US20030017779A1 - Biped toy that can walk on two feet - Google Patents
Biped toy that can walk on two feet Download PDFInfo
- Publication number
- US20030017779A1 US20030017779A1 US09/906,056 US90605601A US2003017779A1 US 20030017779 A1 US20030017779 A1 US 20030017779A1 US 90605601 A US90605601 A US 90605601A US 2003017779 A1 US2003017779 A1 US 2003017779A1
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- United States
- Prior art keywords
- leg
- toy
- torso
- legs
- walk
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H13/00—Toy figures with self-moving parts, with or without movement of the toy as a whole
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H11/00—Self-movable toy figures
- A63H11/18—Figure toys which perform a realistic walking motion
Definitions
- the present invention relates to a biped toy that can walk on two feet as naturally as a human being walks by lifting up left and right legs thereof alternately while shifting the weight of the toy main body.
- the present invention has been made in view of the problem inherent in the prior art and an object thereof is to provide a biped toy that can walk as naturally as a human being does while lifting up alternately left and right legs thereof by solving the correlation between shifting the weight of the toy main body and shifting the center of gravity thereof between the legs.
- a biped toy that can walk on two feet by virtue of the driving force of a motor, wherein legs are rotatably supported on a torso, wherein the motor having disc cams mounted on an output shaft thereof and levers for transmitting the rotations of the cams are disposed in the interior of the torso, wherein the legs are each constituted by a leg portion and a foot portion, the leg portion and the foot portion being each rotatably supported, and wherein a link mechanism is disposed in each of the legs to which the driving force is transmitted by the levers, whereby with the right leg of the legs being stepped forward by a step a toy main body is inclined leftward so that the center of gravity thereof is positioned directly above the left leg of the legs, then, in order to allow the left leg to alternately be stepped forward by a step the center of gravity is shifted to the right leg ,and after the center of gravity has been so
- the toy main body is prevented from falling down from the lost of its balance by shifting the weight of the toy main body and shifting the center of gravity thereof between the legs, whereby the toy main body can walk as naturally as a human being walks. Namely, in shifting the weight of the toy main body, with the right leg being stepped forward by a step, the toy main body is inclined leftward so that the center of gravity is positioned directly above the left leg.
- the center of gravity is shifted from the left leg to the right leg in a diagonal fashion, and after the center of gravity has been so shifted the toy main body lifts up the left leg to advance while shifting the weight thereof rearward.
- the toy main body is inclined rightward so that the weight thereof is so shifted, when the center of gravity is positioned directly above the right leg.
- the center of gravity is diagonally shifted from the right leg to the left leg, and after the center of gravity has been so shifted, the toy main body lifts up the right leg to advance while shifting the weight thereof rearward.
- the toy main body can walk as naturally as a human being walks while lifting up the left and right legs alternately with the torso being shifted by shifting the weight of the toy main body and shifting the center of gravity thereof between the legs.
- a biped toy that can walk on two feet as set forth in the first aspect of the invention, wherein the biped toy can walk while lifting up the left and right legs alternately by positioning the center of gravity above either the left leg or the right leg which bears the weight of the toy main body.
- the legs can be moved by alternately shifting the center of gravity above the supporting leg of the two legs.
- the center of gravity is being positioned on the right leg which is being the supporting leg.
- the center of gravity is shifted to the left leg in order to allow the right leg to be stepped forward by a step, and after the center of gravity has been so shifted, the right leg is then lifted up so to advance another step while the torso is being shifted rearward.
- the toy can walk as naturally as a human being walks while lifting up the left and right legs alternately
- a biped toy that can walk on two feet as set forth in the first or second aspect of the invention, wherein joint portions of the leg portions can be flexed in a certain direction by positioning fulcrums of the leg portions rearward.
- the fulcrums of the leg portions are positioned rearward in order to eliminate unstable actions of the leg portions.
- the joint portion between the torso and the upper leg, the joint portion between the upper leg and the lower leg and the join portion between the lower leg and the foot can be flexed in the certain direction, whereby natural walking actions can be performed.
- a biped toy that can walk on two feet as set forth in any of the first to third aspect of the invention, wherein the torso can be inclined forward by positioning a fulcrum of the torso rearward.
- the fulcrum of the torso is positioned rearward.
- the torso can be inclined forward, whereby natural walking actions can be performed.
- a biped toy that can walk on two feet as set forth in any of the first to fourth aspects of the invention, wherein the balance of the toy main body can be maintained by positioning a fulcrum of the foot portion inwardly or outwardly.
- the fulcrums of the foot portions are positioned either inwardly or outwardly in order to eliminate unstable actions of the foot portions.
- the toy main body can perform natural walking actions without falling down by shifting the weight of the toy main body, as well as shifting the center of gravity thereof between the legs.
- natural leg actions can be attained by positioning the center of gravity above the supporting leg.
- the fulcrums of the leg portions are positioned rearward in order to eliminate unstable actions of the leg portions.
- the fulcrum of the torso is positioned rearward in order to eliminate unstable actions of the torso.
- the fulcrums of the left and right foot portions are positioned either inwardly or outwardly in order to eliminate unstable actions of the toy main body.
- FIG. 1 is a perspective view showing the external appearance of an embodiment of the present invention
- FIG. 2 is a side view of a toy main body, as viewed from the right side, showing a mounting structure of a left leg;
- FIG. 3 is a front view of the toy main body showing the mounting structure of the left leg;
- FIG. 4 is a diagram showing a transmission mechanism of the driving force of a motor according to the present invention.
- FIG. 5 is an enlarged view of FIG. 4;
- FIG. 6 is a diagram showing the transmission mechanism of the driving force of the motor according to the present invention.
- FIG. 7 is an enlarged perspective view showing a mounting structure of a foot portion
- FIG. 8 is a diagram showing a state in which an upper leg is swung left and right;
- FIG. 9 is a diagram showing a state in which a lower leg is swung left and right;
- FIG. 10 is a diagram showing a state in which the foot portion is tilted back and forth;
- FIG. 11 is a diagram showing a state in which the foot portion is tilted left and right;
- FIG. 12 is an explanatory view of a state in which the foot portion is tilted left and right;
- FIG. 13 is an explanatory view of a state in which the foot portion is tilted left and right;
- FIG. 14 is an explanatory view of a state in which the foot portion is tilted left and right;
- FIG. 15 is a diagram showing a walking mechanism according to the present invention .
- FIG. 16 is a diagram showing the waking mechanism according to the present invention.
- FIG. 17 is a diagram showing the waking mechanism according to the present invention.
- FIG. 18 is a diagram showing the waking mechanism according to the present invention.
- FIG. 19 is a diagram showing a mounting structure of an arm portion
- FIG. 20 is a diagram showing the mounting structure of the arm portion.
- FIG. 1 is a perspective view showing an external appearance of a biped toy that can walk on two feet according to the present invention.
- a toy main body 1 is made to mimic a robot and is constructed by assembling together a head portion 10 , a torso 20 , two arm portions 30 and two legs 40 .
- a waking action according to the invention is realized by shifting the torso so that the weight of the torso is shifted and shifting the center of gravity of the toy betwee the two legs 40 , and actions of the head portion 10 and the two arm portions 30 are not associated with the walking action but in order to realize natural walking actions the head portion and the two arm portions are made to move in association with the actions of the torso and the two legs.
- the left and right legs are identical and therefore only the left leg will be described as a matter of conveniences.
- the left leg 40 is rotatably supported on the torso 20 via a shaft 401 and is constituted by three constituent members such as an upper leg portion 41 , a lower leg portion 42 and a foot portion 43 .
- the left leg 40 has four joint portions so that a walking action as natural as that of a human being can be realized.
- the four joint portions are a hip joint portion 44 , a knee joint portion 45 , a joint portion 46 for allowing back and forth or longitudinal movements and a joint portion 47 for allowing left and right or lateral movements.
- the entirety of the left leg is rotatably secured to the torso 20 via the shaft 401 to thereby constitute the hip joint portion 44 .
- the upper leg portion 41 is rotatably secured to the lower leg portion 42 via a shaft 402 to thereby constitute the knee joint portion 45 , whereby the upper leg portion and the lower leg portion are allowed to swing back and forth, as well as left and right directions.
- the lower leg portion 43 is rotatably secured to the foot portion 43 via a shaft 403 to thereby the longitudinally moving joint portion 46 and the laterally moving joint portion 47 , whereby the foot portion 43 is allowed to tiltably move longitudinally and laterally.
- the first link member 404 disposed on the upper leg portion 41 sequentially from the outside are the first link member 404 , the third link member 406 and the fifth link member 408 and a plurality of coupling members 212 , 213 , 214 are interposed between the link members so as to rotatably couple them together, respectively.
- the second link member 405 and the fourth link member 407 and a plurality of coupling members 409 , 410 are interposed between the link members so as to rotatably couple them together, respectively.
- first link member 404 and the second link member 405 are rotatably coupled to each other at an intermediate coupling member 411 via an engagement pin 411 a
- third link member 406 and the fourth link member 407 are also rotatably coupled to each other at an intermediate coupling member 412 via a coupling pin 412 a.
- FIG. 4 shows a positional relationship between a disc cam and a plurality of levers
- FIG. 5 is an enlarged view of FIGS. 4
- FIG. 6 is an exploded perspective view showing a positional relationship between the levers and a plurality of link members which are disposed below the levers.
- a member shown at the center of FIG. 4 is installed in the torso 20 and only a transmission mechanism is shown for transmitting power laterally.
- a power transmission mechanism for the right leg exists on an opposite side of a motor unit 201 .
- the power transmission mechanism for the right leg is constructed the same as the transmission mechanism for the left leg except that a member identical to a circular cam 202 is formed with inner grooves 202 a and outer grooves 202 b which are disposed so as to be shifted 180 degrees relative to inner grooves 202 a and outer grooves 202 b of a circular cam 202 for the left leg.
- Accommodated in the motor unit 201 are a motor and a series of groups of gears, and the driving force of the motor is transmitted to an output shaft 206 extending to project from an inner frame 205 via the series of groups of gears.
- the output shaft 206 passes through the disc cam 202 and an outer frame 207 .
- the inner grooves 202 a and the outer grooves 202 b are formed in both sides of the disc cam, and guide pins formed on the four levers are adapted to be guided by the grooves for formed.
- the guide pin 208 a of the first lever 208 is guided in the outer groove 202 b in the external surface (front side) of the disc cam so as to operate the leg 40 in such a manner as to tilt it back and forth.
- the guide pin 209 a of the second lever 209 is guided in the inner groove 202 a in the external surface of the disc cam so as to operate the leg 40 in such a manner as to tilt it left and right.
- the guide pin 210 a of the third lever 210 is guided in the outer groove (not shown) in the internal surface (opposite side) of the disc cam so as to operate the lower leg portion in such a manner as to swing it left and right.
- the guide pin 211 a of the fourth lever 211 is guided in the inner groove in the internal surface (not shown) so as to operate the upper leg in such a manner as to swing it left and right.
- Bearings 208 b, 210 b are formed at distal ends of the first lever 208 and the third lever 210 , respectively, and the bearings are fittingly inserted over a shaft 205 a on an inner frame 205 .
- bearings 209 b, 211 b are formed at central end portions of the second lever 209 and fourth lever 211 , respectively and the bearings are fittingly inserted over a shaft 205 b on the inner frame 205 .
- the rotating force of the motor is transmitted to the disc cam 20 , and since the guide pins of the four levers are guided in the grooves, respectively, the four lever members are allowed to swing in accordance with the configurations of the respective grooves.
- notched portions 208 c, 209 c, 210 c, 211 c are formed in lower end portions of the lever members, respectively, and as shown in FIG. 5, a plurality of coupling pins are brought into engagement with the notched portions, respectively.
- a pin 212 a on the coupling member 212 is brought into engagement with the notched portion 208 c in the first lever, and a pin 213 a on the coupling member 213 is brought into engagement with the notched portion 209 c in the second lever.
- a pin 214 a on the coupling member 214 is brought into engagement with the notched portion 211 c in the fourth lever, and a pin 41 a on an inner frame 41 A of the upper leg is brought into engagement with the notched portion 211 c in the fourth lever.
- the first lever 208 is linked to the third link member 406 through the engagement of the coupling member 212 with the third link member 406 via an engagement pin 212 b.
- the third lever 209 is linked to the first link member 404 through the engagement of the coupling member 213 with the first link member 404 via an engagement pin 213 b.
- the third lever 210 is linked to the fifth link member 408 through the engagement of the coupling member 214 with the fifth link member via an engagement pin 214 b.
- the first link member 404 and the third link member 406 are disposed on the inner frame 41 A and an outer frame 41 B of the upper leg portion, and the shaft 401 is allowed to pass through shaft holes 41 b, 213 c, 212 c, 41 b, 214 c sequentially, whereby the upper leg portion 41 can be swung left and right on the shaft 401 as a fulcrum.
- the fifth link member 408 is disposed on a rear side of the inner frame 41 A.
- the second link member 405 and the fourth link member 407 are disposed on an inner frame 41 A and an outer frame 41 B of the lower leg portion, respectively, and the shaft 402 is allowed to pass through shaft holes 42 a, 412 b, 411 b, 42 a sequentially, while another shaft 403 is allowed to pass through shaft holes 42 b, 410 b, 409 b, 42 b, respectively, so that both the frames are screwed together.
- FIG. 7 is an enlarged perspective view of a mounting structure of the foot portion.
- a pair of ribs 43 a which is normal to the traveling direction thereof and another rib 43 b between the pair of ribs in such a manner as to protrude from the surface of the foot portion 43 , and the second link member 405 and the coupling member 409 are locked to the rib 43 via a shaft 409 a, and the fourth link member 407 and the coupling member 410 are rotatably secured to the foot portion 43 between the pair of ribs 43 a via a shaft 43 c.
- the disc cam rotates counterclockwise.
- the operations of the levers follow the configurations of the associated grooves, respectively.
- the guide pins are pushed outwardly in a portion of the grooves where a direct distance between the center of the disc cam to the respective grooves is increased at all times, while the pins are pushed inwardly in a portion of the grooves where the direct distance is decreased at all times.
- levers are swung clockwise when the guide pins reside in the portion of the grooves where they are pushed outwardly, while the levers are swung counterclockwise when the guide pins reside in the portion of the grooves where they are pushed inwardly.
- FIG. 8 is a diagram showing a state in which the upper leg portion is swung left and right.
- the guide pin 211 a on the fourth lever 211 is guided in the inner groove (indicated by dotted lines) formed in the back side of the disc cam 202 disposed inside the torso 20 .
- the disc cam rotates counterclockwise (in a direction indicated by an arrow)
- the fourth lever 211 is swung clockwise (in a direction indicated by an arrow)
- reference numeral 402 denotes a fulcrum for the lower leg portion 42 .
- FIG. 9 is a diagram showing a state in which the lower leg portion is swung left and right.
- the guide pin 210 a on the third lever 210 is guided in the outer groove (indicated by dotted lines) formed in the back side of the disc cam 202 disposed inside the torso.
- the disc cam 202 rotates counterclockwise (in a direction indicated by an arrow), and the third lever 210 is swung clockwise (in a direction indicated by an arrow) on the shaft 205 a as a fulcrum.
- FIG. 10 is a diagram showing a state in which the foot portion is tilted back and forth.
- the guide pin 208 a on the first lever 208 is guided in the outer groove 202 b formed in the front surface of the disc cam 202 disposed inside the torso 20 .
- the disc cam 202 rotates counterclockwise (in a direction indicated by an arrow), and the first lever 208 is swung clockwise (in a direction indicated by an arrow) on the shaft 401 as a fulcrum.
- FIG. 11 is a diagram showing a state in which the foot portion is tilted left and right.
- the guide pin 209 a on the second lever 209 is guided in the inner groove 202 a formed in the front surface of the disc cam 202 disposed inside the torso 20 .
- the disc cam 202 rotates counterclockwise (in a direction indicated by an arrow) and the second lever 209 is swung clockwise (in a direction indicated by an arrow) on the shaft 401 as a fulcrum.
- FIGS. 12 to 14 are cross sectional views taken along the line A-A′ of FIG. 7.
- FIG. 12 shows a state in which the second link member 405 is pushed down to a lowest position, and as this occurs the foot portion 43 operates to tilt leftward (outwardly) on the shaft 43 c as the fulcrum.
- the foot portion 43 operates to become horizontal on the shaft 43 c as the fulcrum.
- the foot portion 43 operates to tilt rightward (inwardly) on the shaft 43 c as the fulcrum.
- FIGS. 15 to 18 a walking mechanism will be described referring to FIGS. 15 to 18 .
- upper diagrams are right side views showing a state in which the toy walks while stretching and flexing the two legs
- lower diagrams are back views showing the inclination of the torso 20 associated with states shown in the upper diagrams, respectively.
- reference character L denotes the left foot and R a right foot.
- operations to be described therein are those resulting when the disc cam 202 rotates half.
- FIG. 15 shows a state in which the left foot 41 L is being stepped forward by a step from the state shown in FIG. 16 after the torso 20 has been so shifted, and in this state, the torso 20 is shifted rearward in order to maintain the balance of the torso 20 as a whole.
- FIG. 17 shows a state in which the left foot 41 L is being stepped forward by a step from the state shown in FIG. 16 after the torso 20 has been so shifted, and in this state, the torso 20 is shifted rearward in order to maintain the balance of the torso 20 as a whole.
- the toy main body can step forward by a step. Thereafter, in order to move forward the right foot R by a step, the weight of the torso 20 is shifted from the right foot side to the left foot side and the right foot is lifted up while shifting the torso rearward, whereby the right foot is stepped forward by a step.
- the toy main body can walk on two feet.
- the arm portion 30 is constituted by an upper arm portion 31 and a lower arm portion 32 and is mounted to the torso 20 via a shaft 207 a in such a manner as to move back and forth.
- Two shafts 207 a and 207 b are provided on an external frame 207 of the torso in such a manner as to protrude therefrom, and after a coupling member 301 is loosely fitted on the shaft 207 a, and an oscillating member 302 , a holding member 303 and a pinion 304 are inserted on a bearing 301 a of the coupling member 301 .
- a bearing 302 b disposed in a lower end portion of the oscillating member 302 is loosely fitted on the shaft 207 b. Then, a rotating body having an eccentric pin 305 a is fitted in a hole 207 c opened in the center of the external frame and an output shaft 206 of a motor is extended.
- a guide pin 301 b of the coupling member and a guide pin of the rotating body are guided in a longitudinal elongate hole 302 c in the oscillating member 302 , whereby when the driving force of the motor is transmitted to the output shaft 26 , since the rotating body rotates counterclockwise, the coupling member 301 is oscillated in synchronism with the lateral oscillation of the oscillating member 302 .
- the upper arm portion 31 mounted to a distal end of the coupling member operates to be oscillated back and forth.
- the upper arm portion is constituted by an internal frame 31 A and an external frame 31 B, and similarly, the lower arm portion is also constituted by an internal frame 32 A and an external frame 32 B.
- a shaft 305 a on a pinion 305 extends into a hole 31 a in the internal frame 31 A of the upper arm portion, and a rotating body having an eccentric pin 306 a is rotatably secured to the shaft 305 a via hole 306 b.
- the eccentric pin 306 a is rotatably secured in a hole 307 a in a distal end portion of a link member 307 , and a bearing 307 b provided at a rear end portion of the link member is rotatably mounted on a pin 32 a provided so as to erect on the internal frame 32 A of the lower arm portion.
- a cylindrical shaft 301 a is rotatably secured in a shaft hole 31 b provided so as to protrude on the internal frame 32 A of the upper arm portion.
- the internal frame 31 A of the upper arm portion, the internal frame 32 A of the lower arm portion, the external frame 32 B of the lower arm portion and the external frame 31 B of the upper arm portion are assembled sequentially with a pin 308 .
- the upper arm portion 31 since the cylindrical shaft 301 a rotates, the upper arm portion 31 operates to be swung back and forth, and when the upper arm rotates, the pinion 305 rotates while meshing with another pinion 304 , and therefore the rotating body 306 also rotates in synchronism therewith.
- the rotating force so generated is then converted into reciprocating motion for transmission to the link member 307 , whereby the lower arm portion 32 operates to be swung back and forth on the shaft 308 as a fulcrum.
- the head portion 10 is constituted by a base 101 , a rotating body 103 , a link member 104 and the like, and a long shaft 101 a is provided so as to erect from the center thereof and a pin 101 b is also provided so as to erect at a position on one side of the base.
- a crank member 102 is fitted on the pin 101 b via a hole 102 a.
- a distal end portion 302 d of the oscillating member shown in FIG. 19 is guided in a notched portion 102 b in the crank member.
- a rotating member 103 having a cylindrical shaft 103 a is fitted over the long shaft 101 a.
- a projection 102 c is provided at an opposite end to the notched portion on the crank member in such a manner as to erect therefrom, and similarly, a projection 103 b is provided on an outer circumference of the rotating body in such a manner as erect therefrom.
- the link member 104 is fitted on the projections, respectively, via holes 104 a, 104 b.
- a flat plate 105 is screwed and a head 106 is placed thereon. According to the construction, when the oscillating member 302 oscillates back and forth, since the crank member 102 swings back and forth, the rotating member 103 rotates with a predetermined stroke, whereby the whole head portion operates to rotate in left and right directions.
- the present invention is not limited to what has been described.
- the fulcrum of the foot portion does not have to be positioned inwardly but may be positioned outwardly.
- the configurations of the inner and outer grooves in the disc cam may be varied freely, whereby the motion of the two-feet walking can be varied.
- the toy main body can walk as naturally as a human being walks by shifting the weight of the toy main body and shifting the center of gravity thereof between the legs without falling down due to the lost of the balance thereof.
- the feet can be moved by alternately positioning the center of gravity above one of the left and right legs which supports the toy main body.
- the toy main body can keep the balance thereof.
- the toy main body can keep the balance thereof.
- the toy main body can keep the balance thereof.
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Abstract
By attaining a certain correlation between shifting the weight of a toy main body and shifting the center of gravity the toy main body between legs thereof there is provided a biped toy that can walk on two feet as naturally as a human being walks without falling down. Left and right legs can be forwarded as naturally as the human being does by positioning the center of gravity above one of the legs which supports the toy main body. With a view to eliminating unstable actions of leg portions, fulcrums thereof are positioned rearward, with a view to eliminating unstable actions of a torso, a fulcrum thereof is positioned rearward, and with a view to eliminating unstable actions of the toy main body, fulcrums of the left and right foot portions are each positioned either inwardly or outwardly.
Description
- 1. Field of the Invention
- The present invention relates to a biped toy that can walk on two feet as naturally as a human being walks by lifting up left and right legs thereof alternately while shifting the weight of the toy main body.
- 2. Description of the Related Art
- When walking a conventional biped toy scuffs with left and right feet thereof being in contact with the ground or the like and therefore the toy cannot walk as smoothly as a robot walks.
- In order to allow a biped toy to walk as naturally as a human being does there is a certain correlation to be attained between shifting the weight of a toy main body and shifting the center of gravity thereof between the legs thereof.
- With the prior art, however, since the aforesaid technique of shifting the weight and center of gravity has not been materialized, if the natural walk is tried to be realized by lifting up the left and right legs of a biped toy alternately, the toy falls down, and therefore when walking the toy has to scuff with the left and right feet thereof being in contact with the ground or the like.
- The present invention has been made in view of the problem inherent in the prior art and an object thereof is to provide a biped toy that can walk as naturally as a human being does while lifting up alternately left and right legs thereof by solving the correlation between shifting the weight of the toy main body and shifting the center of gravity thereof between the legs.
- With a view to attaining the object, according to a first aspect of the present invention, there is provided a biped toy that can walk on two feet by virtue of the driving force of a motor, wherein legs are rotatably supported on a torso, wherein the motor having disc cams mounted on an output shaft thereof and levers for transmitting the rotations of the cams are disposed in the interior of the torso, wherein the legs are each constituted by a leg portion and a foot portion, the leg portion and the foot portion being each rotatably supported, and wherein a link mechanism is disposed in each of the legs to which the driving force is transmitted by the levers, whereby with the right leg of the legs being stepped forward by a step a toy main body is inclined leftward so that the center of gravity thereof is positioned directly above the left leg of the legs, then, in order to allow the left leg to alternately be stepped forward by a step the center of gravity is shifted to the right leg ,and after the center of gravity has been so shifted the left leg is lifted up while the torso is being shifted rearward so that the weight thereof is so shifted for advancement.
- According to the first aspect of the present invention, the toy main body is prevented from falling down from the lost of its balance by shifting the weight of the toy main body and shifting the center of gravity thereof between the legs, whereby the toy main body can walk as naturally as a human being walks. Namely, in shifting the weight of the toy main body, with the right leg being stepped forward by a step, the toy main body is inclined leftward so that the center of gravity is positioned directly above the left leg.
- Then, the center of gravity is shifted from the left leg to the right leg in a diagonal fashion, and after the center of gravity has been so shifted the toy main body lifts up the left leg to advance while shifting the weight thereof rearward.
- In order to allow the left leg to be stepped forward by a step from that condition, the toy main body is inclined rightward so that the weight thereof is so shifted, when the center of gravity is positioned directly above the right leg.
- Thereafter, the center of gravity is diagonally shifted from the right leg to the left leg, and after the center of gravity has been so shifted, the toy main body lifts up the right leg to advance while shifting the weight thereof rearward. Thus, the toy main body can walk as naturally as a human being walks while lifting up the left and right legs alternately with the torso being shifted by shifting the weight of the toy main body and shifting the center of gravity thereof between the legs.
- According to a second aspect of the present invention, there is provided a biped toy that can walk on two feet as set forth in the first aspect of the invention, wherein the biped toy can walk while lifting up the left and right legs alternately by positioning the center of gravity above either the left leg or the right leg which bears the weight of the toy main body.
- According to the second aspect of the present invention, the legs can be moved by alternately shifting the center of gravity above the supporting leg of the two legs.
- Namely, with the right leg being stepped forward by a step, the center of gravity is positioned on the left leg which is being the supporting leg.
- Then, in order to allow the left leg to be stepped forward by a step, the center of gravity is shifted to the right leg, and after the center of gravity has been so shifted, the left leg is lifted up to advance a step while the torso is being shifted rearward.
- With the left leg being stepped forward by a step, the center of gravity is being positioned on the right leg which is being the supporting leg. The center of gravity is shifted to the left leg in order to allow the right leg to be stepped forward by a step, and after the center of gravity has been so shifted, the right leg is then lifted up so to advance another step while the torso is being shifted rearward.
- By repeating the series of actions the toy can walk as naturally as a human being walks while lifting up the left and right legs alternately
- According to a third aspect of the present invention, there is provided a biped toy that can walk on two feet as set forth in the first or second aspect of the invention, wherein joint portions of the leg portions can be flexed in a certain direction by positioning fulcrums of the leg portions rearward.
- According to the third aspect of the present invention, the fulcrums of the leg portions are positioned rearward in order to eliminate unstable actions of the leg portions.
- According to the construction, the joint portion between the torso and the upper leg, the joint portion between the upper leg and the lower leg and the join portion between the lower leg and the foot can be flexed in the certain direction, whereby natural walking actions can be performed.
- According to a fourth aspect of the present invention, there is provided a biped toy that can walk on two feet as set forth in any of the first to third aspect of the invention, wherein the torso can be inclined forward by positioning a fulcrum of the torso rearward.
- According to the fourth aspect of the present invention, the fulcrum of the torso is positioned rearward.
- According to the construction, the torso can be inclined forward, whereby natural walking actions can be performed.
- According to a fifth aspect of the present invention, there is provided a biped toy that can walk on two feet as set forth in any of the first to fourth aspects of the invention, wherein the balance of the toy main body can be maintained by positioning a fulcrum of the foot portion inwardly or outwardly.
- According to the fifth aspect of the invention, the fulcrums of the foot portions are positioned either inwardly or outwardly in order to eliminate unstable actions of the foot portions.
- According to the construction, being made to keep the balance, the toy main body are allowed to walk naturally.
- Thus, according to the present invention, the toy main body can perform natural walking actions without falling down by shifting the weight of the toy main body, as well as shifting the center of gravity thereof between the legs. In addition, in moving forward the left and right legs, natural leg actions can be attained by positioning the center of gravity above the supporting leg.
- Additionally, the fulcrums of the leg portions are positioned rearward in order to eliminate unstable actions of the leg portions. In addition, the fulcrum of the torso is positioned rearward in order to eliminate unstable actions of the torso. Furthermore, the fulcrums of the left and right foot portions are positioned either inwardly or outwardly in order to eliminate unstable actions of the toy main body.
- Further objects and advantages of the present invention will be apparent from the following description with reference to the accompanying drawings, wherein:
- FIG. 1 is a perspective view showing the external appearance of an embodiment of the present invention;
- FIG. 2 is a side view of a toy main body, as viewed from the right side, showing a mounting structure of a left leg;
- FIG. 3 is a front view of the toy main body showing the mounting structure of the left leg;
- FIG. 4 is a diagram showing a transmission mechanism of the driving force of a motor according to the present invention;
- FIG. 5 is an enlarged view of FIG. 4;
- FIG. 6 is a diagram showing the transmission mechanism of the driving force of the motor according to the present invention;
- FIG. 7 is an enlarged perspective view showing a mounting structure of a foot portion;
- FIG. 8 is a diagram showing a state in which an upper leg is swung left and right;
- FIG. 9 is a diagram showing a state in which a lower leg is swung left and right;
- FIG. 10 is a diagram showing a state in which the foot portion is tilted back and forth;
- FIG. 11 is a diagram showing a state in which the foot portion is tilted left and right;
- FIG. 12 is an explanatory view of a state in which the foot portion is tilted left and right;
- FIG. 13 is an explanatory view of a state in which the foot portion is tilted left and right;
- FIG. 14 is an explanatory view of a state in which the foot portion is tilted left and right;
- FIG. 15 is a diagram showing a walking mechanism according to the present invention ;
- FIG. 16 is a diagram showing the waking mechanism according to the present invention;
- FIG. 17 is a diagram showing the waking mechanism according to the present invention;
- FIG. 18 is a diagram showing the waking mechanism according to the present invention,
- FIG. 19 is a diagram showing a mounting structure of an arm portion, and
- FIG. 20 is a diagram showing the mounting structure of the arm portion.
- The particulars shown herein are by way of example and for purposes of illustrative discussion of an embodiment of the present invention. The description taken with the drawings makes it apparent to those skilled in the art how the present invention may be embodied in practice.
- FIG. 1 is a perspective view showing an external appearance of a biped toy that can walk on two feet according to the present invention. A toy
main body 1 is made to mimic a robot and is constructed by assembling together ahead portion 10, atorso 20, twoarm portions 30 and twolegs 40. A waking action according to the invention is realized by shifting the torso so that the weight of the torso is shifted and shifting the center of gravity of the toy betwee the twolegs 40, and actions of thehead portion 10 and the twoarm portions 30 are not associated with the walking action but in order to realize natural walking actions the head portion and the two arm portions are made to move in association with the actions of the torso and the two legs. - Next, referring to FIGS. 2 and 3, a mounting structure of the left leg will be described.
- In the present invention, the left and right legs are identical and therefore only the left leg will be described as a matter of conveniences. The
left leg 40 is rotatably supported on thetorso 20 via ashaft 401 and is constituted by three constituent members such as anupper leg portion 41, alower leg portion 42 and afoot portion 43. - In addition, the
left leg 40 has four joint portions so that a walking action as natural as that of a human being can be realized. - Namely, the four joint portions are a hip
joint portion 44, a kneejoint portion 45, ajoint portion 46 for allowing back and forth or longitudinal movements and ajoint portion 47 for allowing left and right or lateral movements. The entirety of the left leg is rotatably secured to thetorso 20 via theshaft 401 to thereby constitute the hipjoint portion 44. - The
upper leg portion 41 is rotatably secured to thelower leg portion 42 via ashaft 402 to thereby constitute the kneejoint portion 45, whereby the upper leg portion and the lower leg portion are allowed to swing back and forth, as well as left and right directions. - In addition, the
lower leg portion 43 is rotatably secured to thefoot portion 43 via ashaft 403 to thereby the longitudinally movingjoint portion 46 and the laterally movingjoint portion 47, whereby thefoot portion 43 is allowed to tiltably move longitudinally and laterally. - The mounting structure of the left leg which allows those movements will be described in greater detail with reference to FIG. 3.
- As shown in FIG. 3, five link members are disposed in the interior of the left leg, so that the rotating motion of a motor is converted into reciprocating motion, whereby the toy main body performs walking actions on two feet.
- In other words, disposed on the
upper leg portion 41 sequentially from the outside are thefirst link member 404, thethird link member 406 and thefifth link member 408 and a plurality ofcoupling members lower leg portion 42 sequentially from the outside are thesecond link member 405 and thefourth link member 407 and a plurality ofcoupling members first link member 404 and thesecond link member 405 are rotatably coupled to each other at anintermediate coupling member 411 via anengagement pin 411 a, and thethird link member 406 and thefourth link member 407 are also rotatably coupled to each other at anintermediate coupling member 412 via acoupling pin 412 a. - Next, referring to FIGS.4 to 6, a transmission mechanism will be described through which the driving force of the motor is transmitted to those link members.
- FIG. 4 shows a positional relationship between a disc cam and a plurality of levers, FIG. 5 is an enlarged view of FIGS.4, and 6 is an exploded perspective view showing a positional relationship between the levers and a plurality of link members which are disposed below the levers.
- A member shown at the center of FIG. 4 is installed in the
torso 20 and only a transmission mechanism is shown for transmitting power laterally. A power transmission mechanism for the right leg exists on an opposite side of amotor unit 201. The power transmission mechanism for the right leg is constructed the same as the transmission mechanism for the left leg except that a member identical to acircular cam 202 is formed withinner grooves 202 a andouter grooves 202 b which are disposed so as to be shifted 180 degrees relative toinner grooves 202 a andouter grooves 202 b of acircular cam 202 for the left leg. Accommodated in themotor unit 201 are a motor and a series of groups of gears, and the driving force of the motor is transmitted to anoutput shaft 206 extending to project from aninner frame 205 via the series of groups of gears. Theoutput shaft 206 passes through thedisc cam 202 and anouter frame 207. Theinner grooves 202 a and theouter grooves 202 b are formed in both sides of the disc cam, and guide pins formed on the four levers are adapted to be guided by the grooves for formed. - The
guide pin 208 a of thefirst lever 208 is guided in theouter groove 202 b in the external surface (front side) of the disc cam so as to operate theleg 40 in such a manner as to tilt it back and forth. Similarly, theguide pin 209 a of thesecond lever 209 is guided in theinner groove 202 a in the external surface of the disc cam so as to operate theleg 40 in such a manner as to tilt it left and right. On the other hand, theguide pin 210 a of thethird lever 210 is guided in the outer groove (not shown) in the internal surface (opposite side) of the disc cam so as to operate the lower leg portion in such a manner as to swing it left and right. Similarly, theguide pin 211 a of thefourth lever 211 is guided in the inner groove in the internal surface (not shown) so as to operate the upper leg in such a manner as to swing it left and right. -
Bearings first lever 208 and thethird lever 210, respectively, and the bearings are fittingly inserted over ashaft 205 a on aninner frame 205. In addition,bearings second lever 209 andfourth lever 211, respectively and the bearings are fittingly inserted over ashaft 205 b on theinner frame 205. - According to the construction, the rotating force of the motor is transmitted to the
disc cam 20, and since the guide pins of the four levers are guided in the grooves, respectively, the four lever members are allowed to swing in accordance with the configurations of the respective grooves. - In addition, notched
portions - Namely, a
pin 212 a on thecoupling member 212 is brought into engagement with the notchedportion 208 c in the first lever, and apin 213 a on thecoupling member 213 is brought into engagement with the notchedportion 209 c in the second lever. Apin 214 a on thecoupling member 214 is brought into engagement with the notchedportion 211 c in the fourth lever, and apin 41 a on aninner frame 41A of the upper leg is brought into engagement with the notchedportion 211 c in the fourth lever. Additionally, thefirst lever 208 is linked to thethird link member 406 through the engagement of thecoupling member 212 with thethird link member 406 via anengagement pin 212 b. In addition, thethird lever 209 is linked to thefirst link member 404 through the engagement of thecoupling member 213 with thefirst link member 404 via anengagement pin 213 b. - On the other hand, the
third lever 210 is linked to thefifth link member 408 through the engagement of thecoupling member 214 with the fifth link member via anengagement pin 214 b. - As shown in FIG. 6, the
first link member 404 and thethird link member 406 are disposed on theinner frame 41A and anouter frame 41B of the upper leg portion, and theshaft 401 is allowed to pass through shaft holes 41 b, 213 c, 212 c, 41 b, 214 c sequentially, whereby theupper leg portion 41 can be swung left and right on theshaft 401 as a fulcrum. - In this positional relationship, the
fifth link member 408 is disposed on a rear side of theinner frame 41A. In addition, thesecond link member 405 and thefourth link member 407 are disposed on aninner frame 41A and anouter frame 41B of the lower leg portion, respectively, and theshaft 402 is allowed to pass through shaft holes 42 a, 412 b, 411 b, 42 a sequentially, while anothershaft 403 is allowed to pass through shaft holes 42 b, 410 b, 409 b, 42 b, respectively, so that both the frames are screwed together. - Next, referring to FIGS. 6 and 7, a mounting structure of the foot portion will be described below.
- FIG. 7 is an enlarged perspective view of a mounting structure of the foot portion. Provided on a surface of the
foot portion 43 is a pair ofribs 43 a which is normal to the traveling direction thereof and anotherrib 43 b between the pair of ribs in such a manner as to protrude from the surface of thefoot portion 43, and thesecond link member 405 and thecoupling member 409 are locked to therib 43 via ashaft 409 a, and thefourth link member 407 and thecoupling member 410 are rotatably secured to thefoot portion 43 between the pair ofribs 43 a via ashaft 43 c. According to this mounting construction, when thesecond link member 405 is pulled up, since the center of gravity of the foot portion is positioned inwardly, thefoot portion 43 tilts rightward (inwardly) on theshaft 43 c as a fulcrum. Then, when thesecond link member 405 is pulled down thereafter, thefoot portion 43 tilts leftward (outwardly) on theshaft 43 c as the fulcrum. Additionally, when thefourth link member 407 is pulled up, thefoot portion 43 is tilted up at the toe on theshaft 403 as a fulcrum, and when the fourth link member is pulled down thereafter, the toe of thefoot portion 43 is also tilted down. - Next, referring to FIGS.8 to 11, operations of the upper leg portion, the lower portion and the foot portion will be described. In all the figures so referred to, the disc cam rotates counterclockwise. As the disc cam so rotates, the operations of the levers follow the configurations of the associated grooves, respectively. In other words, the guide pins are pushed outwardly in a portion of the grooves where a direct distance between the center of the disc cam to the respective grooves is increased at all times, while the pins are pushed inwardly in a portion of the grooves where the direct distance is decreased at all times. Due to this, the levers are swung clockwise when the guide pins reside in the portion of the grooves where they are pushed outwardly, while the levers are swung counterclockwise when the guide pins reside in the portion of the grooves where they are pushed inwardly.
- FIG. 8 is a diagram showing a state in which the upper leg portion is swung left and right. The
guide pin 211 a on thefourth lever 211 is guided in the inner groove (indicated by dotted lines) formed in the back side of thedisc cam 202 disposed inside thetorso 20. When the driving force of the motor is transmitted to theoutput shaft 206, the disc cam rotates counterclockwise (in a direction indicated by an arrow), and thefourth lever 211 is swung clockwise (in a direction indicated by an arrow), this swinging theupper leg portion 41 counterclockwise (in a direction indicated by an arrow) on theshaft 401 as a fulcrum. In the figure,reference numeral 402 denotes a fulcrum for thelower leg portion 42. - FIG. 9 is a diagram showing a state in which the lower leg portion is swung left and right. The
guide pin 210 a on thethird lever 210 is guided in the outer groove (indicated by dotted lines) formed in the back side of thedisc cam 202 disposed inside the torso. When the driving force of the motor is transmitted to theoutput shaft 206, thedisc cam 202 rotates counterclockwise (in a direction indicated by an arrow), and thethird lever 210 is swung clockwise (in a direction indicated by an arrow) on theshaft 205 a as a fulcrum. Then, since thecoupling member 214 is swung counterclockwise on theshaft 401 as a fulcrum, thefifth link member 408 is pushed down in a direction indicated by an arrow, and as a result, the lower leg portion is swung counterclockwise (in a direction indicated by an arrow) on theshaft 402 as a fulcrum. - FIG. 10 is a diagram showing a state in which the foot portion is tilted back and forth. The
guide pin 208 a on thefirst lever 208 is guided in theouter groove 202 b formed in the front surface of thedisc cam 202 disposed inside thetorso 20. When the driving force of the motor is transmitted to theoutput shaft 206, thedisc cam 202 rotates counterclockwise (in a direction indicated by an arrow), and thefirst lever 208 is swung clockwise (in a direction indicated by an arrow) on theshaft 401 as a fulcrum. Then, since thecoupling member 212 is swung counterclockwise (in a direction indicated by an arrow), thethird link member 406 is pushed down in a direction indicated by an arrow, and theintermediate coupling member 412 is swung counterclockwise. In addition, since thefourth link member 407 is pushed down in a direction indicated by an arrow, thefoot portion 43 is allowed to tilt at the toe in a direction indicated by an arrow on theshaft 403 as a fulcrum. - Next, FIG. 11 is a diagram showing a state in which the foot portion is tilted left and right. The
guide pin 209 a on thesecond lever 209 is guided in theinner groove 202 a formed in the front surface of thedisc cam 202 disposed inside thetorso 20. When the driving force of the motor is transmitted to theoutput shaft 206 of the motor, thedisc cam 202 rotates counterclockwise (in a direction indicated by an arrow) and thesecond lever 209 is swung clockwise (in a direction indicated by an arrow) on theshaft 401 as a fulcrum. Then, since thecoupling member 213 is swung counterclockwise on theshaft 401 as a fulcrum, thefirst link member 404 is pushed down in a direction indicated by an arrow, and theintermediate member 411 is swung counterclockwise. In addition, since thesecond link member 405 is pushed down in a direction indicated by an arrow, thefoot portion 43 is allowed to tilt leftward (outwardly) on theshaft 43 c as a fulcrum. - Furthermore, a state in which the foot portion is tilted left and right will be described referring to FIGS.12 to 14. These figures are cross sectional views taken along the line A-A′ of FIG. 7.
- FIG. 12 shows a state in which the
second link member 405 is pushed down to a lowest position, and as this occurs thefoot portion 43 operates to tilt leftward (outwardly) on theshaft 43 c as the fulcrum. Thereafter, as shown in FIG. 13, when thesecond link member 405 is lifted up such that thesecond link member 405 stays horizontal, thefoot portion 43 operates to become horizontal on theshaft 43 c as the fulcrum. Then, as shown in FIG. 14, when thesecond link member 405 is lifted up to a highest position, thefoot portion 43 operates to tilt rightward (inwardly) on theshaft 43 c as the fulcrum. - Next, a walking mechanism will be described referring to FIGS.15 to 18. In all the figures so referred to, upper diagrams are right side views showing a state in which the toy walks while stretching and flexing the two legs, while lower diagrams are back views showing the inclination of the
torso 20 associated with states shown in the upper diagrams, respectively. In the figures, reference character L denotes the left foot and R a right foot. In all the four diagrams, operations to be described therein are those resulting when thedisc cam 202 rotates half. - Firstly, in FIG. 15, the
right foot 41R is stepped forward by a step, and the center of gravity is positioned directly above theleft foot 41L, in which state the torso is inclined toward the left foot side. In FIG. 16, thetorso 20 is inclined from theleft foot 41L side to theright foot 41R side with the weight of thetorso 20 having been shifted in the state shown in FIG. 15. FIG. 17 shows a state in which theleft foot 41L is being stepped forward by a step from the state shown in FIG. 16 after thetorso 20 has been so shifted, and in this state, thetorso 20 is shifted rearward in order to maintain the balance of thetorso 20 as a whole. Then, FIG. 18 shows a state in which theleft foot 41L is stepped forward by a step from the state shown in FIG. 17 with the center of gravity being positioned directly above theright foot 41R, in which state thetorso 20 is inclined toward the right foot side R. By repeating these actions the toy main body can step forward by a step. Thereafter, in order to move forward the right foot R by a step, the weight of thetorso 20 is shifted from the right foot side to the left foot side and the right foot is lifted up while shifting the torso rearward, whereby the right foot is stepped forward by a step. By repeating the series of actions the toy main body can walk on two feet. - Next, referring to FIGS. 2, 4,19 and 20, a mounting structure of the arm portions to the torso will be described.
- As shown in FIG. 2, the
arm portion 30 is constituted by anupper arm portion 31 and a lower arm portion 32 and is mounted to thetorso 20 via ashaft 207 a in such a manner as to move back and forth. Twoshafts external frame 207 of the torso in such a manner as to protrude therefrom, and after acoupling member 301 is loosely fitted on theshaft 207 a, and anoscillating member 302, a holdingmember 303 and apinion 304 are inserted on a bearing 301 a of thecoupling member 301. In addition, abearing 302 b disposed in a lower end portion of the oscillatingmember 302 is loosely fitted on theshaft 207 b. Then, a rotating body having aneccentric pin 305 a is fitted in ahole 207 c opened in the center of the external frame and anoutput shaft 206 of a motor is extended. According to the mounting construction, aguide pin 301 b of the coupling member and a guide pin of the rotating body are guided in a longitudinalelongate hole 302 c in the oscillatingmember 302, whereby when the driving force of the motor is transmitted to the output shaft 26, since the rotating body rotates counterclockwise, thecoupling member 301 is oscillated in synchronism with the lateral oscillation of the oscillatingmember 302. As a result, theupper arm portion 31 mounted to a distal end of the coupling member operates to be oscillated back and forth. - Next, referring to FIG. 20, an internal structure of the arm portion will be described.
- As shown in the figure, the upper arm portion is constituted by an
internal frame 31A and anexternal frame 31B, and similarly, the lower arm portion is also constituted by aninternal frame 32A and anexternal frame 32B. Ashaft 305 a on apinion 305 extends into ahole 31 a in theinternal frame 31A of the upper arm portion, and a rotating body having aneccentric pin 306 a is rotatably secured to theshaft 305 a viahole 306 b. Then, theeccentric pin 306 a is rotatably secured in a hole 307 a in a distal end portion of alink member 307, and abearing 307 b provided at a rear end portion of the link member is rotatably mounted on apin 32 a provided so as to erect on theinternal frame 32A of the lower arm portion. In addition, acylindrical shaft 301 a is rotatably secured in a shaft hole 31 b provided so as to protrude on theinternal frame 32A of the upper arm portion. Theinternal frame 31A of the upper arm portion, theinternal frame 32A of the lower arm portion, theexternal frame 32B of the lower arm portion and theexternal frame 31B of the upper arm portion are assembled sequentially with apin 308. According to this mounting construction, since thecylindrical shaft 301 a rotates, theupper arm portion 31 operates to be swung back and forth, and when the upper arm rotates, thepinion 305 rotates while meshing with anotherpinion 304, and therefore therotating body 306 also rotates in synchronism therewith. The rotating force so generated is then converted into reciprocating motion for transmission to thelink member 307, whereby the lower arm portion 32 operates to be swung back and forth on theshaft 308 as a fulcrum. - Finally, referring to FIGS. 4 and 19, a mounting structure of the head portion and the operation thereof will be described.
- As shown in FIG. 4, the
head portion 10 is constituted by abase 101, arotating body 103, alink member 104 and the like, and along shaft 101 a is provided so as to erect from the center thereof and apin 101 b is also provided so as to erect at a position on one side of the base. Acrank member 102 is fitted on thepin 101 b via ahole 102 a. In addition, adistal end portion 302 d of the oscillating member shown in FIG. 19 is guided in a notchedportion 102 b in the crank member. Then, a rotatingmember 103 having acylindrical shaft 103 a is fitted over thelong shaft 101 a. Aprojection 102 c is provided at an opposite end to the notched portion on the crank member in such a manner as to erect therefrom, and similarly, aprojection 103 b is provided on an outer circumference of the rotating body in such a manner as erect therefrom. Then, thelink member 104 is fitted on the projections, respectively, viaholes flat plate 105 is screwed and ahead 106 is placed thereon. According to the construction, when the oscillatingmember 302 oscillates back and forth, since thecrank member 102 swings back and forth, the rotatingmember 103 rotates with a predetermined stroke, whereby the whole head portion operates to rotate in left and right directions. - Thus, while the embodiment of the present invention has been described heretofore, the present invention is not limited to what has been described. For example, the fulcrum of the foot portion does not have to be positioned inwardly but may be positioned outwardly. In addition, the configurations of the inner and outer grooves in the disc cam may be varied freely, whereby the motion of the two-feet walking can be varied.
- The present invention may be embodied as has been described heretofore, and the following advantages can be provided.
- According to the present invention, the toy main body can walk as naturally as a human being walks by shifting the weight of the toy main body and shifting the center of gravity thereof between the legs without falling down due to the lost of the balance thereof.
- In addition, according to the present invention, the feet can be moved by alternately positioning the center of gravity above one of the left and right legs which supports the toy main body.
- Furthermore, according to the present invention, since unstable actions of the leg portions can be eliminated by positioning the fulcrums of the leg portions rearward, when walking on two feet, the toy main body can keep the balance thereof.
- Moreover, according to the present invention, since the torso can be inclined forward by positioning the fulcrum of the torso rearward, when walking on two feet, the toy main body can keep the balance thereof.
- In addition, since unstable actions of the foot portions can be eliminated by positioning the fulcrums of the foot portions either inwardly or outwardly, the toy main body can keep the balance thereof.
- It is apparent to those skilled in the art that the prevent invention may be modified variously without departing from the sprit and scope of claims of the present invention which will be described below.
Claims (5)
1. A biped toy that can walk on two feet by virtue of the driving force of a motor, wherein legs are rotatably supported on a torso, wherein said motor having disc cams mounted on an output shaft thereof and levers for transmitting the rotations of said cams are disposed in the interior of said torso, wherein said legs are each constituted by leg portions and a foot portion, said leg portions and said foot portion being each rotatably supported, and wherein a link mechanism is disposed in each of said legs to which the driving force is transmitted by said levers, whereby with the right leg of said legs being stepped forward by a step a toy main body is inclined leftward so that the center of gravity thereof is positioned directly above the left leg of said legs, then, in order to allow said left leg to alternately be stepped forward by a step said center of gravity is shifted to said right leg, and after said center of gravity has been so shifted said left leg is lifted up while said torso is being shifted rearward so that the weight thereof is so shifted for advancement.
2. A biped toy that can walk on two feet as set forth in claim 1 , wherein said biped toy can walk while lifting up said left and right legs alternately by positioning said center of gravity above either said left leg or said right leg which bears the weight of said toy main body.
3. A biped toy that can walk on two feet as set forth in claim 1 , wherein joint portions of said leg portions can be flexed in a certain direction by positioning fulcrums of said leg portions rearward.
4. A biped toy that can walk on two feet as set forth in any of claim 1 , wherein said torso can be inclined forward by positioning a fulcrum of said torso rearward.
5. A biped toy that can walk on two feet as set forth in any of claim 1 , wherein the balance of said toy main body can be maintained by positioning fulcrums of said foot portions inwardly or outwardly.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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JP2000071590A JP2001259245A (en) | 2000-03-15 | 2000-03-15 | Bipedal walking toy |
US09/906,056 US20030017779A1 (en) | 2000-03-15 | 2001-07-17 | Biped toy that can walk on two feet |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2000071590A JP2001259245A (en) | 2000-03-15 | 2000-03-15 | Bipedal walking toy |
US09/906,056 US20030017779A1 (en) | 2000-03-15 | 2001-07-17 | Biped toy that can walk on two feet |
Publications (1)
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US20030017779A1 true US20030017779A1 (en) | 2003-01-23 |
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ID=26587526
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US09/906,056 Abandoned US20030017779A1 (en) | 2000-03-15 | 2001-07-17 | Biped toy that can walk on two feet |
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US (1) | US20030017779A1 (en) |
JP (1) | JP2001259245A (en) |
Cited By (18)
Publication number | Priority date | Publication date | Assignee | Title |
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US20020171385A1 (en) * | 2001-05-19 | 2002-11-21 | Korea Institute Of Science And Technology | Micro robot |
US20040127141A1 (en) * | 2002-10-11 | 2004-07-01 | Toshio Sakai | Biped toy that can walk on two feet |
US6824510B2 (en) | 2001-05-19 | 2004-11-30 | Korea Institute Of Science And Technology | Micro robot |
WO2007056239A3 (en) * | 2005-11-03 | 2007-10-25 | Mattel Inc | Articulated walking toy device |
US20080108276A1 (en) * | 2005-11-03 | 2008-05-08 | Mattel, Inc. | Articulated Walking Toy Device |
US20090117820A1 (en) * | 2006-05-04 | 2009-05-07 | Mattel, Inc. | Articulated walking toy |
US20110264264A1 (en) * | 2010-04-22 | 2011-10-27 | Honda Motor Co., Ltd. | Control device and gait generating device for bipedal mobile robot |
US20130252509A1 (en) * | 2012-01-31 | 2013-09-26 | Tomy Company, Ltd. | Robot toy |
US8956198B1 (en) | 2010-09-27 | 2015-02-17 | Mattel, Inc. | Walking toy |
CN107451925A (en) * | 2017-06-19 | 2017-12-08 | 中国烟草总公司广东省公司 | The control method of agricultural intelligent system and agricultural intelligent system |
US9919231B1 (en) * | 2017-07-10 | 2018-03-20 | Peter Chin | Cuboid or spherical head figurine |
CN107921322A (en) * | 2015-09-04 | 2018-04-17 | 体育世界股份有限公司 | The connecting elements of assembled toy |
US20200180145A1 (en) * | 2018-12-11 | 2020-06-11 | Ubtech Robotics Corp | Robot and leg assembly thereof |
US10765960B2 (en) * | 2018-10-01 | 2020-09-08 | Jonathan Bright | Doll body motion accessory for recreational vehicles |
CN114984590A (en) * | 2022-06-15 | 2022-09-02 | 乐森机器人(深圳)有限公司 | Robot |
WO2024020275A1 (en) * | 2022-07-18 | 2024-01-25 | Bright Jonathan | Doll body motion accessory for recreational vehicles |
US11890553B2 (en) | 2018-10-01 | 2024-02-06 | Jonathan Bright | Doll body motion accessory for recreational vehicles |
WO2024059746A1 (en) * | 2022-09-15 | 2024-03-21 | Bright Jonathan | Doll body motion accessory for recreational vehicles |
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JP4896200B2 (en) * | 2009-10-22 | 2012-03-14 | 株式会社カプコン | Prize game machine |
WO2017039409A1 (en) * | 2015-09-04 | 2017-03-09 | 주식회사 짐월드 | Connecting member for self-assembly toy |
-
2000
- 2000-03-15 JP JP2000071590A patent/JP2001259245A/en active Pending
-
2001
- 2001-07-17 US US09/906,056 patent/US20030017779A1/en not_active Abandoned
Cited By (25)
Publication number | Priority date | Publication date | Assignee | Title |
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US20020171385A1 (en) * | 2001-05-19 | 2002-11-21 | Korea Institute Of Science And Technology | Micro robot |
US6824510B2 (en) | 2001-05-19 | 2004-11-30 | Korea Institute Of Science And Technology | Micro robot |
US6824508B2 (en) * | 2001-05-19 | 2004-11-30 | Korea Institute Of Science And Technology | Micro robot |
US20040127141A1 (en) * | 2002-10-11 | 2004-07-01 | Toshio Sakai | Biped toy that can walk on two feet |
WO2007056239A3 (en) * | 2005-11-03 | 2007-10-25 | Mattel Inc | Articulated walking toy device |
US20080108276A1 (en) * | 2005-11-03 | 2008-05-08 | Mattel, Inc. | Articulated Walking Toy Device |
US7938708B2 (en) | 2005-11-03 | 2011-05-10 | Mattel, Inc. | Articulated walking toy device |
US20090117820A1 (en) * | 2006-05-04 | 2009-05-07 | Mattel, Inc. | Articulated walking toy |
US7946902B2 (en) | 2006-05-04 | 2011-05-24 | Mattel, Inc. | Articulated walking toy |
US20110264264A1 (en) * | 2010-04-22 | 2011-10-27 | Honda Motor Co., Ltd. | Control device and gait generating device for bipedal mobile robot |
US9120512B2 (en) * | 2010-04-22 | 2015-09-01 | Honda Motor Co., Ltd. | Control device and gait generating device for bipedal mobile robot |
US8956198B1 (en) | 2010-09-27 | 2015-02-17 | Mattel, Inc. | Walking toy |
US8747179B2 (en) * | 2012-01-31 | 2014-06-10 | Tomy Company, Ltd. | Robot toy |
US20130252509A1 (en) * | 2012-01-31 | 2013-09-26 | Tomy Company, Ltd. | Robot toy |
CN107921322A (en) * | 2015-09-04 | 2018-04-17 | 体育世界股份有限公司 | The connecting elements of assembled toy |
CN107451925A (en) * | 2017-06-19 | 2017-12-08 | 中国烟草总公司广东省公司 | The control method of agricultural intelligent system and agricultural intelligent system |
US9919231B1 (en) * | 2017-07-10 | 2018-03-20 | Peter Chin | Cuboid or spherical head figurine |
US10765960B2 (en) * | 2018-10-01 | 2020-09-08 | Jonathan Bright | Doll body motion accessory for recreational vehicles |
US11389739B2 (en) | 2018-10-01 | 2022-07-19 | Jonathan Bright | Doll body motion accessory for recreational vehicles |
US11890553B2 (en) | 2018-10-01 | 2024-02-06 | Jonathan Bright | Doll body motion accessory for recreational vehicles |
US20200180145A1 (en) * | 2018-12-11 | 2020-06-11 | Ubtech Robotics Corp | Robot and leg assembly thereof |
US10836032B2 (en) * | 2018-12-11 | 2020-11-17 | Ubtech Robotics Corp | Robot and leg assembly thereof |
CN114984590A (en) * | 2022-06-15 | 2022-09-02 | 乐森机器人(深圳)有限公司 | Robot |
WO2024020275A1 (en) * | 2022-07-18 | 2024-01-25 | Bright Jonathan | Doll body motion accessory for recreational vehicles |
WO2024059746A1 (en) * | 2022-09-15 | 2024-03-21 | Bright Jonathan | Doll body motion accessory for recreational vehicles |
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JP2001259245A (en) | 2001-09-25 |
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