JPS6232989A - Wakling toy - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] F Industrial Field of Application J The present invention relates to walking toys such as robot toys, and in particular, the torso is forcibly tilted and the center of gravity is moved smoothly to allow walking while standing on one leg. The purpose of the present invention is to provide a walking toy that enables the following.

"Prior Art" Conventional walking toys such as doll toys have a power device installed in the body, a crankshaft linked to the power shaft, an arm linked to the crankshaft connected to each leg member,
The rotating motion of the power shaft of the power device is converted into the swinging motion of the left and right leg members, and the leg members are alternately moved back and forth to perform a walking motion.

[Problems to be Solved by the Invention] However, according to the conventional structure described above, the rotational movement of the power shaft of the power device in the trunk is simply converted into a swinging movement via the crankshaft and the arm, and the leg members are alternately moved. Since the robot only moves back and forth, no consideration was given to the movement of the body's center of gravity as it walks. Therefore, each time you move to a walking motion, your center of gravity shifts away from the foot on the side you are stepping on, making the whole thing extremely unstable. A supporting member was provided protruding from the inside, giving it an unnatural appearance from a design standpoint.

"Means for Solving the Problems" The present invention eliminates the above-mentioned drawbacks of the conventional type. A trunk member provided therein, leg members connected to each other by linking members on both sides of the main frame body and swingably mounted thereon, and support leg members rotatably mounted on the bottoms of the leg members, respectively; A power device is provided to drive each of the torso member, leg member, and support leg member.

“Example” The present invention will be explained with reference to an example shown in the figure below.
1 is a main frame body provided at a position corresponding to the waist of a walking toy, and the main frame body 1 is located at the center, and approximately T-shaped bearings with bearings formed on both sides are provided with plates arranged at predetermined intervals. A body member 2 is swingably mounted above a bearing in the center of the main frame 1. A battery accommodating portion 3 for the power plant and a control circuit 4 including an integrated circuit mounted on a printed wiring board constituting a control device are disposed on one side of the body member 2. Further, box-shaped leg members 5 are swingably mounted on bearings on both sides of the main frame 1, and the bearings are linked to each other by linking members 6 at predetermined intervals. A vertical bearing is formed at the bottom of each leg member 5,
A support foot member 7 having a disk-shaped support plate at the bottom is rotatably mounted on the coaxial bearing.

10 is a first power unit for swinging the body member 2 at a predetermined angle with respect to the main frame 1; The fixed gear 11 is connected to the output side binion 14 via a speed reduction device 13 consisting of a plurality of binions and spur gears connected to the output shaft of a motor 12 mounted on the body member 2 side.
It meshes with 1.

Reference numeral 20 denotes a second power device for swinging the left and right leg members 5 at a predetermined angle with respect to the main frame body 1 indicated by F, in relation to the movement of the body member 2; Eccentric shaft 21 that engages with an elongated hole 61 formed in the center of 6
A drive arm 22 is provided on the output shaft side of a speed reduction device 24, which is composed of a plurality of worm gears, etc., linked to the output shaft of a motor 23 provided on one side of the main frame 1.
It is equipped with 2.

Reference numeral 30 denotes a third power device for rotating the support leg members 7, which are on the supporting shaft side, at a predetermined angle with respect to the one wiring member 5; in this case, a motor provided on one side of the leg member 5 is used. The rotating shaft of the support plate is installed on the output side of a speed reduction device 32, which is composed of a plurality of worm gears etc. linked to an output shaft of the support plate 31.

The first power plant 10, the second power plant 20, and the left and right third power plants 30 are configured to operate in a predetermined order, and their control means includes, for example, the control circuit described above. By providing a plurality of position detecting elements such as limit switches linked to the support member 4, the inclination angle of the trunk member 2, the inclination angle of the leg member 5, the rotation angle of the support leg member 7, etc. are controlled respectively.

Note that instead of the -L position detection element, for example, a means for detecting the number of rotations on the output shaft side of each motor or reduction gear is provided,
It is also possible to configure the control based on the respective rotational speeds set in advance in the memory elements of the To(II11 circuit 4).

"Function" With the above-described configuration, when the trunk member 2 is in the vertical position, its center of gravity is located approximately midway between the left and right leg members 5. Next, when the start switch 8 is turned on, the motor 12 of the first power unit 10 rotates, and the pinion 14 is decelerated and rotated via the reduction gear 13, and the meshing position with the fixed gear 11 changes, for example, The body member 2 can be tilted by a predetermined angle from the upright state shown in FIG. 2a as shown in the same figure. Due to this inclination of the trunk member 2, the center of gravity moves onto the left leg member 5a in the direction of inclination. Next, by rotating the motor 23 of the second power unit 20, the drive arm 22 is rotated clockwise via the reduction gear 24,
In conjunction with this, the left and right leg members 5 are swung in conjunction with each other, and the right leg member 5b, which is away from the center of gravity, can be easily lifted. As a result, the left side supporting leg member Ia side supports the entire body, and when the left side motor 31 of the third power unit 30 is rotated in this state, the supporting leg member The entire body can be rotated by a predetermined angle in a predetermined direction together with the left leg member 5a using the fulcrum 7a as a fulcrum to change its direction. Next, the first power unit 10 and the second power unit 20 are activated to reverse the rotation of the respective motors 12 and 23, thereby returning to the state shown in FIG. 2a. Next, from this state, the first power unit 10 continues to operate and the motor 12 rotates, so that the trunk member 2 can be tilted by a predetermined angle like the waist circumference C in the same manner as described above. Due to the inclination of the body member 2, the center of gravity can be moved onto the right leg member 5b in the direction of inclination, and the motor 23 of the second power unit 20 is rotated in the same manner, and the deceleration device 24 is rotated. The drive arm 22 is rotated counterclockwise via the lever to swing the left and right leg members 5 in conjunction with each other, and the left leg member 5a, which is out of the center of gravity, can be easily lifted, and the right leg member 5a can be easily lifted. It can be in the form of standing on one leg, with the entire body supported on the leg member 7b side. In this state, similarly to the above, the right motor 31 of the third power unit can be rotated to rotate the entire body together with the right leg member 5b by a predetermined angle in a predetermined direction, thereby changing its direction. .

Thereafter, the walking motion can be performed step by step by repeating the same motion.

In this case, by arbitrarily controlling the timing of operation of each power device, the direction of direction change during walking can be freely adjusted, and the direction of walking can be controlled.

Further, the first power plant 10 and the second power plant 20 may be controlled in conjunction with each other as needed, and one of them may be used for both purposes and omitted.

Similarly, by interlocking the operations of the second power unit 20 and the third power unit 30, one of them can be used for the same purpose and omitted.

``Effects of the Invention'' As described above, during walking, the center of gravity is forcibly moved by alternately tilting the torso member, which is equipped with a relatively heavy battery accommodating portion, to the left and right. Using the supporting leg member on the side that is the fulcrum as a fulcrum, the entire body is in the form of a stable one-legged stance, and by rotating around that pivot foot, the direction can be easily changed. There is no need to add a separate support member to the foot of the foot, and stable walking motion can be achieved at all times.

[Brief explanation of drawings]

FIG. 1 is a cutaway perspective view of a main part of a walking toy showing an embodiment of the present invention, and FIG. 2 is a front view for explaining the operation of the walking toy. In the figure, 1 is the main frame body, 2 is the body member, 3 is the battery housing part, and 5
is a leg member, 6 is a linking member, 7 is a support leg member, 10 is a first
2o is a second power plant, and 30 is a third power plant.

Claims (1)

[Claims] A main frame body provided with a plurality of bearing parts, a body member swingably mounted on the upper center of the main frame body, and a body member connected to each other by linking members on both sides of the main frame body, and swingably mounted. The present invention is characterized by comprising a leg member provided therein, a support foot member rotatably attached to the bottom of the leg member, and a power device for driving the torso member, leg member, and support foot member, respectively. A walking toy.