving the tip of the toe at high speed or at low speed, an annoyed or sad state can be expressed in combination with the facial expression. As a result, the expression can be diversified.

<Structure 7> In Structure 5 or 6, unless the toe drive control unit detects that all or any of the plurality of detection switches arranged on the back of the foot has reached the floor of the bottom of the foot. A facial expression formation mechanism for pseudo-biological equipment, characterized by not driving the toes.

<Explanation> When a virtual creature moves due to vibration such as swinging or rotating of the toes, when it is placed on a desk or the like,
I want to prevent that fall. The detection switch is constituted by a micro switch or the like that turns on when the back surface of the foot reaches the mounting surface and turns off when the back surface of the foot separates from the mounting surface. When a part of the foot touches the edge of a desk or the like, one of the detection switches does not turn on even if the other detection switches turn on. By stopping the vibration of the toes at this timing, it is possible to prevent the pseudo creature from falling. Since the detection switch is used for this purpose,
It may be a contact type or a non-contact type.

<Structure 8> In Structure 5 or 6, a facial expression forming mechanism for a pseudo-biological device, characterized in that it is provided with a music playing portion which outputs a predetermined melody in synchronization with the movement of the toe while it is being driven.

<Explanation> The motion of the toes of the toes is just like a tap dance. Therefore, it is configured to play music that matches the movement and rhythm. To achieve the synchronization, for example, a mechanism that controls the movement of the toes of the toes and the sounding device are interlocked.

<Structure 9> A facial expression forming mechanism for a pseudo-biological device, characterized in that it is provided with a voice output means for outputting a corresponding voice in association with a change in the facial expression of the face constituting the pseudo creature.

<Explanation> When the facial expression changes due to displacement of the eyes, eyebrows, or the like, a voice such as “I'm angry” is output when the facial expression changes, for example, when the facial expression changes to angry. Therefore, the facial expression and the voice can be further diversified to enhance the impression. In this case, the voice pattern is stored in the storage unit in association with the facial expression. This voice pattern may be set in advance, or may be input from a microphone or a keyboard.

Further, when the power supply voltage for operation becomes low, this may be detected and, for example, "hungry" or the like may be output as voice. Furthermore, the volume and gradation of the voice may be changed in response to the change in facial expression.

<Structure 10> In the process in which each part constituting the face of the pseudo biological device is rotated by the driving part to shift to a predetermined linked state, the light emitting part housed inside the eye made of a transparent material. The facial expression formation mechanism of the pseudo-biological device, which blinks at a predetermined timing.

<Explanation> When a light source is present inside the eye and the direction of the light source and the angle blinking speed and interval of the reflecting mirror are variously changed, a complicated expression can be expressed.

<Structure 11> In Structure 10, the facial expression forming mechanism of the pseudo biological device is characterized in that the color filters on the optical path of the light emitted from the light source are switched by the rotation of the eyes.

<Explanation> If the position of the color filter is changed so that the color of the light emitted from the light source is changed by the rotation of the eye by arranging the color filter around the eye itself, the expression of the eye can be varied. Be converted.

<Structure 12> In the pseudo biological device, the drive unit expresses a preset facial expression in accordance with the sound pressure of the sound input from the microphone.

<Explanation> For example, when the owner makes a loud voice to the pseudo creature, a sad expression can be made, and when the voice is gentle, a happy expression can be made, and a more lifelike motion can be performed. When a voice is input, the facial expression can be enjoyed by continuously changing the facial expression until a next voice is input at a certain time.

<Structure 13> Comparing the power supply voltage for operation with the reference voltage, and when the power supply voltage is low, it includes a voltage detecting means for controlling the drive unit to change the face of the pseudo creature into a corresponding expression. Facial expression formation mechanism of the characteristic pseudo-biological equipment.

<Explanation> When the power supply voltage drops, the face is changed to a corresponding face, for example, a sad face. In this case, when the operator works, for example, when a voice is input to change to a sad face, it is determined that the power supply voltage has dropped.

<Structure 14> Two or more facial expressions are preset, and the facial expressions are always changed periodically in a fixed order, or the facial expressions just stop changing with respect to the target expression. As described above, the facial expression forming mechanism of the pseudo biological device, which is provided with the control circuit for controlling the stop timing.

<Explanation> When the facial expression is rotated and changed so as to be interlocked by using a mechanical conduction mechanism, the facial expression at the time of stopping varies depending on the timing of stopping the rotation. The same facial expression may appear periodically when the facial expression is changed by driving a predetermined mechanism in addition to the rotational movement. At this time, if the driving is stopped after changing the expression several times, various expressions are possible. Therefore, the stop timing control is performed by designating the number of times this facial expression changes.

<Structure 15> A voice recognition unit for comparing a voice input from a microphone with a prepared voice pattern, and a control unit for selecting a facial expression set corresponding to the corresponding voice pattern are provided. The expression formation mechanism of pseudo-biological equipment.

<Explanation> Having various expressions corresponding to the voice of the owner, etc. is more familiar as a pseudo creature.

<Structure 16> A facial expression forming mechanism for a pseudo-biological device, characterized in that a drive axis of a mechanism for changing a facial expression is linked to a volume adjusting axis for controlling the volume of output voice.

<Explanation> The drive shaft may be one that moves any mechanical component, but a drive shaft of a rotating mechanism such as an eyebrow, which greatly affects facial expressions, is preferable. If this axis and the adjustment axis of the volume (for example, variable resistor) are interlocked, the volume of the output music changes according to the facial expression, so a richer expression can be achieved.

<Structure 17> In Structure 16, the facial expression forming mechanism of the pseudo biological device is characterized in that the facial expression at that time is confirmed by the state of the adjusting axis of the volume.

<Explanation> For example, when the control unit cannot recognize the current facial expression due to the mixing of noise or the power supply being cut off, the state of the adjusting axis of the volume is electrically recognized by the resistance value of the volume. You can check your facial expressions. This facilitates facial expression control.

<Structure 18> A rotary shaft of an arbitrary part is linked to a transmission mechanism through an elastic connecting means that absorbs the rotation blocking force and elastically returns to the original state. Facial expression formation mechanism of pseudo-biological equipment.

<Explanation> Since the pseudo creature is handled as a pet product, it is often hugged or grasped strongly. If an elastic connecting means, for example, a limiter torsion spring is used as the connecting means for the rotating shaft, it will recover even if it is restrained and deformed if the force is released. Therefore, it can be configured to be more tactile and durable and more like a living creature.

<Structure 19> The drive shaft of the mechanism for changing the expression is interlocked with the adjusting shaft of the volume for controlling the volume of the output sound, and the storage unit storing the two or more kinds of sound patterns to be output and the volume. A facial expression forming mechanism for a pseudo biological device, comprising: a control unit that selects and outputs a voice pattern corresponding to the state of the adjustment axis of.

<Explanation> A word is selected and generated according to the facial expression expressed by the face or body. Therefore, it is preferable that the voice pattern is set to have a content suitable for the facial expression.

<Structure 20> This is a pseudo-biological device that changes the facial expression of a pseudo-living body, and has a voice input section for inputting a voice, a voice recognition section for recognizing the input voice, and a recognized voice pattern. A facial expression forming mechanism for a pseudo biological device, comprising: a storage unit that stores a voice and a voice output unit that reads a voice pattern from the storage unit and outputs a corresponding voice.

<Description> When the operator inputs a voice, the voice pattern is recognized and the corresponding voice is output. Therefore, a one-to-one interactive form can be adopted. When the storage amount of the voice pattern becomes large, for example, the previously stored voice pattern is deleted. In this case, the voice pattern becomes similar due to the so-called habit of the operator. The timer section may set 7:00 pm and automatically output a voice, for example, "Welcome back" is output. Therefore, it responds as needed without operator intervention.

If the time interval for voice input by the operator or the like is large, the automatic starting means can be used, for example,
Make "Sorrowful" sound output. In these cases, it is preferable to change the facial expression at the same time.

When automatically stopping, the corresponding facial expression may be output while returning the facial expression to the original expressionless state. As a result, it becomes possible to discriminate between the operating state and the stopped state.

[0049]

BEST MODE FOR CARRYING OUT THE INVENTION

<Specific Example 1> The simulated biological device of this specific example has a structure that is simulated on a human face, and is configured so that each part can be changed according to an input signal to express an angry state and a sad state. ing. That is, FIG. 1 is an overall configuration diagram of a simulated biological device according to the present invention, and FIG. 2 is a side view of the device. In FIGS. 1 and 2, reference numeral 19 denotes a face main body, which is fixed to a front frame 20 behind the face main body with mounting screws 21. The face body 19 includes eyebrows 22 and 22 and eyes 23 and 23.
, Nose 24, spiral cheeks 25, 25, and mouth 26
Are rotatably arranged. A rear frame 30 is supported behind the front frame 20 via a support 27. A mounting plate 20A is supported between the rear frame 30 and the front frame 20, as shown in FIG. A speed reducing mechanism 28A is fixed to the mounting plate 20A, and an upper drive motor 28 is connected to the speed reducing mechanism 28A. An input shaft 29 projects from the reduction mechanism 28A, and one end of the input shaft 29 is rotatably supported by a rear frame 30. An input gear 36 is attached to the other end of the input shaft 29, and the outer gear 3 is attached to the input gear 36.
5 are in mesh.

The outer gear 35 is connected to the transmission mechanism 31 in the gear box 31A. FIG. 3 is a configuration diagram of the conduction mechanism 31. This transmission mechanism 31 has an outer gear 32 attached to the shaft of an outer gear 35. The outer gear 32 is meshed with an idle gear 33a, the idle gear 33a is meshed with another idle gear 33b, and the idle gear 33b is further meshed with the idle gear 33b. The other idle gear 33c is meshed. The outer gear 31c meshes with the idle gear 33c. On the other hand, idle gear 3
A small gear 34A mounted coaxially with 3b meshes with a large-diameter outer gear 34, and this outer gear 34 meshes with another small gear 34B. The outer gear 31a meshes with the idle gear 33d mounted coaxially with the small gear 34B.

On the other hand, the large-diameter outer gear 34 is meshed with another large-diameter outer gear 34, and the small gears 34A and 34B are similarly meshed with the outer gear 34. An outer gear 31b is meshed with an idle gear 33e coaxial with the small gear 34A via an idle gear 33f. Also, an idle gear 33d coaxial with the small gear 34B
An outer gear 31a meshes with the. in this way,
The transmission mechanism 31 has a symmetrical gear structure except for the outer gear 31c and the idle gear 33c below.

The rotation shafts 23a of the eyes 23, 23 are coaxially connected to the outer gears 34, 34, and the eyebrows 22, 22 are formed.
Rotating shaft 22a is coaxially connected to outer gears 31a and 31a, rotating shaft 25a of cheeks 25 and 25 is coaxially connected to outer gears 31b and 32, and rotating shaft 26a of mouth 26 is coaxially connected to outer gear 31c. I'm standing.

That is, as shown in FIG. 6, each eyebrow 22 comprises an eyebrow body 22A and a rotating shaft 22b protruding rearward, and the rotating shaft 22a is fixed by being fitted into the inner hole 40 of the outer gear 31a. In addition, eyes 23, 23, cheek 2
Similarly, 5, 25 and the mouth 26 are composed of a main body and a rotary shaft, and the rotary shaft is fitted and fixed in the inner holes of the outer gear 34, the outer gears 32 and 31b, and the outer gear 31c, respectively.

Further, each eyebrow 22, each eye 23, shown in FIG.
It is important that parts other than the main body, such as the cheeks 25 and the mouth 26, can be used if the rotary shaft can be fitted into the internal hole of the gear, and that the facial expression greatly changes.

Next, the operation of the simulated biological device of the present invention will be described. First, the rotation from the drive motor 28 is changed by the reduction mechanism 2
8A through the input gear 36 (the number of teeth: 30) to the outer gear 35 (the number of teeth: 54) and the outer gear 32 (the number of teeth: 30)
To the idle gears 33a, 33b, 33
Right eye 2 through c (number of large teeth: 30, number of small teeth: 10)
3, transmitted to the outer gear 34 and the outer gear 31c to which the rotary shafts 23a and 26a of the mouth 26 are attached. Therefore, the cheek 25 (left) is rotated by the outer gear 32 (the number of teeth: 30). The outer gear 34 that rotates the eye 23 is interlocked with the small gear 34A (gear: 10) of the idle gear 33b. On the other hand, the outer gear 31 that rotates the mouth 26
c is an outer gear 32 and idle gears 33a, 33b,
It is linked with 33c (gear: 30).

The eyebrows 22 are rotated from the outer gear 34 to the small gear 34B of the idle gear 33d (gear:
Outer gear 31a (gear: 3
It rotates by 0).

On the other hand, on the left side of the transmission mechanism 31, the other outer gear 34 for moving the left eye 23 is used as an input gear, and the outer gears 31a, 31b which are interlocked with the left eyebrow 22 and the left cheek 25 by idle gears 33d, 33e, 33f.
To rotate.

In this example, the gear ratio between the input gear 36 and the outer gear 34 of the eye 23 is 1: 7.56, and the input gear 36 is
And each outer gear 3 of the eyebrows 22, the mouth 26 and the cheek 25
The ratio of the number of teeth to 1a and 31b is 1: 1.8. Therefore, when the input gear 36 is rotated once (360 degrees), the eyes 23 rotate 47.6 degrees and the eyebrows 22 and the like rotate 200 degrees.
The above gear ratio can be changed by replacing the gears in consideration of facial expressions.

FIG. 7 shows specific examples of facial expressions of the pseudo biological device of the present invention. 7A shows a concrete example in which the expression is changed to a sad expression, FIG. 7B shows a concrete example in which an ordinary face is shown, and FIG. 7C shows a specific example in which an angry expression is changed.

Next, in the pseudo biological device of the present invention, as shown in FIG.
As shown in FIG. 5, a count screw 37 was attached on the rotary shaft 36a of the input gear 36, a count spring 38 was extended in the vicinity thereof, and a micro switch 39 was arranged below it. Therefore, the micro switch 39 can be turned ON / OFF once to switch each time the input gear 36 rotates once. The count spring 38 and the micro switch 39 are fixed to the front frame 20 with screws.
In the micro switch 39, when the convex portion 39a of the main body shown in FIG. 4 is dented (FIG. 5), the two terminals of the switch 39 are in a non-connected state (OFF). That is, in FIG. 4, the switch 39 is in the connected state (ON).

In FIG. 4, since the count screw 37 does not push the count spring 38, the convex portion 39a of the micro switch 39 at the tip of the count spring 38 is formed.
Is protruding. In FIG. 5, since the count screw 37 pushes the count spring 38, the count spring 38
Is bent and deformed, and its tip pushes the convex portion 39a of the microswitch 39.

This makes it possible to electrically control the action of changing the face. Although the same effect can be obtained by controlling the drive motor so that it can be rotated by an electric timer for a certain period of time, in consideration of noise and the like when the motor is rotating, this specific example is malfunctioning. Is less likely to occur, and the operation can be reliably continued until the change of the face is completed.

FIG. 8 shows the drive circuit of the first specific example. For convenience, this drive circuit includes an input gear 36 and a count screw 37.
A cam 41 and a switch 42, which are integrally formed of
It is composed of a power source 43 and a power source 44, and a switch 45.

As described above, when the two power sources 43 and 44 are used, the direction of the polarity ((+), (−)) of the voltage applied to the drive motor 28 is switched by the switch 45, and the rotation direction of the drive motor 28 is changed. Can be changed. Switch 42
Activates the drive motor 28, but when the cam 41 rotates and the micro switch 39 opens, it opens in conjunction with it. In place of the micro switch 39, an optical sensor that turns on / off in response to light, or a sensor that similarly operates when the input signal is sound, acceleration, etc. may be replaced.
The same effect as above can be obtained.

The same effect can be obtained by preparing a dedicated drive circuit for driving the motor and switching the polarity of the voltage applied to the motor in the circuit.

Next, FIGS. 9, 10 and 11 are flow charts for controlling the face of the simulated biological device of the present invention. In FIG. 9, when the face has an angry expression, FIG.
On the contrary, when the face has a sad expression, and in FIG. 11, the face is returned to the original state. In these control flow charts, TM is a monitoring time for controlling the switch 42,
t1 is a specified time when the switch 42 is ON, and t2 is a time when the micro switch (MSW) 39 associated with the cam 41 is closed (time when the drive motor 28 is rotating).

First, in FIG. 9, FACE = 1 is selected in order to make an angry expression in step 1, so in step 2, the terminal R of the switch 45 is selected to determine the rotation direction of the drive motor 28 (FIG. 8). reference). Step 3
In order to determine the rotation time of the drive motor 28, the monitoring time T
Initialize M as "0". In step 4, the switch 42 is turned on to rotate the drive motor 28. This will start changing from a normal expression to an angry expression. In step 5, the monitoring time TM is monitored until the specified time t1 is reached. Therefore, the drive motor 28 continues to rotate. When the monitoring time TM reaches the specified time t1 in step 5, step 6
Since the cam 41 opens the micro switch 39, the switch 42 is automatically turned off as shown in FIG. Therefore, the drive motor 28 stops. As a result, the pseudo biological device of the present invention changes into an angry expression.

Next, in FIG. 10, in step 1, FA
When the sad expression of CE = 2 is selected, the terminal L of the switch 45 is selected in step 2. Therefore, the drive motor 28
Can rotate in the opposite direction. In step 3, the monitoring time TM is set to "0", and in step 4, the switch 42 is turned on.
Then, the drive motor 28 is rotated. With this, a normal facial expression begins to change to a sad facial expression. When the monitoring time TM becomes longer than the specified time t1 in step 5, the switch 42 is turned off and the drive motor 28 is stopped in step 6. Therefore, it can be changed to a sad expression.

Next, FIG. 11 is a control flow chart for changing from a normal expression, a sad expression, and an angry expression to a normal expression. This control flowchart will be described. When changing from an angry expression to a normal expression, the drive motor 28 must be rotated in the direction of changing to a sad expression, so in step 1, FACE = 2.
Is selected, and the switch 45 is set to the terminal L in step 2. As a result, it returns to a normal expression.

When changing from a sad expression to a normal expression, the drive motor 28 must be rotated in the direction of changing to an angry expression, so in step 1, FACE = 1.
Is selected, and the switch 45 is set to the terminal R in step 3. As a result, it returns to a normal expression. In the case of a normal expression, it is sufficient to select FACE = 0 in step 1, and the drive motor 28 does not rotate. As a result, the facial expression remains the same.

FIG. 12 is a flow chart showing a change in the face when the above control flow charts are combined. The angry facial expression in step 1 is returned to the normal facial expression in step 2 and the sad facial expression is changed in step 3. Then, return to the normal expression in step 4. In this way, there are only three facial expressions, and when changing from an angry expression to a sad expression,
When changing from a sad expression to an angry expression, all return to normal expressions.

<Specific Example 2> FIGS. 13 and 14 show another specific example of the simulated biological device of the present invention. This device has a cam 46 arranged on the back of one eye 23 position,
A link 47 whose lower end is pivotally supported by the tip of the cam 46 via a pin shaft 52, and another cam portion 48 pivotally supported by the upper end of the link 47 via the pin shaft 52.
And a dummy stem 50 that is connected to the cam portion 48 via a coil spring 49 and extends upward, and a dummy leaf 51 attached to the upper end of the stem 50, and the cam portion 48 is the rear frame 30. The snap shaft 53 pivotally supported between the front frame 20 and the front frame 20 is rotatably mounted. The cam 46 is fixed to the rotary shaft 23a of the one eye 23, and together with the one outer gear 34 (see FIG. 3),
It is designed to rotate. Since the other configurations are the same as those of the device shown in FIGS. 1 to 3, the same reference numerals are given and the description thereof is omitted.

Now, as shown in FIG.
When 3 and 23 approach by turning 47.6 degrees and have a sad expression, the cam 46 rotates counterclockwise together with the one eye 23 and pushes up the link 47, so that the cam portion 48 centers on the snap shaft 53. Rotate clockwise. Therefore, the stem 50 and the leaf 51 as the protrusions are rotated downward by 34 degrees and brought into a state of being lowered. On the contrary, when the eyes 23, 23 are separated and the expression becomes angry, the cam 46 rotates clockwise and the cam portion 48 rotates counterclockwise. Therefore, as shown in FIG. 15C, the stalk 50 and the leaves 51 are rotated upward by 37.6 degrees to be in a raised state.

In this example, since the leaves 51 and the stems 50 are projected to the outside of the device, if a force acts on the leaves 51 and the stems 50 from the outside, the original leaves 51 and the stems 50 are vertically moved. Therefore, there is a possibility that the rotary operation cannot be performed and the power units such as the cam unit 48 and the cam unit 46 are adversely affected, and in the worst case, the mechanism is destroyed. Therefore, a coil spring 49 is arranged between the stem 50 and the cam portion 48 so that the external load force acting on the leaf 51 and the stem 50 is absorbed by the coil spring 49 and is not transmitted to the cam 46 and the cam portion 48. ing.

Thus, even if the facial expression is not visible, the leaves 5
The facial expression can be understood by the action of the protrusion such as 1. In addition to the leaf shape shown in FIG. 14, a similar effect can be obtained with a hat, glasses, chopped hair, feathers, a chicken crown, etc.

<Specific Example 3> FIG. 16 is a diagram showing a modification of the specific example 2 of the pseudo biological device of the present invention. In this pseudo biological device, a wire 54 whose lower end is connected to a cam 46, a limiter spring 55 which is connected to an upper end of this wire 54, another wire 54A which is connected to this spring, and this wire 54A. The pulleys 56 and 56 are wound around the cylinder 56, a cylinder 58 supporting the pulleys 56 and 56, a slider 57 in the cylinder 58, a stem 59 attached to the slider 57, and a tension spring 60. ing.

The stem 59 having the leaves 51 is inserted into the slider 57, and the tension spring 60 constantly pulls the slider 57 to the bottom of the cylinder 58. The wire 54A is connected to the slider 57, and the cylinder 58 is fixed to the front frame 20. The cam 46 is similarly fixed to the rotary shaft 23a of the eye 23. The protruding amount of the leaf 51 is the cam 4
Determined by the arm length R of 6.

In FIG. 16, when the cam 46 rotates counterclockwise, the tension of the wire 54A becomes small and the slider 57 is pulled by the tension spring 60.
Sank into the cylinder 58, and the leaves 51 project outward when the cam 46 rotates in the opposite direction.

FIG. 17 is a diagram showing changes in facial expressions. That is, when the cam 46 rotates counterclockwise, the face becomes a sad expression, and as described above, the leaf 51 sinks, and when the cam 46 rotates clockwise, the face becomes an angry expression and the leaf 51 pops out. Note that FIG. 17B shows a leaf 51 with a normal facial expression.
Indicates the position of.

By the way, in FIG. 16, the limiter spring 55 is for preventing the power portion such as the cam 46 from being destroyed when the protrusion of the leaf 51 is pressed by an external force, and the coil spring 49 shown in FIG. The same effect as can be obtained.

In addition to the operation of the protrusion shown in the second and third specific examples, although not shown, the front-rear direction, the rotation direction,
Combinations in each direction can be easily analogized, and similar effects can be obtained. Further, in FIG. 16, the slider 57 is provided with a protrusion and is engaged with a screw groove provided on the contact surface of the cylinder 58, so that the slider 57 can be rotated during the vertical movement of the slider 57 described above. You can As a result, the leaf 51 that interlocks with the slider 57
The stem 59 moves up and down while rotating.

<Specific Example 4> In this specific example, the facial expression can be expressed by moving the pseudo biological device itself according to the facial expression. That is, in the pseudo biological device of the present invention shown in FIGS. 18 and 19, the cam 61 fixed to the rotating shaft 23a of the one eye 23, the protrusion 62 protruding from the cam 61, and the protrusion 62 are provided. A U-shaped limiter spring 63 that is sandwiched, a support frame 64 to which the spring 63 is fixed, a snap shaft 65 that swingably supports the frame 64, and legs 66a and 65b extending from the frame 64. And a heel 67 and flippers 68a and 68b.

When the cam 61 is rotated counterclockwise in synchronism with the rotation of the eye 23, the protrusion 62 is sandwiched by the U-shaped limiter spring 63 fixed to the support frame 64. 62 applies upward pressing force to the limiter spring 63. Since this pressing force is applied to the support frame 64 to which the weight of the device is applied,
The support frame 64 does not rotate, but the pseudo biological device itself relatively rotates clockwise around the snap shaft 65.

In this example, when the eye 23 rotates 47.6 degrees, the entire simulated biological device can rotate 10 degrees. FIG. 20 shows an example showing the relationship between the facial expression and the rotation of the pseudo biological device. In Fig. 20 (a), the device is turning clockwise with a sad expression, and in Fig. 20 (c) it is turning counterclockwise with an angry expression. FIG. 20B shows a normal state.

As described above, the U-shaped limiter spring 63 is connected to the projection 62 of the cam 61 and the support frame 6.
4 and the artificial biological equipment is pressed from the outside and its movement is stopped, the cam 61 can rotate by pressing the limiter spring 63, so that the power system is destroyed by the load from the outside. Can be prevented.

<Specific Example 5> In this specific example, an operation of moving the foot, particularly the tip of the toe, of the pseudo biological device is added. 21,
22, the pseudo biological device of the present invention includes a drive motor 69 for changing the toes of one foot, an input gear 70 attached to the shaft of the drive motor 69, and a gear 71 meshing with the input gear 70 below. , Drive motor 69
And the U-shaped foot frame 7 to which the gear 71 is attached
4, a cam 72 coaxially fixed to the gear 71, a rotary link 75 into which a protrusion 72a on the outer peripheral side of the cam 72 is engaged, and one end of the rotary link 75 is pivotally supported on the foot frame 74. A support stud 73, a link 84 whose upper end is pivotally supported at the other end of the rotary link 75, a right foot cover 85 and a left foot cover 90 that are integrally provided in the lower portion of the foot frame 74, and a right foot cover. 85
Achilles plate spring 88 engaged with the lower end of the link 84 extending inward, a fulcrum shaft 87 pivotably supporting the spring 88 with the link 84 side as a fulcrum, and a pivot shaft 87. A light toe cover 86 that is supported and a weight 89 that is fixed to the inside of the tip of the cover 86 are provided. The tip of the leaf spring 88 supports the inner lower end surface of the light toe cover 86.

The operation of the mechanical section having the above configuration will be described. When the drive motor 69 is driven and the gear 71 is rotated via the input gear 70, the coaxial cam 72 also rotates, so that the protrusion 72a of the cam 72 presses the rotation link 75 that is engaged in the central hole. , Rotates counterclockwise about the support stud 73. When the rotary link 75 pivots downward in this manner, the link 84 moves downward, so that the tip of the leaf spring 88 swings upward with the fulcrum shaft 87 as a fulcrum. Therefore, the light toe cover 86 is lifted, and the toe moves upward.

Next, a gear 91 is coaxially attached to the cam 72.
(See FIG. 22) is attached, and the idle gear 76 meshes with this gear 91. The sensor gear 77 meshes with the small gear 76a of the idle gear 76,
A cam 78 is coaxially fixed to. The cam 78 has a protrusion 78a (see FIG. 23), and a micro switch 80 is arranged below the protrusion 78a. The micro switch 80 is fixed to the foot frame 74 via a mounting base 79.

As shown in FIG. 23, the microswitch 8
Reference numeral 0 has a detection arm 81 and a protrusion 82 extending upward, and the upper end of the detection arm 81 faces the cam 78.
Now, as described above, when the cam 72 rotates, the coaxial gear 91 rotates to rotate the idle gear 76.
Therefore, the sensor gear 77 meshing with the small gear 76a rotates and the cam 78 rotates. When the cam 78 rotates, the protrusion 78a pushes the detection arm 81 and pushes the protrusion 82 of the microswitch 80. This allows
Since the micro switch 80 becomes non-conductive, the vertical movement of the light toe cover 86 stops.

In the above specific example, the gear ratio is set so that when the gear 91 makes three revolutions, the sensor gear 77, that is, the cam 78 makes one revolution. Therefore, the light toe cover 86 moves up and down three times and stops. Further, the drive motor 69 may be controlled by a timer, but the operation of this example is more reliable and stable, and the noise of the motor can be prevented.

FIG. 24 shows a drive circuit for moving the toe up and down. This drive circuit comprises a drive motor 69,
Cam 78, micro switch 80, switch 92
And a power source 93. In the figure, by turning on the switch 92, the micro switch 80 is turned on. When the micro switch 80 is turned on, the drive motor 69 is rotated and the toe is vertically moved by the cam 78 until the micro switch 80 is turned off. still,
Even if the switch 92 is replaced with an optical sensor that turns ON / OFF between the two terminals in response to light, or a sensor that shows a similar operation with an input signal such as sound or acceleration, the same effect as above can be obtained.

Further, by forming the leaf spring 88 for Achilles between the light toe cover 86 and the link 84, even if the cover 86 is pressed from the outside and the vertical movement of the toe is stopped, the cam 72 and the cam 72 rotate. It is possible to prevent the structure from being broken by a load from the outside by bending the spring 88 via the link 84 by the force from the link 75.

Now, FIG. 25 is a control flowchart for moving the toes. This control flowchart is configured such that the timing of moving the toes starts to move after a certain period of time has elapsed since the facial expression changed to an angry state. The same effect can be obtained by moving the toes at the same time as changing the facial expression, or even after changing the sad facial expression.

In FIG. 25, TF1 is a waiting monitoring time until the toe is moved, TF2 is a monitoring time for controlling the switch 92, t3 is a waiting time, t4 is a specified time when the switch 92 is ON, and t5 is a cam. From the relationship between 78 and the micro switch 80, this is the time when the switch 80 is ON (the time when the drive motor 69 is rotating).

First, in step 1, a pause time is set from when the expression changes to an angry expression until the toes start to move. This time is the monitoring time TF1, and TF = 0 is initialized. In step 2, the system waits until the waiting time t3 has elapsed. After waiting time t3, the process proceeds to step 3. Monitoring time TF2 for controlling switch 92 in step 3
Initialize. This is done by resetting the timer etc. In step 4, the switch 92 is turned on. Step 5
Then, the drive motor 69 is rotated until the specified time t4 elapses. The drive motor 69 rotates for the time t5 until the toe starts to move and returns to the original position. The time t4 is set longer than the time t5. When the monitoring time TF2 becomes longer than t4 in step 6, the switch 92 is automatically turned on in step 7 by the drive circuit configuration of the drive motor.
It becomes FF.

<Specific Example 6> In this specific example, a speed changeover switch 94 is added to the drive circuit of the specific example 5 shown in FIG. 24 to change the operating speed for vertically moving the toes. The drive circuit includes a drive motor 69, a cam 78, a micro switch 80, a switch 92, a power source 93, and a speed changeover switch 94.

The speed changeover switch 94 is composed of a circuit (L) having a resistance value R and a circuit (H) having no resistance.
When the speed changeover switch 94 is set to (L), the resistance R is input and the current value applied to the drive motor 69 decreases. That is, the drive motor 69 rotates at a low speed. On the other hand, when the speed changeover switch 94 is set to (H), there is no resistance, so that the current value becomes high and the motor rotates at high speed.

FIG. 27 is a control flowchart according to the sixth example. In this control flowchart, the facial expression can be changed to an angry state, and after a certain waiting time, the toes can be moved at a low speed and then the toes at a high speed. As a result, the movement of moving the toes can be changed, so that, for example, in terms of human emotions, a “irritated” state can be expressed. The same effect can be easily obtained with the same control flowchart even when the face is changed to a sad state.

In this control flow chart, as in the fifth specific example shown in FIG. 25, not only the toe is moved but also the low speed and the high speed are divided into first, low speed and then high speed. I try to move it. That is, step 3 and step 9 are added, and step 3
Set the speed changeover switch 94 to the L side with step 9
Then, the speed changeover switch 94 is set to the H side. With the above operation, the toes can be moved at low speed or at high speed.

As a result, it is possible to express the difference in emotion of angry facial expressions. Next, the control flowcharts of FIGS. 28 and 29 are combinations of the drive circuits of the sixth specific example that can switch the speed when moving a plurality of toes up and down.
The number of up and down movements of the toe is arbitrarily set while the expression is angry, and low speed and high speed are selected. In these figures,
N1 represents the number of repetitions of the low speed motion, N2 represents the number of repetitions of the high speed motion, and N represents the number of times the toes are vertically moved. As the above setting method, a switch can be set by providing a dip switch or the like on the substrate of the drive circuit shown in FIG.

First, in the control flow chart of FIG. 28, when the waiting time t3 elapses after the device of the present invention changes to an angry expression, in step 3, the number N1 of low speed exercises and the number N2 of high speed exercises are set. In step 4, the number of times N is initialized to "0". In step 5, N1 is "0"
In the case of, the process proceeds to step 14. When N1 is set to 1 or more, the process proceeds to step 6. In step 6, N1
According to the number of times, the low speed motion is repeated N1 times from step 8 to step 12. That is, the toe is vertically moved N1 times at low speed. In this case, in step 7, the speed changeover switch 94
(See FIG. 26) is set to L. Steps 8 to 11 correspond to steps 4 to 8 in FIG. In step 13, the counter increments the previous number by 1 and moves to step 6 to repeat until the number of times N1 of low-speed movement is repeated. When N reaches N1 times in step 6, the process exits this loop and proceeds to step 14.

In the control flow chart shown in FIG. 29, the speed changeover switch 94 is set to H, and in steps 18 to 22, the number N2 of repetitions of the high speed motion previously set is set.
Then, move the toe up and down N2 times at high speed. This makes it possible to express an angry facial expression with repeated vertical movements of the toes and high speed and low speed. Even if the number of times of repetition is randomly set on software, the same effect as above can be obtained.

<Specific Example 7> When the toes are operated at high speed in the above specific example, the motions of the toes act as vibrations on the simulated biological device. Therefore, in FIG. 21, the sole is enlarged to improve the stability and the weight 89 is attached to the light toe cover 86. However, by positively utilizing the vibration of the toe, the pseudo biological device can be moved. As a result, the impression of the response given to the third person can be made larger than the operation of moving the toe up and down.

Now, in this example, as shown in FIG. 30, the micro switches 95a, 95b, 95 are attached to the soles of the feet so that the pseudo biological device does not drop from a high place such as a desk during movement.
c and 95d are attached. That is, the microswitches 95a, 95b, 95c, 95d are arranged at four positions, the toes of the left and right feet and the heel. When the pseudo-biological device having such a configuration is installed on the desk, the sensor parts 96 of the microswitches 95a, 95b, 95c, and 95d are dented by the weight of the device and show an ON state. In this state, the pseudo biological device moves due to the vibration of the toes, and when a part of the foot sticks out from the end of the desk, the sensor portion 96 of any one of the microswitches on the sole protrudes to be in the OFF state.

FIG. 31 shows a drive circuit of the present concrete example 7. In this drive circuit, four micro switches 95a, 95
b, 95c and 95d are a power source 93 and a speed changeover switch 94.
It is arranged in series between and. Therefore, when all of these micro switches are in the ON state, the device moves by moving the toes, but the sensor unit 9 of any one of the micro switches is moved.
When 6 projects as described above, the operation of the device stops.
This makes it possible to prevent the pseudo biological device from falling from a high place such as a desk.

If the size of the sensor portion 96 of each microswitch is too small, the sensor portion 96 is lifted up due to small scratches or holes on the desk surface, and the microswitch 95a,
Any of 95b, 95c, and 95d is turned off. On the other hand, if the scratches, holes, etc. are large, the artificial biological device may fall or drop. Therefore, in this specific example, the arrangement area of the microswitches 95a, 95b, 95c, 95d is set in consideration of the position of the center of gravity of the pseudo biological device. That is, in FIG. 30, one place is provided at the center of each heel, and at least 1/3 of the longitudinal dimension from the toe to the sole is provided.
One is placed at each of the following positions. Thus, at least four or more microswitches 95a, 9
5b, 95c and 95d are required.

<Specific Example 8> In this specific example, FIGS.
In the configuration of the specific example 5 shown in 2, when the tooth ratio from the input gear 70 to the sensor gear 77 is set to 1: 1 and the toe is moved up and down once, the micro switch 80 is also turned on / off once. There is. That is, FIG. 32 shows a drive circuit according to this example, and the control circuit 99 has a drive motor 69 and an encoder 97 attached to its rotation shaft.
Are connected respectively. Therefore, the speed control and the position control of the drive motor 69 can be performed based on the rotation amount of the encoder 97. A program for moving the toe is stored in the storage unit 101, and the program file is called by operating the keyboard 98. Then, the program in the storage unit 101 can be freely rewritten from the outside with the keyboard 98.

In such a configuration, if the sound when the light toe cover 86 shown in FIG. 21 and FIG. 22 moves up and down is made into a melody and the keyboard 98 is input through the keyboard 98, music can be played when the simulated biological device operates. it can. Although only the right foot is moved in FIGS. 21 and 22, both feet may be moved by independent drive motors so that tap music can be played.

<Specific Example 9> In this specific example 9, as shown in FIG. 33, the eyes are made of a transparent material. That is, the eye 23 is made of a transparent material, and is made up of the input surface 102, the reflecting surface 103, the reflecting surface 104, the eye rotating portion 105, and the eye body portion 106. Here, the input surface 10
Reference numeral 2 designates a part of the cylindrical portion of the eye rotating portion 105 which has been subjected to flattening processing.
The second reference plane (B) is formed in parallel. Therefore, as will be described later, when the light emitting unit 107 and the input surface 102 face each other on a straight line, the eyes are illuminated.

FIG. 34 shows a state in which the eye 23 of FIG. 33 is mounted, and the light emitting portion 107 is arranged at a position sandwiched by both eyes 23. The rotating portion 105 of the eye 23, 23 is the outer gear 3
4 is inserted into the rotating shaft 34a, and the light passing holes 108 are formed so that the eye input surfaces 102, 102 can be seen on these rotating shafts 34a.
a and 108b are provided so as to face each other. Therefore, the left and right eyes 23, 23 can shine only when the eye bodies 106, 106 are rotated and positioned with a normal facial expression.

Further, the light incident on the input surface 102 at the incident angle is changed in its optical path by 90 degrees at the reflecting surface 103, and the rotating portion 105.
And then separated at the reflecting surface 104 in the vertical direction of the eye main body 106. The separated light is diffusely reflected inside the eye main body 106, and it seems that the eye main body is shining.

FIG. 35 and FIG. 36 show an example in which the facial expression is associated with the light emission angle of the eyes. In these figures, the angle formed by the reference plane (A) of the eye body 106 and the reference plane (B) of the input surface 102 is set to 47.6 degrees. Then, in FIG. 35, the case where the eyes 23 are illuminated with an angry expression of the present device corresponds, and in FIG. 36, the case where the eyes are illuminated with a sad expression corresponds, whereby the eyes are illuminated at an angle designated by one light emitting unit 107. be able to.

FIG. 37 shows a drive circuit in the case where the eye 23 is transparently formed corresponding to FIGS. 34 to 36. The switch 112 and the light emitting portion 107 are connected in parallel with the power source 44 and the changeover switch 45. .

FIG. 38 is a control flow chart when the above drive circuit is used, in which the eyes are lit after an angry expression. Here, TL is a monitoring time for controlling the switch 112, and t6 is a specified time when the switch 112 is ON. Explaining this control flowchart,
In step 1, FACE = 1 is selected, and in step 2, the R terminal of the switch 45 is selected to determine the rotation direction of the drive motor 28. In step 3, the monitoring time TM indicating the rotation time of the drive motor 28 is initialized, and in step 4, the switch 42 is turned on. When the monitoring time TM reaches the specified time t1 in step 5, the cam 41 opens the micro switch 39 in step 6 and the drive motor 28 stops. This changes to an angry expression.

After changing to an angry expression in this way, in step 7, the monitoring time TL for controlling the switch 112 for causing the light emitting unit 107 to emit light is initialized. In step 8, the switch 112 is turned on, and when the specified time t6 has elapsed in step 9, the switch 112 is turned off. As a result, the eyes 23 emit light after the facial expression changes to an angry state.

The control flow chart of FIG. 38 is for such an angry facial expression, but even for a sad facial expression
3 is formed as shown in FIG. 36 and similarly controlled.

FIG. 39 is a control flow chart in which, after the normal expression turns into an angry expression, the driving circuit of FIG. . Here, N3 indicates the set number of times that the eye 23 blinks, t7 indicates the specified time when the switch 112 is ON, and N indicates the number of times the eye blinks.

Explaining the control flow chart of FIG. 39, in step 1, the set number N3 of blinking eyes is arbitrarily set. In step 2, the blinking number N of the eyes is initialized. In step 3, if N3 is set to zero, the eye ends without blinking. If it is determined in step 4 that N3 is set to 1 or more, steps 5 to 10
Move to processing. In step 5, the monitoring time TL for controlling the switch 112 is initialized. In steps 6 to 9, after turning on the switch 112, the light emitting unit 107 is turned on until the set time t7 is reached, and after reaching t7, the switch 112 is turned off. In step 9, the switch 112 is turned off until a specified time t6 after the switch is turned off, that is, a fixed time t6. Then, in step 10, the number of blinks is added, and the blinking operation is repeated until the set number N3 is reached. After the number N of blinks of the light emitting unit 107 reaches the set number N3, the process ends. Thereby, blinking of eyes can be used as various cues.

<Specific Example 10> In this specific example, as shown in FIG. 40, the eye 23 is formed transparently, and the eye main body 106 and
Rotating part 105 and input surface 1 formed on the rotating part 105
14a, 114b, 114c and the input surfaces 114b and 11
4c and the color films 115 and 116 adhered thereto. Three input surfaces 114a, 114b,
The positional relationship between the input surfaces 114a and 114b is 114c in consideration of the angle (47.6 degrees) at which the eye 23 can rotate in the configuration of FIG. 1 showing the pseudo biological device of the present invention.
4a and 114c between the reference planes A and B, respectively.
It is set to 7.6 degrees. The light emitting unit 107, each input surface, and the light emitting principle are the same as those described in the specific examples of FIGS. 33 and 34.

FIG. 41 (a) shows a change in the angry facial expression of the eye 23, in which the color film 116 is colored red to increase the visually angry facial expression. On the other hand, FIG. 41 (b) shows a change in the sad expression of the eye 23, and the color film 11
5 is blue to increase the visually sad expression.

Using the drive circuit of FIG. 37, the switch 1
When 12 is turned on, the eye body 106 is the color film 1
16 turns on red. Further, when the control of FIG. 39 is performed, the eye main body 106 can be blinked in red. However, with a sad face, the color film 115 is used to turn on blue using the control flowchart of FIG. In addition, FIG.
Color film 115 using the control flow chart of
You may blink in blue at.

<Specific Example 11> In this specific example, the facial expression is changed in accordance with a program previously written in the recording unit 101 by changing the drive circuit shown in FIG. 8 to the control circuit 99 shown in FIG. Alternatively, the facial expression can be changed by using a signal from an external sensor as an activation switch. Here, a control circuit 99 is used in place of the switches 42 and 45 of FIG. When changing the facial expression, the control flowcharts shown in FIGS. 9, 10, and 11 are combined.

Further, FIG. 42 shows a drive circuit for automatically changing the facial expression according to the volume of the input voice, and the microphone 118 is connected as an external sensor. Microphone 1
A voice input from 18 is converted into electric energy by an electromagnetic induction action generated between a diaphragm (not shown) of a microphone, a coil, and a magnet. The voltage at this time is amplified by the amplifier 117 and processed by the control circuit 99. In this case, the volume of the voice input from the microphone 118 and the generated voltage value are in a proportional relationship.

In this example, a reference voltage value is set in the control circuit 99, and when the voltage input from the microphone 118 is higher than the reference voltage, the face is angry as shown in FIG. 7 (c). If it is smaller than the reference voltage, the drive motor 69 is controlled so as to make the face look sad as shown in FIG.

FIG. 43 is a control flowchart of this specific example, in which the facial expression changes from an ordinary expression to an angry expression or a sad expression depending on the volume of the voice speaking to the artificial biological device. Do the action to return to the facial expression. In FIG. 43, V is an input voltage value proportional to the volume of the voice input to the microphone 118, VM is a comparison voltage for confirming the magnitude of V, V0 is a reference voltage value registered in the storage unit 101, TF is a waiting monitoring time for returning the face, and t8 is a waiting specified time. The reference voltage value VM in this control flowchart is previously stored in the storage unit 101 (FIG. 42).
The reference voltage value V from the keyboard 98
It is also possible to input the value of M or re-register it in the storage unit 101.

Explaining the control flowchart of FIG. 43, the reference voltage value V0 registered in the storage unit 101 in step 1 is set as the comparison voltage. The voice voltage value V input in step 2 is initialized to distinguish between noise voltage and voice voltage. In step 3, a voltage V proportional to the volume of voice is input. In step 4, the voltage V proportional to the volume of the voice is compared with the comparison voltage value VM. The facial expression is divided according to the magnitude of the compared difference Δ. Since there are only two facial expressions, you only have to specify one level to compare. Step 4
If the difference Δ is negative, the drive motor 69 is driven in step 5 so that the expression becomes sad. If the difference Δ is zero or positive in step 4, the drive motor 69 is driven in reverse so that the expression becomes angry in step 6. In this way, the facial expression initially determined determines which one. Next, step 5 or step 6 to step 7
Move to. In step 7, the waiting monitoring time TF for returning the facial expression is initialized. In step 8, this monitoring time T
The facial expression is maintained until F reaches the waiting specified time t8. This is to impress the facial expression. In step 9, the facial expression is returned to the normal one after the waiting time t8 has elapsed. in this way,
The facial expression can be freely changed by setting the voice comparison level arbitrarily.

<Specific Example 12> In this specific example, the driving circuit of FIG. 42 is used to perform control in accordance with the control flowcharts of FIGS. 44 and 45, and the facial expression is arbitrarily changed and stopped. In FIGS. 44 and 45, N is the number of face changes and N0 is the maximum number of changes when the calculation is completed. When the size is recognized, it is recognized as a signal for changing the face. Then, the CPU 100 starts to calculate the number of changes that make the face angry or sad. This calculation is continued until a voice exceeding the reference voltage value V0 is input again by the microphone. When the input voltage value V exceeds the reference voltage value V0, the previous calculation is ended, and the eyes, eyebrows, mouth and cheeks are rotated to the final facial expression. As the initial condition of the above calculation, the order of moving the face is 1
Make a scary face the next time. The second time, she returns her scary face. Make a sad face the third time. The fourth time, she turns her sad face back. Up to here is one cycle of how to move the face. That is, step 9
As shown in, the number of changes counted when the face is changed is divided by 4, and when the remainder is 0, 2, 4, the face is not moved. When the remainder is 1, it changes to a scary face, and when the remainder is 3, it changes to a sad face (steps 11 and 12).

The above control, that is, the maximum number of changes N0 is not divided by the change cycle value (4 in this specific example) to predict the face of the final change completion by the size of the remainder,
When the maximum number of changes N0 is known, the face is changed to a scary face, a scary face is returned, a sad face is returned, a sad face is returned, and so on, and the movement is continued until the maximum number of changes N0 is reached. You can get the effect. At this time, the first half control and the second half control have both programs recorded in the storage unit 101, and can be set by switching with a dip switch or the like of the control circuit 99.

The effect of this embodiment can be obtained even if only one of the above programs can be started in consideration of the cost, the storage capacity of the storage unit 101, and the like. According to the control flowchart of this specific example, when the movement of the face is completed, the face is stopped for a certain fixed time t8. After this, the face is returned to the initial state. The initial state is the state in which the eyes are not rotating, and is the state shown in FIG.

<Specific Example 13> In this specific example, the facial expression is changed in accordance with the meaning of the voice input by the drive circuit shown in FIG. That is, in FIG. 46, this drive circuit includes a microphone 118, a speaker 119, amplifiers 117 and 120 for amplifying a voice input signal thereof, a voice processing unit 121 for data processing the amplified signal, and a voice recognition unit 1.
22 and a storage unit 123. Here, data relating to voice patterns is stored in the storage unit 123 and is classified into voice pattern 1 in which the facial expression becomes angry and voice pattern 2 in which the facial expression becomes sad.

First, the voice from the microphone 118 is processed by the voice processing unit 121 and supplied to the voice recognition unit 122.
The voice data of the voice pattern 1 and the voice data of the voice pattern 2 are compared to recognize which one. When the input voice is the voice pattern 1, the voice processing unit 12
1 sends a pattern detection signal to the control circuit 99 and controls the drive motor 69 to change the facial expression in an angry direction. On the contrary, when the voice pattern is 2, the drive motor 6
Controls 9 to change the facial expression in a sad direction. The voice data in the storage unit 123 may be registered in advance, but the purchaser of the device may input the voice pattern 1 and the voice pattern 2 having the above meaning from the microphone 118. In this case, the distinction between the voice pattern 1 and the voice pattern 2 and the registration procedure are performed by operating the keyboard 98.

On the other hand, when the facial expression is changed in an angry direction, the storage unit 123 calls out a climactic phrase when angry as voice data and outputs it from the speaker 119. Similarly, when the facial expression is changed in a sad direction, the phrase that is sad or crying is called from the storage unit 123 as voice data and output from the speaker 119.

FIG. 47 shows a control flowchart of the drive circuit shown in FIG. That is, in step 1, the microphone 118
When more voice is input, the voice pattern is identified in step 2. When it is determined that the voice pattern is 1, the voice corresponding to “angry expression” is output from the speaker 119 in step 3. For example, the voice output "I'm angry!" Next, in step 4, the control circuit 99 controls the drive motor 69 to change the face into an angry expression. Then, in step 5, the corresponding sound is output to the speaker 119 again.
Output at.

When it is determined that the voice pattern is 2 in step 2, the voice corresponding to the "sad expression" is output from the speaker 119 in step 6. Next, in step 7, the drive motor 69 is similarly controlled to change the face into a sad expression. Then, in step 8, the corresponding voice is output again from the speaker 119. After that, the waiting monitor time TF for returning the face is initialized in steps 9 and 10, and when the waiting time t8 has elapsed, the drive motor 69 is driven by the control of the control circuit 99 in step 11 to restore the original face. .

The following is an example of the above-mentioned voice output cliché. Responding to an angry expression “I'm angry!” “I hate it!” “Pun, Pun!” “Gao, Gao!” “Even if I don't say anything about it ... I don't know! "" I don't know anymore! ""What's wrong with you? ""I'll get angry again! ""I'm sorry! "

Corresponding to a sad expression "I'm lonely!""I'm boring! I'm just buying and playing, I'm playing!""Ain, Ain, Ain!" (Repeat) "I'll keep crying like this!""Can you play around with me anymore?""Can you play properly?""I will cry again!""Why do you play? Is it boring alone?""Is it a good face?" The meaning can be clearly recognized by directly listening to the voice.

In the drive circuit of FIG. 46, the control circuit 99 is provided with a timer section for measuring the date and time, and the storage section 101 is provided.
The registration program that recognizes the voice pattern of the input voice within the time set by the timer unit and registers the control amount that changes the facial expression in the storage unit according to the data registered by the program. , A reproduction program for controlling the present invention is set in advance.

As a result, first, the time T is set in the timer section.
When memo is set, for example, when the voice pattern input by the operator through the microphone 18 is stored in the storage unit 123 and the voice recognition unit 122 determines the voice pattern to change the facial expression within the same time Tmemo. The amount of rotation and the direction of rotation of the eyes, eyebrows, mouth, and cheeks are stored in the storage unit 101. Therefore, the correspondence history of the device of the present invention can be obtained as a registration program. Note that one of the storage units may be used without using both the storage unit 101 and the storage unit 123.

The registered response history data is reproduced as a registration program by the reproduction program in the order of the oldest date and time registered in the timer section. As a result, not only does the pseudo-biological device deal with the input voice pattern, but by creating a “habit” of the response from the response history of the device, the interestingness of the response can be expressed together with the facial expression change.
Also, when the timer section indicates, for example, 7 pm, the control circuit 99 automatically uses the response history data based on the reproduction program, and outputs a voice (response) with a “habit” from the speaker 19 to the operator. Output along with facial expression changes. Furthermore, when there is no voice input within a certain reference time between the new voice input to the device of the present invention and the next voice input, the above-mentioned reproduction program is automatically started to You can make the response interesting as well. The above startup program and reference time may be registered in the storage unit 101 of FIG. 46, as in the case of the reproduction program and the like.

Next, about twice a day, the above time Tmemo
By registering a control program for erasing the data registered therein in the storage unit 101, the storage capacity of the storage unit can be organized. Then, the date and time when the above stored data is deleted can be arbitrarily set by using the timer unit of the present invention.

Next, in the drive circuit of FIG. 46, the voice data may be stored in the storage unit 123 so that an appropriate fixed phrase can be output by voice when the facial expression returns to its original state. An example of this voice is shown below. “Good, good!” “Fix it fast!” “Thank you!” “It's good! I'll fix it myself!” “This is perfect!”

Such a cliché is a keyboard 98
The storage unit 123 is made ready for data input and registered in the storage unit 123 from the microphone 118 or the keyboard 98. It should be noted that if the storage unit 123 is externally configured to increase its capacity and enable voice data to be input to the voice recognition unit 122 by wire or wirelessly, the number of fixed phrases can be increased. When wireless is used, a signal conversion unit and a reception / transmission unit are provided in each part, and voice data is converted into light, electromagnetic waves, or sound by the same signal converter.

When registering the above formula,
A keyword voice that can execute a registration command is set in the voice recognition unit 122. In this case, the key words are not input from the keyboard 98 but the keywords are input as voices from the microphone 118, and the fixed phrase is memorized. A keyword for ending this state is also set at the same time.

Further, a light emitting portion may be provided so that a part of the face shines so that the person operating the device of the present invention can easily visually confirm that the state of memorizing a cliché is reached. Thus, the boilerplate can be surely registered in the storage unit 123. Incidentally, the transparent eyes 23 shown in FIG. 34 and the like are used in this example, and the same effect can be obtained even if the light emitting portion is in a state where input is possible.

<Specific Example 14> In this specific example, in order to easily change the volume and scale of the voice output by the device of the present invention according to the facial expression, the axis of rotation of the eye 23 is on the same axis. Switch means for adjusting the volume or scale of the voice is provided. That is, in FIG. 48, the rotary shaft 23a of the eye 23
A variable resistor 125 is coaxially connected to the. This variable resistor 125 is
2 does not rotate in synchronization with each other.
It is fixed to the front frame 20 shown by. As a result, when the eye 23 rotates, the resistance value of the variable resistor 125 changes. Therefore, the terminal 125 of the variable resistor 125
When a and 125b are connected to the amplifier 120 of the speaker 119 shown in FIG. 49, the size of audio output can be changed. On the other hand, a scale adjusting circuit is provided in the voice processing unit 121 of FIG. 49, and a terminal 125a of the variable resistor 125,
When 125b is connected, the scale of the voice output from the speaker 119 can be raised or lowered in response to the rotation operation of the eyes 23, that is, the change in facial expression.

<Specific Example 15> In this specific example, as shown in FIG. 50, in addition to the variable resistor 125 of the specific example 14,
Another variable resistor 128 is coaxially connected to the other eye 23. The terminals 128a and 128b of the variable resistor 128
Is connected to the CPU of the drive circuit via an A / D converter.

When the device of the present invention is changing the face or when the face change is completed and the power is turned off and the state of the face cannot be recognized, the variable resistor 128 is used.
When the power is turned on again, the CPU performs a measurement operation to check the state of the face when the power is turned off, and the facial expression can be returned to a normal facial expression.

FIG. 51 shows a control flowchart for confirming the state of the face and returning to the initial state. RF is power off
When the resistance value of the variable resistor 128 is r1, is the resistance value of the variable resistor 128 when the eye 23 has the minimum rotation angle when the face is angry, and r2 is the maximum rotation angle of the eye 23 when the face is sad. Is the resistance value of the variable resistor 128 at that time.

When the power is turned on in step 1, the resistance value RF of the variable resistor 128 is detected in step 2. In step 3, the resistance value r1 of the variable resistor at the minimum rotation angle of the eyes when the expression is angry is compared with the resistance value RF when the power is off. If the resistance value RF is large in this comparison, it is determined that the facial expression has stopped with an angry facial expression, and the drive motor 69 is controlled so as to return to a normal face. Next, when the resistance value r1 is large in step 3, the resistance value r2 of the variable resistor 128 at the maximum rotation angle of the eyes when the expression is sad is compared with the resistance value RF in the power-off state in step 5. . If the resistance value RF is large in this comparison, it is determined that the facial expression is returning to normal (step 7), and the drive motor 69 is similarly controlled. When the resistance value r2 is large in step 5, it is determined that the driving has stopped with a sad expression, and the drive motor 69 is controlled so as to return to a normal face.

In the present concrete example, the voice output means shown in FIG. 46 is added, and if the following fixed phrase is output from the speaker 119 after step 1 or step 2 in the control flow chart of FIG. 51, the effect of response is further enhanced. Can be made bigger. "Did you get angry until a while ago?""Did you cry until a while ago?" It should be noted that the voice dynamics means of FIG. 49 may be provided.

<Embodiment 16> In this embodiment, the drive circuit shown in FIG. 46 is configured so that the voltage value of the power supply can be measured by the control circuit 99 at a certain time, and the measured voltage value has a certain reference voltage value. A program for changing the facial expression to a sad state when the size becomes smaller than that is written in the storage unit 101. Further, the variable resistor 125 shown in FIG. 49 is connected so that the sound from the speaker 119 can be reduced or the scale can be lowered. In this example, the changed facial expression does not change until the voltage value of the power supply becomes larger than the reference voltage value.

When it is confirmed that the voltage value is low, the storage unit 123 is executed after the above face and voice changes are executed.
The fixed phrase, for example, "I'm hungry" and "I have no batteries", is read from and output from the speaker 119.

52 and 53 are control flowcharts of this example. In these figures, NS is the number of samplings when measuring the voltage value of the power source, VDM is the reference voltage value of the power source, VD is the voltage value of the power source, and NC is the number of times the phrase is output.

In step 1, the reference voltage value VDM of the power source,
Number of output of the common phrase NC, sampling value N of voltage value
Initialize S. In step 2, in order to confirm the power supply voltage, the reference voltage value VDM of the power supply, the sampling value NS,
Set the output number NC of the cliché arbitrarily. In step 3, sampling time T is determined and sampling is started. In step 4, the remainder ΔT obtained by dividing the sampling time T by the number of samplings is obtained. If the remainder ΔT is not “0” in step 5, the process returns to step 3 and the sampling time T is newly set. This prevents measurement errors in the power supply voltage. When the remainder ΔT is not calculated, the voltage value TD of the power supply is sampled at the sampling time T in step 6. In step 7, the previously set reference voltage value VDM and the voltage value VD of the power supply are compared. As a result, if the voltage value VD of the power supply is larger than the reference voltage value VDM, the process returns to step 3 and the processes from step 3 to step 7 are repeated. If the voltage value VD of the power supply is smaller than the reference voltage value VDM, a warning is issued. The reference voltage value VDM is for guaranteeing the operation of the pseudo biological device.

When the voltage value VD is small as described above, in step 8, the drive motor 69 is controlled so that the decrease in the power supply voltage is expressed by a sad expression. In step 9, the number of formulas is initialized. In step 10, if the output number NC of the boilerplate phrase is set to "0", the process proceeds to step 14 to output the boilerplate phrase only once. If the output number NC of the cliché is set more than once, step 1
Moving to 1, the output number NC of the common phrase and the current number N are compared. In step 12, if the current number of times N is small, a cliché is output. In step 13, 1 is added to the current number, the process returns to step 11, and the process is continued until the output number NC of the common phrase is reached. Step 11
Then, after N = NC, the process moves to step 14 to output a cliché and end. As a result, when the power supply voltage drops, a sad expression is given and a message such as "I'm hungry" is output to warn.

In this specific example, when the power supply is in the ON state, the voltage value of the power supply is constantly measured and confirmed according to the continuous sampling value. However, FIG.
Even if the control flow chart is configured so that the voltage value of the power supply is measured and confirmed only when a certain phrase is input from the microphone 118 shown in FIG. 6, the same effect as above can be obtained. Here, as the above formulaic phrase, "I'm hungry?"
It is determined whether or not the fixed phrase input by the voice recognition unit 122 is the same as the above-mentioned fixed phrase. If it is confirmed that the two match, the control flowchart of FIG. 53 is executed.

<Specific Example 17> In this specific example, when the eyes 23, eyebrows 22, mouth 26, cheeks 25, etc. shown in FIG. 1 are pressed from the outside, the power system for moving each part is destroyed. Alternatively, the initial position of each part is prevented from shifting.

That is, in FIG. 54, the rotation mechanism of the eye 23 is inserted into the limiter torsion spring 129 mounted on the rotation shaft 23a of the eye 23 and the rotation shaft 34a of the outer gear 34 so as to project from one end of the spring 129. And a supporting shaft 131 that is provided.

Therefore, even if the eye 23 is pressed from the outside, the outer gear 34 can rotate while twisting the limiter torsion spring 129, so that the rotary shaft 23a of the eye 23 is not broken. After that, when the pressing of the eye 23 is removed, the limiter torsion spring 129 returns to its original position, and the eye 23 rotates at the same position as the rotation amount of the outer gear 34. The same effect can be obtained by making the other eyebrow, mouth, and cheek rotation mechanisms similar in structure.

<Embodiment 18> The present invention is not limited to the above embodiment. For example, the cam 46 of the second specific example shown in FIG.
When the cam 61 according to the fourth specific example shown in FIG. 18 is formed into one shape and the mechanisms shown in these specific examples are combined, the single drive motor 28 moves the face main body 19 at the same time as shown in FIG. It is possible to rotate the leaf 51.

Further, in the present invention, the facial expression is changed by a mechanical mechanism, but the facial expression can be changed similarly by changing the entire face to a dot type liquid crystal panel (LCD). Then, by disposing a TV broadcast receiver outside, the panel forming the face main body 19 of the present invention can be used as a TV.
Further, a device for reading and outputting a medium such as a CD-ROM can be connected to the outside of the device of the present invention, and the information of the CD-ROM can be displayed on the panel.

In this case, the voice processing unit 121 shown in FIG.
By using the voice recognition unit 122 and a TV or CD-R
It is possible to process the voice information from the OM and output the voice such as the commentary registered in the storage unit 123.

Further, in the present invention, the rotation amount of the drive motor is mechanically controlled by the combination of the cam and the micro switch. However, by using a stepping motor, the rotation amount for making facial expressions can be controlled by an encoder or the like. Even if there is no rotation sensor, it can be set arbitrarily and accurately by a rotation command from the control circuit. In addition, look for small, inexpensive rotary actuators such as rotary solenoids and microstepping motors.
Even if the eyebrows, the mouth, and the cheeks are respectively provided one by one and controlled independently, the same effect as that of the present invention can be obtained.

[0164]

As described above, according to the present invention,
Although it has a simple structure, it can perform two or more actions of voice output and moving each part, and can perform complex actions such as changes in facial expressions continuously and simultaneously with other actions. Further, since the voice is automatically output or the facial expression is changed in response to no input, the diversification of the motion and the fun are very excellent. Therefore, the present invention can be used not only as a toy but also as a response device for advertisement or customer service, a response device for acceptance, etc., a response device for an amusement park, etc.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a simulated biological device according to specific example 1 of the present invention.

FIG. 2 is a side view of the same device.

FIG. 3 is a conduction mechanism diagram of the same device.

FIG. 4 is a diagram showing a drive control unit of the same device.

5 is an operation diagram of the drive control unit in FIG.

FIG. 6 is a diagram showing a relationship between eyebrows and a conduction mechanism of the same device.

FIG. 7 is a state change diagram showing facial expressions of the same device.

FIG. 8 is a drive circuit diagram according to a specific example 1 of the same device.

FIG. 9 is a control flowchart (1) according to a specific example 1 of the same device.

FIG. 10 is a control flowchart (2) according to a specific example 1 of the same device.

FIG. 11 is a control flowchart for returning to the original facial expression according to the first specific example of the device.

FIG. 12 is a flowchart showing facial expression changes of the same device.

FIG. 13 is an overall configuration diagram of a second example of the present invention.

FIG. 14 is a side view of a specific example 2 of the same device.

FIG. 15 is a state change diagram according to a specific example 2 of the same device.

FIG. 16 is a leaf protrusion mechanism diagram according to specific example 3 of the same apparatus.

FIG. 17 is a state change diagram of facial expressions and leaf movements according to the specific example 3 of the same apparatus.

FIG. 18 is an overall configuration diagram according to a specific example 4 of the same device.

FIG. 19 is a side view according to specific example 4 of the same device.

FIG. 20 is a state change diagram according to a specific example 4 of the same device.

FIG. 21 is a mechanical view of a toe according to specific example 5 of the same device.

FIG. 22 is a plan view of a specific example 5 of the same device.

FIG. 23 is a detailed diagram of a detection unit of Concrete Example 5 of the same device.

FIG. 24 is a drive circuit diagram according to a specific example 5 of the same device.

FIG. 25 is a control flowchart according to specific example 5 of the same device.

FIG. 26 is a drive circuit diagram according to a specific example 6 of the same device.

FIG. 27 is a control flowchart according to specific example 6 of the same device.

FIG. 28 is a control flowchart (1) according to a specific example 6 of the same device.

FIG. 29 is a control flowchart (2) according to a specific example 6 of the same device.

FIG. 30 is a switch arrangement diagram according to a specific example 7 of the same device.

FIG. 31 is a drive circuit diagram according to a specific example 7 of the same device.

FIG. 32 is a drive circuit diagram according to a specific example 8 of the same device.

FIG. 33 is a configuration diagram of an eye according to specific example 9 of the same apparatus.

FIG. 34 is a view showing the rotation mechanism of the eyes of Concrete Example 9 of the same apparatus.

FIG. 35 is a configuration diagram of an eye according to a modified example of the specific example 9 of the same device.

FIG. 36 is a configuration diagram of an eye according to another modified example of the specific example 9 of the same apparatus.

FIG. 37 is a drive circuit diagram relating to transparent eyes of the same device.

FIG. 38 is a control flowchart of a drive circuit relating to transparent eyes of the same device.

FIG. 39 is a control flowchart for blinking eyes of the same device.

FIG. 40 is a diagram showing an eye according to specific example 10 of the same apparatus.

[Fig. 41] Fig. 41 is an operation explanatory diagram of Specific Example 10 of the same device.

FIG. 42 is a drive circuit diagram according to a specific example 11 of the same device.

FIG. 43 is a control flowchart according to specific example 11 of the same device.

FIG. 44 is a control flowchart (1) according to a specific example 12 of the same device.

FIG. 45 is a control flowchart (2) according to a specific example 12 of the same device.

FIG. 46 is a drive circuit diagram according to a specific example 13 of the same device.

FIG. 47 is a control flowchart according to specific example 13 of the same device.

FIG. 48 is a mechanism diagram of voice output change according to the specific example 14 of the same device.

FIG. 49 is a drive circuit diagram according to a specific example 14 of the same device.

FIG. 50 is a mechanism diagram according to a specific example 15 of the same device.

FIG. 51 is a control flowchart according to specific example 15 of the same device.

FIG. 52 is a control flowchart (1) according to a specific example 16 of the same device.

FIG. 53 is a control flowchart (2) according to a specific example 16 of the same device.

FIG. 54 is a cross-sectional view of the eye rotating mechanism according to specific example 17 of the apparatus.

FIG. 55 is a state change diagram of the same device according to a combination of different specific examples.

FIG. 56 is an external perspective view of a conventional robot device.

FIG. 57 is an external perspective view of a conventional bird character device.

[Explanation of symbols]

 19 face body 22 eyebrows 23 eyes 24 nose 25 cheeks 26 mouth 28,69 drive motor 31 transmission mechanism 34 outer gear 36 input gear 38 count spring 39 micro switch 41, 46, 72 cam 48 cam portion 49 coil spring 50 stem 51 leaf 55, 63 Limiter spring 57 Slider 58 Cylinder 64 Support frame 65 Snap shaft 84 Link 85 Light foot cover 86 Light toe cover 88 Achilles leaf spring 94 Speed changeover switch 95a, 95b, 95c, 95d Micro switch 96 Sensor section 97 Encoder 98 Keyboard 99 Control circuit 101 Storage Unit 103, 104 Reflecting Surface 105 Rotating Unit 106 Eye Main Body 107 Light Emitting Unit 115, 116 Color Film 118 Microphone 119 Speed Car 121 Voice processing unit 122 Voice recognition unit 123 Storage unit 125, 128 Variable resistor

Claims (36)

[Claims] 1. A transmission mechanism for rotating each component constituting a face of a pseudo-living body in a coordinated manner, and a plurality of linkage states of each component preset for expressing an arbitrary expression A facial expression forming mechanism for a pseudo biological device, comprising: a driving unit that selects a linked state and drives the conduction mechanism until the selected linked state is reached. 2. The method according to claim 1, wherein when the conduction mechanism reaches the selected linkage state,
A facial expression forming mechanism for a pseudo-biological device, comprising switch means for outputting a stop signal to the drive section. 3. A plurality of projecting parts of the projecting parts, which are set in advance to express an arbitrary expression, by mounting projecting parts constituting a face of a simulated creature so as to project outward from the periphery of the face. A facial expression forming mechanism for a pseudo biological device, comprising: a drive unit that selects a predetermined protruding state from the inside and drives the protruding component until the selected protruding state is reached. 4. The facial expression forming mechanism of a pseudo-biological device according to claim 3, wherein the projecting part changes the projecting state in association with a rotating shaft that rotates at least one eye. 5. A predetermined appearance is selected from a plurality of appearance states of the appearance parts which are set in advance to express an arbitrary expression, by attaching appearance parts which form a face of a pseudo creature and appear and disappear from a part of the face. A facial expression forming mechanism for a pseudo biological device, comprising: a drive unit that selects a retracted state and drives the retractable component until the selected retracted state is reached. 6. A facial expression forming mechanism for a pseudo-biological device, comprising a posture control section for changing and controlling the posture of a main body of a pseudo-living body in association with a change in facial expression of a face constituting the pseudo-living organism. 7. The posture control unit according to claim 6, wherein the posture control unit rotatably supports the pseudo organism body, and interlocks to apply a pressing force to the pseudo organism body in association with a change in the facial expression of the face. A facial expression forming mechanism for a pseudo-biological device, which includes a pressing means. 8. A facial expression forming mechanism for a pseudo-biological device, comprising a toe drive control unit for controlling rocking of the toes of the pseudo-animal in association with a change in facial expression constituting the pseudo-organism. 9. The facial expression forming mechanism according to claim 8, wherein the toe drive control section moves the toe of the foot up and down at an arbitrary timing. 10. The pseudo biological device according to claim 8, wherein the toe drive control unit controls the drive of the toe based on detection signals from a plurality of detection switches arranged on the back surface of the foot. Facial expression formation mechanism. 11. The facial expression forming mechanism of a pseudo-biological device according to claim 8, further comprising a music playing section that outputs a predetermined melody in synchronization with the movement of the toe while it is being driven. 12. A facial expression forming mechanism for a pseudo-biological device, comprising voice output means for outputting a corresponding voice in association with a change in facial expression of a face constituting a pseudo-living organism. 13. The audio output unit according to claim 12, wherein the audio output unit corresponds to an input / output unit for inputting / outputting a sound, a storage unit in which a sound pattern is written, and a sound level input to the input / output unit. And a voice recognition unit for identifying a voice pattern, and a predetermined voice is output from the input / output unit based on the identified voice pattern. 14. The facial expression forming mechanism according to claim 12, wherein the voice output unit includes a keyboard unit for inputting the voice pattern. 15. The voltage comparing means according to claim 12, wherein the power supply voltage for operation is compared with a reference voltage, and when the power supply voltage is low, the sound output means is controlled to output a predetermined sound. A facial expression forming mechanism of a pseudo-biological device, which is characterized by being provided. 16. The artificial creature according to claim 12, further comprising a voice output control unit that changes the volume and gradation of the voice output by the voice output unit in response to a change in facial expression. The facial expression formation mechanism of the device. 17. The method according to any one of claims 1 to 6 and 8 and 12, wherein each part of the face is rotated by a driving part to shift to a predetermined linked state, and light is emitted to an eye made of a transparent material. A facial expression forming mechanism for a pseudo-biological device, characterized in that a light-emitting part which is incident on and off blinks at a predetermined timing. 18. The light emitting unit according to claim 17, wherein the light emitting unit is arranged between the pair of eyes, a reflection surface and an input surface are formed in the eyes, and incident light to the eyes is rotated as the eyes rotate. Facial expression formation mechanism of pseudo-biological equipment characterized by changing. 19. The facial expression forming mechanism of a pseudo-biological device according to claim 17, wherein the color filters on the optical path of the light emitted from the light source are switched by the rotation of the eyes. 20. The artificial biological device according to claim 1, wherein the drive unit expresses a preset facial expression in accordance with the sound pressure of the voice input from the microphone. Facial expression formation mechanism. 21. The power supply voltage for operation according to claim 1, wherein the power supply voltage for operation is compared with a reference voltage, and when the power supply voltage is low, the drive unit is controlled to change the face of the pseudo creature into a corresponding expression. A facial expression forming mechanism for a pseudo-biological device, characterized in that it includes a voltage detecting means for controlling the expression. 22. When a predetermined sound is input, the power supply voltage for operation is compared with a reference voltage, and when the power supply voltage is low, the face of the pseudo creature is changed into a corresponding expression. A facial expression forming mechanism for a pseudo-biological device, characterized in that it includes a voltage detecting means for controlling the expression. 23. The method according to claim 20, wherein the time from the input of a voice to the input of the next voice is counted, and the drive unit is controlled based on the count value to continuously express facial expressions. Facial expression formation mechanism of pseudo-biological equipment characterized by changing. 24. The facial expression according to claim 1, wherein two or more facial expressions are preset, and when the facial expressions are controlled so as to change periodically in a fixed order, A facial expression formation mechanism for a pseudo-biological device, which is equipped with a control circuit for controlling the stop timing so that the transition of the facial expression is just stopped. 25. A voice recognition unit according to claim 1, which compares a voice input from a microphone with a voice pattern prepared in advance, and a control unit which selects a facial expression set corresponding to the voice pattern. A facial expression formation mechanism for a pseudo-biological device, which is characterized by being equipped. 26. The facial expression forming mechanism for a pseudo-biological device according to claim 1, wherein a drive axis of the facial expression changing mechanism is linked to a volume adjusting axis for controlling the volume of the output voice. 27. The facial expression forming mechanism of a pseudo-biological device according to claim 1, wherein the facial expression at that time is confirmed based on the state of the volume adjusting axis. 28. The rotating mechanism of any one of claims 1 to 20, wherein the rotating shaft of any component is linked to the transmission mechanism via elastic connecting means that absorbs the rotation blocking force and elastically returns to the original state. A facial expression formation mechanism for pseudo-biological devices. 29. The facial expression forming mechanism for a pseudo biological device according to claim 28, wherein the elastic connecting means is a coiled limiter torsion spring. 30. The volume adjusting axis according to claim 1, which is interlocked with a drive axis of a mechanism for changing a facial expression, and which controls an output voice, and a storage section in which two or more types of voice patterns to be output are stored. A facial expression forming mechanism for a pseudo biological device, comprising: a control unit that selects and outputs a voice pattern corresponding to a state of a volume adjustment axis. 31. A pseudo-biological device in which a facial expression forming a pseudo-living thing changes, wherein a voice input section for inputting a voice, a voice recognition section for recognizing the input voice, and a recognized voice pattern are stored. And a voice output unit that reads out a voice pattern from the storage unit and outputs a corresponding voice. 32. The facial expression forming mechanism according to claim 31, further comprising storage data erasing means for erasing the voice pattern of the storage unit after a lapse of a predetermined time. 33. A timer unit according to claim 31 or 32, further comprising: a timer unit for measuring a date and time; and an output time setting means for monitoring the timer unit and controlling the voice output unit at a set time to output a corresponding voice. A facial expression formation mechanism of pseudo-biological equipment. 34. The automatic start means according to claim 31 or 32, wherein when the time until the next voice is input is longer than the set time, the voice output unit is controlled to output a corresponding voice. Facial expression formation mechanism of the characteristic pseudo-biological equipment. 35. The facial expression forming mechanism for a pseudo biological device according to claim 31, 32, or 33, wherein the facial expression is changed in accordance with the output voice. 36. The voice according to claim 31, wherein if no voice is input after a certain period of time, the facial expression of the face is returned to the original expressionless state and the voice output unit is controlled to output a corresponding voice. A facial expression forming mechanism for a pseudo-biological device, including a resetting means for stopping.