WO2007077805A1

WO2007077805A1 - Model element driving device, drive element, and model element

Info

Publication number: WO2007077805A1
Application number: PCT/JP2006/325835
Authority: WO
Inventors: Naoji Kumagai
Original assignee: Sega Corporation
Priority date: 2005-12-28
Filing date: 2006-12-26
Publication date: 2007-07-12
Also published as: JP2007175356A; US20090270184A1; TW200735944A

Abstract

In a running device (150) for driving a model element (20) such as a horse to run, the kick-up or swing-up motions of the leg portions of the model element are realized. The model element (20), the body of which is supported by the plural leg portions on a partition (5) constituting a running plate, acts, following the drive of a drive element (160) arranged below through the partition (5). In the model element (20), the plural leg portions can rock individually back and forth, and are provided at the individual foot end portions with magnets (Mfl, Mfr, Mrl, Mrr), each of the magnetic poles of which is directed toward the foot back (or downward). The drive element (160) is provided with plural sets of magnet pairs (mfl, mfr, mrl, mrr), which are arrayed along the lower face of the partition (5) and longitudinally close to each other. These magnet pairs are so disposed at the individual foot ends of the plural leg portions of the upper model element (20) as can reciprocate in the running direction. The magnets of each magnet pair are arranged to have their different poles (N, S) directed upward. The plural pairs of magnet pairs (mfl, mfr, mrl, mrr) are simultaneously reciprocated back and forth by a reciprocating drive mechanism (180) so that the magnetic forces act on the permanent magnets (Mfl, Mfr, Mrl, Mrr) of the individual foot end portions of the plural leg portions of the model element (20) thereby to rock the plural leg portions individually.

Description

Specification

Model body driving device, driving body and model body

Technical field

TECHNICAL FIELD [0001] The present invention relates to a model body drive device that operates a model body that supports a main body by a plurality of legs by driving a drive body that separates a partition plate that constitutes a traveling path.

Background art

[0002] With this type of model body drive device, a permanent magnet is attached to each leg end of the four legs of the model body, and the four legs are supported on the lower surface of the running plate that supports the model body. Then, there is an example in which a driving traveling body on which four permanent magnets are slidably mounted back and forth is moved (see Patent Document 1).

[0003] Patent Document 1: Japanese Patent Application Laid-Open No. 9-51989 In Patent Document 1, the four legs are reciprocated back and forth while being always attracted to the corresponding permanent magnets, and the legs run large. There is no state in which the leg is kicked backwards or swings forward when an animal such as an actual horse runs, as it does not leave.

Disclosure of the invention

Problems to be solved by the invention

[0004] Thus, since the model body drive device disclosed in Patent Document 1 does not kick up or swing up the leg, the movement of the leg running the model body is not the actual movement of the animal. It gives off an unnatural impression.

[0005] The present invention has been made in view of the points to be applied, and the object of the present invention is a model body that realizes kicking and swinging up of leg portions of the model body separated by a partition plate with respect to the driving body. The driving device is provided.

Means for solving the problem

In order to achieve the above object, the present invention provides a partition plate, a model body that is supported by a plurality of legs, and that can run on the partition plate, and the partition plate. A plurality of leg portions of the model body that are pivotally attached to the main body so as to be able to swing back and forth. Each of the legs has a foot end, and a magnet is provided on each foot end with one magnetic pole facing the sole of the foot, and the driving body is connected to each leg of the plurality of legs of the upper model body. Corresponding to each of the end portions, a plurality of pairs of magnets are provided adjacent to each other so as to be able to reciprocate in the front-rear direction along the lower surface of the partition plate. The pair of magnet pairs are reciprocated back and forth, and the plurality of pairs of magnet pairs are connected to the magnets at the foot ends of the legs of the model body. A reciprocating drive mechanism that swings a plurality of legs by applying a magnetic force is provided.

[0007] Preferably, of the magnets before and after the magnet pair, the inner magnet is magnetized to the same polarity as the magnetic pole of the sole of the corresponding foot end magnet, and the outer magnet of the corresponding foot end portion is magnetized. Magnetized to a different polarity from the magnetic pole on the sole of the magnet.

[0008] The driving body may be movable by a moving mechanism. The reciprocating drive mechanism may include a guide slot for guiding the plurality of sets of magnet pairs back and forth, a crank mechanism for connecting the magnet pairs to each other, and means for driving the crank mechanism.

[0009] According to one aspect of the present invention, a partition plate, a model body having a main body supported by four legs, and capable of traveling on the partition plate, and the partition plate are disposed below the partition plate. In the model body drive device provided with a driving traveling body that is installed and operates the model body, the four legs of the model body are pivotally attached to the main body so as to be swingable back and forth, and The leg portion of the book has a foot end portion, and a magnet is provided on each foot end portion with one magnetic pole facing the sole of the foot, and the driving traveling body is movable below the partition plate. The drive traveling body is provided adjacent to the lower end of the partition plate so as to reciprocate in the front-rear direction, corresponding to each leg end of the four legs of the upper model body. 4 pairs of magnets, each of the pair of magnets having a magnet force before and after making a pair with the opposite polarities facing each other upward. A reciprocating drive mechanism that reciprocates back and forth and swings the four legs by applying the magnetic force of the four pairs of magnets to the magnets at the foot ends of the four legs of the model body. It is characterized by being installed.

[0010] In the above aspect, the four legs include left front, right front, left rear, and right rear legs, and the reciprocating drive mechanism is provided on the left front, right front, left rear, and right rear legs. Corresponding left front magnet pair, right front magnet pair, left rear magnet pair, right rear magnet pair, and the left front magnet pair and the right rear magnet pair The magnet pair approaches and separates from each other, and the right front magnet pair and the left rear magnet pair are mutually! Four pairs of magnets can be reciprocated so as to approach and separate the heel.

[0011] The reciprocating drive mechanism includes a first cross link mechanism that connects the left front magnet pair and the right rear magnet pair, a second cross link mechanism that connects the right front magnet pair and the left rear magnet pair, A common pivot for pivotally attaching the first and second cross link mechanisms in a crossed state, a drive mechanism for rotating the first and second cross link mechanisms, and a first front magnet pair and a left rear magnet pair are provided. A first guide slot and a second guide slot that guides the right front magnet pair and the right rear magnet pair, and the first guide slot and the second guide slot can be parallel to each other. .

[0012] Both end portions of the first guide elongated hole and the second guide elongated hole can be bent in directions away from each other.

[0013] According to another aspect of the present invention, there is provided a driving body coupled by a magnetic force via a partition plate and a model body that supports the main body by a plurality of legs with leg ends, A plurality of pairs of magnets are provided adjacent to each leg end of the leg so as to reciprocate in the front-rear direction along the lower surface of the partition plate, and each of the magnet pairs includes: It is equipped with a reciprocating drive mechanism that reciprocally moves the plurality of pairs of magnets back and forth with a pair of front and rear magnet forces that make a pair with different polarities facing upward.

A driving body is provided.

[0014] According to still another aspect of the present invention, there is provided a model body having a main body coupled by a magnetic force via a driving body and a partition plate and supported by a plurality of legs on the partition plate, Each of the plurality of legs includes a thigh, a shin that is pivotally attached to the tip of the thigh, and a foot end that is pivotally attached to the tip of the shin. The shin part and the shin part are connected to each other by a link bar to relatively swing them, and a magnet that receives the action of the magnetic force from the driving body faces one foot toward the sole. A model body to be provided is provided. The invention's effect

[0015] According to the model body drive device of the present invention, a plurality of sets of magnet pairs having different polarities facing upwards are simultaneously reciprocated back and forth, so that each leg end portion of the plurality of leg portions of the model body is reciprocated. The magnetic force is applied to the magnet to swing each of the legs. That is, the magnetic poles of the pair of magnets facing the soles of the magnets at the foot ends and the magnets of different polarity attract the foot ends and swing the legs back and forth. The foot end at the tip of the swinging leg swings upward from the front and rear to try to separate the foot end. At this time, the magnet of the magnet pair having the same polarity as the magnetic pole facing the sole of the magnet at the other foot end repels the end of the foot and swings forward and kicks backward. It can be realized, and it does not give an unnatural impression by making it move close to the movement of the actual animal leg.

[0016] Further, among the magnets before and after the magnet pair, the inner magnet is magnetized to the same polarity as the magnetic pole of the sole of the corresponding foot end magnet, and the outer magnet of the corresponding foot end magnet When magnetized to a different polarity from the magnetic pole on the sole, the foot end is adsorbed by the magnet of the opposite polarity on the outside of the pair of front and rear magnets, and the leg swings back and forth. When the pair of magnets moves, the limited leg length causes the outer ends of the opposite poles to move apart, and the foot ends swinging upward are repelled by the magnets of the same polarity closer to the center, and the front legs The foot end can be swung up and the foot end of the rear leg can be kicked up.

[0017] By making the driving body movable by the moving mechanism, a plurality of pairs of magnets move together with the driving body, and the model body moves while swinging the plurality of leg portions.

In the model body drive device according to the one aspect of the present invention, each of the four legs of the model body is reciprocated back and forth simultaneously with four pairs of permanent magnet pairs having different polarities facing upward. A magnetic force is applied to the permanent magnet at the end of the foot to swing each of the four legs. That is, the leg end is attracted to a magnet having a different polarity from the magnetic pole facing the sole of the permanent magnet at the foot end of the pair of magnets, swinging the leg back and forth, and the foot at the tip of the swinging leg The end swings upward in the longitudinal force and tries to separate the foot end. At this time, the permanent magnet of the same polarity as the magnetic pole facing the sole of the permanent magnet at the other foot end repels the foot end, and the leg is swung forward and kicked backward. The four magnet pairs move with the drive body, allowing the model body to move close to the movement of the actual animal leg and move without giving an unnatural impression. it can.

[0018] In the above aspect of the present invention, in the reciprocating drive mechanism, the left front permanent magnet pair and the right rear permanent magnet pair approach and separate from each other, and the right front permanent magnet pair and the left rear permanent magnet pair approach and separate from each other. Thus, by reciprocating the four pairs of permanent magnets, the main body can always be supported in a well-balanced manner with diagonally front and rear legs. [0019] According to the driving body of the present invention, a magnet is provided at each foot end portion of the plurality of leg portions with one magnetic pole facing the sole, with the partition plate being spaced apart and opposite thereto. A plurality of pairs of magnets, which are arranged on the side and arranged in close proximity to each other along the lower surface of the partition plate, with a pair of magnets having different polarities facing upward, are arranged on the legs of the upper model body. Corresponding to each foot end, it is provided to be able to reciprocate in the front-rear direction. Therefore, a plurality of pairs of magnets are reciprocated back and forth at the same time by a reciprocating drive mechanism, and a magnetic force is applied to the magnets of the legs of the model body to swing the legs. Let Therefore, due to the limited leg length, the foot end that swings upward from the magnet of the opposite polarity on the outside is separated and repelled by the magnet of the same polarity near the center, and the foot end of the front leg is raised upward. Can swing up and kicks the foot end of the rear leg upward.

[0020] According to the model body of the present invention, the magnet is provided at each foot end portion of the plurality of leg portions with one magnetic pole facing the sole. Then, a plurality of pairs of magnets in which a pair of magnets having different polarities facing upward are arranged close to each other in the front and rear direction along the lower surface of the cutting plate, and each leg of the plurality of legs of the upper model body. The model body is disposed on the opposite side of the partition plate above the drive body provided to be reciprocally movable in the front-rear direction corresponding to the end portions. Then, by reciprocating back and forth simultaneously the several pairs of magnets of the driving body by the reciprocating drive mechanism, the plurality of legs are respectively shaken by applying a magnetic force to the magnets at the foot ends of the plurality of legs. Move it. Therefore, the leg end that swings upwards due to the limited leg length separates the leg end swinging upward and repels by the magnet of the same polarity near the center, and the leg end of the front leg rises upward. It can be swung up and the foot end of the rear leg can be kicked upward.

Brief Description of Drawings

FIG. 1 is an overall perspective view of a horse racing game machine as an example of a model body driving device of the present invention.

FIG. 2 is a side view of the four-leg model traveling device and the traveling drive body of the horse racing game machine.

FIG. 3 is a top view of a horse model as an example of the model.

FIG. 4 is a front view of the same.

FIG. 5 is a partially exploded perspective view of a horse model.

FIG. 6 is a top view of the magnet reciprocating mechanism.

FIG. 7 is a bottom view of the magnet reciprocating mechanism with parts omitted. FIG. 8 is an explanatory diagram showing the movement of the four legs of the horse model.

FIG. 9 is an explanatory view showing the next movement of the four legs of the horse model.

FIG. 10 is an explanatory view showing the next movement of the four legs of the horse model.

FIG. 11 is an explanatory view showing the movement following the four legs of the horse model.

FIG. 12 is a top view of a modification of the magnet reciprocating mechanism.

Explanation of symbols

1 ... Horse racing game machine, 2 ... Model body running device, 3 ... Jockey model, 4 ... Base, 5 ... Running board, 6 ... Satellite, 7 ... Display screen, 8 ... Control panel, 9 ... Coin Insertion slot, 10 ... coin payout slot, 11 ... arm part, 12 ... ceiling part, 13 ... speaker, 14 ... lighting device, 15 ... support plate, 16 ... display,

20 ... Horse model, 21 ... trunk, 21L, 21R ... trunk plate, 22 ... neck, 23 ... tail,

24L ... Left front leg, 24R ... Right front leg, 25L ... Left rear leg, 25R ... Right rear leg, 24L1, 24R 1, 25L1, 25R1 ... Thigh, 24L2, 24R2, 25L2, 25R2 "'shin 24L3, 24R3, 25L3, 25R 3… Foot end, Mil, Mfr, Mrl, Mrr… Permanent magnet,

30 ... Connecting plate, 31 ... Cross bar, 32 ... Pivot, 33L, 33R ... Bearing hole, 34 ... Pivot, 35L, 35 R ... Bearing hole, 36L, 36R, 37L, 37R ... Long hole, 38L, 38R, 39L, 39R ... guide pins, 40L, 40R, 41L, 41R ... pins,

50, 51 ... femoral plate, 52 ... collar, 53 ... connecting pin, 54 ... spindle, 55 ... link bar, 56 ... pin, 57 ... pivot,

60, 61 ... thigh plate, 62 ... collar, 63 ... connecting pin, 64 ... support shaft, 65 ... link bar, 66 ... pin, 67 ... support shaft,

70 ··· Upper interlocking mechanism, 71… Support shaft, 72… Swivel arm, 73L… Left sliding member, 73R… Right sliding member, 74L, 74R… Pin,

80 ... Lower interlocking mechanism, 82 ... Swivel arm, 83L ... Left sliding member, 83R ... Right sliding member,

150 "4-leg model body travel device, 160 ... travel drive body, 161 ... casing, 162 ... drive wheel, 163F, 163R ... wheel, 165 ... in-wheel motor,

170 ... Microcomputer, 172 ... Motor drive circuit, 173 ... Current collector, 180 ... Magnetic reciprocating mechanism, 181 ... Case, 182L ... Left guide slot, 182R ... Right guide slot, 183 ... pivot,

mil, mfr, mrl, mrr ... permanent magnet pair, 184 ... permanent magnet, 185 ... container,

186… Sliding plate, 187… Spring, Pfl, Pfr, Prl, Prr… Guide pin, Lfl, Lfr, Lrl, Lrr… Link bar, 188 ··· Guide pin, 190, 191 ················· Pin, 193, Pin, 195, Connecting bar, 196, Crank, 197, Pin, 198, Connecting bar, 199, Crank, 200, Pin, 201 … Rotating shaft, 202… driven pulley, 205… motor, 206… driving pulley, 207… endless benoreto,

250: Magnet reciprocating mechanism, 251: Case, 252L: Left guide slot, 252R: Right guide slot BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, an embodiment according to the present invention will be described with reference to FIGS. 1 to 9.

FIG. 1 shows an overall perspective view of a horse racing game machine 1 which is an example of a model body drive device of the present invention.

In FIG. 1, a horse racing game machine 1 includes a model body travel device 2, and a horse model 20 travels on the model body travel device 2 as a four-leg model body. Jockey model 3 is riding on horse model 20. An oblong annular traveling board 5 developed in an oval shape is stretched above a horizontally long base 4 in the horse racing game machine 1, and a plurality of the horse models 20 are placed on the traveling board 5. I started to drive an oval track on the upper surface of the traveling board 5!

[0026] In addition, four seats of satellites 6 are provided at the stand positions on both sides of the ellipse in the longitudinal direction, and each satellite 6 is provided with a display screen unit 7 and an operation panel on the front side thereof. 8, coin insertion slot 9 and coin payout slot 10 are attached, and by operating the operation panel 8, it is possible to vote for the expected winning horses in a single or double form.

Furthermore, in the horse racing game machine 1, a ceiling portion 12 is formed at the upper end of the arm portion 11 directed obliquely upward on one end side of the base 4, and a speaker 13 and a lighting device 14 are formed on the lower surface of the ceiling portion 12. And a display 16 is arranged at the central height position of the arm portion 11. The display 16 displays horse introduction, horse number, frame number, betting rate, etc. . [0028] The model body traveling device 2 is a four-leg model body traveling device, and as shown in Fig. 2, the horse model 20 on the traveling plate 5 and the traveling plate 5 which is a partition plate are separated from each other below. The upper horse model 20 is driven by a driving body 160 that freely travels on a support plate 15 that is configured to be parallel to the lower side of the traveling plate 5 and is parallel to the traveling plate 5. Drive on the traveling board 5.

[0029] A side view of the horse model 20 is shown in FIG. 2, a top view is shown in FIG. 3, and a front view is shown in FIG. The horse model 20 includes a body part 21, a neck part 22, a tail part 23, and four leg parts 24L, 24R, 25L, and 25R. The body part 21 is supported by the four legs 24L, 24R, 25L, 25R, the neck part 22 projects obliquely upward and forward from the front part of the body part 21, and the tail part 23 projects rearward of the rear part of the body part 21. Yes.

FIG. 5 is an exploded perspective view of the body part 21, the left front leg part 24L and the right rear leg part 25R. Although not shown in FIG. 5, the right front leg part 24R and the left rear leg part 25L are The structure is almost the same as the left front leg 24L and right rear leg 25R.

[0031] The body part 21 is connected by a pair of left and right body plates 21L, 21R force connection plates 30 and a cross bar 31 that are spaced apart from each other at an appropriate interval, and is opened at the approximate center of the body plates 21L, 21R. Rectangular connecting plates 30 are installed horizontally in the rectangular holes 21Lh and 21Rh, and the rectangular holes 21Lh and 21Rh are divided vertically.

[0032] Bearing holes 33L and 33R through which pivots 32 that pivotally support the base ends of the front legs 24L and 24R are formed in front portions of the body plates 21L and 21R, and rear portions of the body plates 21L and 21R Further, bearing holes 35L and 35R through which the pivot shaft 34 that pivotally supports the base end portions of the rear leg portions 25L and 25R are bored are formed. Long elongated holes 36L and 36R and elongated holes 37L and 37R are formed in front and rear at predetermined positions in the upper and lower sides of the front bearing holes 33L and 33R and the rear bearing holes 35L and 35R.

[0033] On the inner surface (right surface) of the left body plate 21L, a circular columnar guide pin 38L is protruded slightly to the rear of the front upper slot 36L and forward of the rear lower slot 37L. A circular guide pin 39L protrudes slightly to the right.

[0034] In addition, on the inner surface (left surface) of the right body plate 21R, a cylindrical guide pin 38R is protruded slightly to the rear of the front lower elongated hole 36R, and the rear upper elongated hole 37R A cylindrical guide pin 39R is projected to the left slightly apart from the front.

[0035] On the outer surface (left surface) of the left body plate 21L, there is a pin near the lower side of the front part of the front lower slot 36L. 40L protrudes to the left, and the pin 41L protrudes to the left near the lower rear of the rear lower slot 37L. Similarly, it is symmetrical to the outer surface (right surface) of the right fuselage plate 21R. Pins 40R and 41R are projected to the right. The body part 21 has a structure as described above.

[0036] On the other hand, the legs 24L, 24R, 25L, 25R are the thigh 24L1, 24R1, 25L1, 25R1, the shin 24L2, 24R2, 25L2, 25R2, and the foot ends 24L3, 24R3, 25L3, 25R3, respectively. It consists of these, which are connected in sequence.

[0037] Referring to FIG. 5, the left front leg 24L includes an outer thigh plate 50 and an inner thigh plate 51 in which the thigh 24L1 has the same contour shape, and the pair of thigh plates 50, 51 are proximal ends. The pivot shaft 32 penetrates through shaft holes 50a and 51a formed at the center of the body, and the base end portions of the femoral plates 50 and 51 are supported by the pivot shaft 32 so as to be rotatable. A cylindrical collar 52 through which the pivot 32 passes is interposed between the thigh plates 50 and 51 to maintain a predetermined distance.

[0038] The inner thigh plate 51 is formed with an arc-shaped arc hole 51b centered on the shaft hole 51a on the lower side of the shaft hole 51a, and a connecting pin 53 protrudes to the right above the shaft hole 51a. It is installed. The base end portion of the shin portion 24L2 is sandwiched between the free ends of the both thigh plates 50, 51 and penetrated by the support shaft 54 to be pivotally supported.

[0039] A link bar 55 is interposed in the space between the thigh plates 50, 51, and the tip of the link bar 55 is pivotally supported by a pin 56 near the support shaft 54 of the shin portion 24L2. Then, when the proximal end portion of the inner femoral plate 51 is integrated with the outer femoral plate 50 along the front outer surface of the left body plate 21L and pivotally supported on the pivot 32, the front lower pin 40L of the left body plate 21L is obtained. Is passed through the circular arc hole 51b, and the base end of the link bar 55 is pivotally supported by the pin 40L. The connecting pin 53 protruding rightward of the inner thigh plate 51 passes through the long hole 36L of the left body plate 21L and protrudes inward.

[0040] Therefore, when the thigh 24L1 pivotally supported by the pivot 32 swings back and forth, the link bar 55 whose base end is pivotally supported by the pin 40L projecting from the left body plate 21L swings. The swing of the end of the link bar 55 acts on a part of the shin part 24L2 slidably connected to the thigh part 24L1 via the support shaft 54 via the pin 56, so that the shin part 24L2 is thighed. The connecting angle of the shin part 24L2 with respect to the thigh 24L1 can be changed by swinging with respect to the part 24L1.

[0041] The foot end 24L3 is suspended from the tip of the shin part 24L2 by a support shaft 57 so as to be swingable back and forth. A permanent magnet Mil is embedded in the foot end 24L3 with the N pole facing the sole (bottom). [0042] Although not shown in FIG. 5, the right front leg 24R is also symmetrical and substantially the same as the left front leg 24L, and the leg end 24R3 has a permanent magnet Mfr with the N pole facing the sole of the foot. Is buried. However, the connecting pin of the right front leg 24R corresponding to the connecting pin 53 of the left front leg 24L penetrates the long hole 36R on the lower side of the front of the right body plate 21R.

Next, the right rear leg 25R will be described with reference to FIG. 5. The right rear leg 25R is structurally the same as the left front leg 24L. The thigh 25R1 includes an outer thigh plate 60 and an inner thigh plate 61. Both thigh plates 60, 61 are supported by shafts 34 passing through the shaft holes 60a, 61a with collars 62 interposed therebetween.

[0044] The inner thigh plate 61 is formed with an arc hole 61b below the shaft hole 61a, and a connecting pin 63 projecting leftward from the upper side of the shaft hole 61a. It protrudes inward through the long hole 37R of the plate 21R. The base end portion of the shin portion 25R2 is sandwiched between the free ends of the thigh plates 60, 61 and is supported by being penetrated by the support shaft 64.

[0045] The link bar 65 interposed in the gap between the thigh plates 60, 61 is pivotally supported by a pin 41R whose base end protrudes from the rear lower side of the right body plate 21R and penetrates the arc hole 61b, and the tip is a shin part. It is supported by pin 66 near the support shaft 64 of 25R2. A foot end 25R3 is suspended from the tip of the shin 25R2 by a support shaft 67 so as to be swingable back and forth. A permanent magnet Mrr is embedded in the foot end 25R3 with the N pole facing the sole (bottom)!

[0046] Although not shown in FIG. 5, the left hind leg portion 25L is also symmetrical with the right hind leg portion 25R and has substantially the same structure. The leg end portion 25L3 is permanent with the N pole facing the sole of the foot. Magnet Mrl is buried. However, the connecting pin of the left rear leg portion 25L, which corresponds to the connecting pin 63 of the right rear leg portion 25R, passes through the long hole 37L on the lower rear side of the left body plate 21L.

[0047] In this way, the four legs 24L, 24R, 25L, 25R are swingably attached to the body part 21, but the left front leg 24L and the right rear leg 25R are interlocked by the upper interlocking mechanism 70. The right front leg 24R and the left rear leg 25L are interlocked by the lower interlocking mechanism 80 (FIG. 2).

FIG. 5 shows an upper interlocking mechanism 70, and a swivel arm 72 is pivotally attached to a connecting plate 30 of the left and right body plates 21 L and 21 R in the body portion 21 by a vertical support shaft 71. .

[0049] The swivel arm 72 is pivotally mounted at the center by a support shaft 71, and the arm portions 72L, 72R are extended to the left and right. The rear end of the left sliding member 73L is pivotally supported by the pin 74L at the front end of the left arm portion 72L with a slight margin, and the front end of the right sliding member 73R is slightly supported by the pin 74R at the front end of the right arm portion 72R. It is pivoted with a margin.

[0050] The left sliding member 73L has an elongated oval vertical plate 73La on the front and rear, an extension 73Lb extending rearward from the oval vertical plate 73La, and a rear end of the extension 73Lb As described above, the left arm portion 72L is pivotally supported by the pin 74L, and the oval vertical plate 73La has a pin hole 73Lc and a guide long hole 73Ld drilled forward and backward.

[0051] The left sliding member 73L, in which the rear end of the extending portion 73Lb is pivotally supported on the tip of the left arm portion 72L of the swivel arm 72, has an oval vertical plate 73La along the inner surface of the left body plate 21L. The guide pin 38L protruding in the direction is slidably fitted into the guide long hole 73Ld, and the connecting pin 53 that protrudes inward through the long hole 36L is inserted into the pin hole 73Lc. Therefore, the left sliding member 73L can be slid forward and backward while being kept horizontal by the guide pin 38L fitted in the guide long hole 73Ld and the connecting pin 53 passing through the long hole 36L.

[0052] The right sliding member 73R is configured to be point-symmetric with the left sliding member 73L with respect to the support shaft 71, and as described above, the elongated circular plate 73Ra force is also extended forward 73Rb. The front end of the swivel arm is pivotally supported by the tip of the right arm 72R of the swivel arm 72 by the pin 74R, and a guide pin 39R protruding inward from the inner surface of the right body plate 21R is slidably fitted into the guide slot 73Rd. Then, the connecting pin 63 that protrudes inward through the long hole 37R is fitted into the pin hole 73Rc.

[0053] The upper interlocking mechanism 70 is configured as described above, and the left front leg 24L and the right rear leg 25R are interlocked by the upper interlocking mechanism 70. That is, when the left front leg portion 24L swings backward, the left sliding member 73L slides forward via the connecting pin 53, and thus the swivel arm 72 turns clockwise via the pin 74L in a top view. Therefore, the right sliding member 73R slides forward via the pin 74R at the tip of the right arm portion 72R, and thus the right rear leg 25R swings forward via the connecting pin 63.

[0054] As described above, when the left front leg 24L swings backward, the right rear leg 25R swings forward, and the left front leg 24L and the right rear leg 25R are interlocked so as to close each other. When the front leg 24L swings forward, the right rear leg 25R swings backward, and the left front leg 24L and the right rear leg 25R are interlocked so as to open. In addition, force from either side of the left front leg 24L and right rear leg 25R to the other side. Has come to work.

[0055] The lower interlocking mechanism 80 (Fig. 2) that interlocks the right front leg 24R and the left rear leg 25L has the same structure as the upper interlocking mechanism 70, and the swivel arm 82 ( In FIG. 2), the right sliding member pivotally attached to the lower surface of the connecting plate 30 by the common support shaft 71 and connected to the right end of the swivel arm 82 slides back and forth by the swinging of the right front leg 24R. The left sliding member connected to the left end of the swivel arm 82 slides back and forth by swinging the left rear leg 25L, and the right front leg 24R and the left rear leg 25L are closed or opened. , And so on.

[0056] The neck portion 22 is pivotally supported by the pivot shaft 32 and is swung back and forth by the connecting pin 53 that reciprocally moves back and forth substantially by swinging the left front leg portion 24L. Further, the tail portion 23 is also pivotally supported by the pivot shaft 34, and is swung up and down by the connecting pin 63 that reciprocally moves back and forth substantially by swinging the right rear leg portion 25R.

The horse model 20 as described above is placed on the traveling plate 5 while being supported by the four legs 24L, 24R, 25L, 25R.

[0058] As shown in Figs. 2, 6, and 7, the driving body 160 disposed below the traveling plate 5 of the horse model 20 has a flat rectangular shape that is long in the front and rear and narrow in the left and right width. The casing 161 is supported by a pair of left and right drive wheels 162, 162 located at the center in the front-rear direction and front and rear wheels 163F, 163R located at the center in the left-right direction.

[0059] The pair of driving wheels 162 and 162 are driven to rotate by in-wheel motors 165 and 165, respectively, and the rotational speed of the driving body 160 and the traveling speed are controlled by controlling the rotational speeds of the left and right in-wheel motors 165 and 165. You can change the direction.

In addition, a traveling motor drive circuit 172 for driving the in-wheel motors 165 and 165 is also disposed in the casing 161, and a motor control signal from the microcomputer 170 is transmitted to the traveling motor drive circuit 172. Is entered. The driving wheel 162, the in-wheel motor 165, the traveling motor driving circuit 172, and the microcomputer 170 constitute a moving mechanism of the driving traveling body 160.

Furthermore, as is a well-known technique, a current collector 173 is mounted in the housing 161 and protrudes from the current collector 173 with respect to the power supply electrode wiring laid on the upper surface of the support plate 15. A plurality of current collectors 173a are in contact with each other and power is supplied from the outside. Note that the power supply electrode wiring is It can also be laid on the lower surface. Further, the driving traveling body 160 may be equipped with a charging device.

[0062] As described above, each driving traveling body 160 is equipped with the microcomputer 170, the motor driving circuit 172, etc., and the microcomputer 170 of each traveling body 160 is centrally managed by the host computer. The control information of the host computer power is transmitted to each microphone computer 170 using infrared rays or the like.

[0063] Note that the microcomputer 170 is not mounted on the drive body 160, and the computer power control signal for centralized management is directly received by the traveling motor drive circuit 172 and the like so as to control the drive.

[0064] The magnet reciprocating mechanism 180 for swinging the four legs 24L, 24R, 25L, 25R of the horse model 20 is provided on the upper part of the casing 161 of the driving body 160. . The magnet reciprocating mechanism 180 is linked in a case 181 formed in a flat cylindrical shape by an upper plate 181u, a lower plate 1811, and left and right side plates 181s, 181s (Fig. 7) facing a vertically long rectangular shape. It is configured as a mechanism.

[0065] Referring to FIG. 2, FIG. 6, and FIG. 7, a pivot 183 is installed directly between the upper plate 181u and the lower plate 1811 at the center, and the left guide length is elongated in the longitudinal direction on the upper plate 181u. A hole 182L and a right guide slot 182R are formed in parallel to the left and right with the pivot 183 interposed therebetween. Then, the four permanent magnet pairs mil, mfr, mrl, mrr force guides in which a pair of permanent magnets 184, 184 are arranged close to each other in the front-rear direction are guided by the elongated holes 182L, 182R to reciprocate back and forth.

[0066] The left front permanent magnet mil and the left rear permanent magnet mri are arranged before and after the left guide long hole 182L, and the right front permanent magnet mfr and the right rear permanent magnet mrr are arranged before and after the right guide long hole 182R. .

[0067] The four pairs of permanent magnets mil, mfr, mrl, and mrr are inserted into the oval container 185 with one pair of permanent magnets 184 and 184 facing different polarities N and S upward, respectively. Being sung.

[0068] As shown in FIG. 8, the left front permanent magnet mil and the right front permanent magnet mfr are composed of the N pole (the corresponding permanent magnets 24L3 and 24R3) with the rear permanent magnet 184 facing upward in the running direction. The magnetic poles are magnetized so that the N pole on the sole of Mil, Mfr's sole is located, and the permanent magnet 184 on the front side is facing upward in the running direction. And a different polarity). The left rear permanent magnet mrl and the right rear permanent magnet mrr have N poles (permanent leg ends 25L3, 25R3 corresponding to the direction of travel) with the front permanent magnet 184 facing upward. Magnets Mrl and Mrr are magnetized so that the same polarity as the N pole on the sole of the sole is located, and the permanent magnet 184 on the rear side is facing upward in the running direction. N pole and different pole) are magnetized so that they are located.

[0069] As shown in FIG. 2, an oblong sliding plate 186 is slidably in contact with the upper surface of the upper plate 181u below each of the four permanent magnet pairs mil, mfr, mrl, and mrr 185. Located. The guide pins Pfl and Pfr protrude downward from the lower surface of the container 185 that accommodates the pair of permanent magnets mil and mfr on the front side in the traveling direction, corresponding to the permanent magnet 184 on the front side in the container 185. It is done. These guide pins Pfl and Pfr pass through the sliding plate 186, and further pass through the guide long holes 182L and 18 2R to protrude into the case 181. Each container 185 and the sliding plate 186 opposed thereto are A spring 187 is interposed between them. Further, from the lower surface of the container 185 that houses the permanent magnet pair mrl, mrr on the rear side in the traveling direction, the guide pins Prl, Prr corresponding to the permanent magnet 184 on the rear side in the container 185 are provided. Projecting downward. These guide pins Prl and Prr pass through the sliding plate 186, and further pass through the guide long holes 182L and 182R to protrude into the case 181. The guide pins Prl and Prr protrude between the containers 185 and the sliding plate 186 facing the container 185. A spring 187 is interposed between them.

[0070] Further, from the lower surface of the container 185 that accommodates the permanent magnet pair mil, mfr, a guide pin 188 having a short partial force corresponding to the permanent magnet 184 on the rear side in the container 185 protrudes to slide the sliding plate 186. It penetrates through the guide long holes 182L and 182R and protrudes into the case 181. From the lower surface of the container 185 that houses the permanent magnet pair mrl and mrr, the permanent is on the front side in the container 185. Partial force corresponding to magnet 184 Short guide pin 188 protrudes and passes through sliding plate 186, and further passes through guide long holes 182L and 182R and protrudes into case 181 to face each container 185. A spring 187 is interposed between the sliding plate 186 to be operated.

[0071] Therefore, the four-threaded permanent magnet pair mil, mfr, mrl, mrr is in a posture by the guide pins Pfl, Pfr, Prl, Prr and the guide pin 188 moving along the guide long holes 182L, 182R. The guide can be reciprocated back and forth by being guided by the guide elongated holes 182L and 182R without changing.

[0072] Each of the guide pins Pfl, Pfr, Prl, Prr protruding into the case 181 is pivotally supported by the link bars Lfl, Lfr, Lrl, Lrr horizontally, while the pivot 183 Two cross-link bars 190 and 191 that cross each other are pivotally supported in the center and are horizontally rotatable. Yes.

[0073] Both ends of one cross link bar 190 are connected to one end of each of the link bars Lfl and Lrr via pins 192 and 192, and both ends of the other cross link bar 191 are connected to each of the link bars Lfr and Lrl. One end is connected via pins 193 and 193.

[0074] Therefore, the left front permanent magnet pair mil and the right rear permanent magnet pair mrr, that is, the diagonally opposed magnet pairs mfl and mrr are linked via the cross link bar 190 and moved back and forth to each other. Approach and leave. Similarly, the right front permanent magnet pair mfr and the left rear permanent magnet pair mrl, that is, the diagonally opposed magnet pair mfr, mrl are linked via the cross link bar 191 and moved back and forth to approach or separate from each other. Or

[0075] Then, a long connecting bar 195 extends forward, with the rear end pivotally supported by a guide pin Pfl projecting from the left front permanent magnet pair mil container 185, and the connecting bar 195 jumps out of the case 181. The front end of the crank 196 is pivotally supported by a pin 197 to form a crank's slider mechanism.

[0076] Similarly, a long connecting bar 198 extends forward from the guide pin Pfr projecting from the container 185 of the right front permanent magnet pair mfr, with the rear end pivotally supported, and the connecting bar 198 extends from the case 181. The front end of the crank 199 is pivotally supported by a pin 200 at the front end of the crank 199 to form a crank slider mechanism.

[0077] The crank 196 and the crank 199 are fitted to the common rotating shaft 201 at an angle of about 90 degrees with each other. A driven pulley 202 is fitted on the rotary shaft 201 so as to be sandwiched between the crank 196 and the crank 199.

[0078] Then, the motor 205 is attached to the right front corner of the lower plate 1811 of the case 181. The drive shaft 205a protruding above the motor 205 passes through the lower plate 1811 and jumps out into the case 181. A drive pulley 206 is fitted on the drive shaft 205a. An endless belt 207 is stretched between the driving pulley 206 and the driven pulley 202.

Accordingly, when the motor 205 is driven, the endless belt 207 is rotated and the rotating shaft 201 rotates together with the crank 196 and the crank 199. The rotation of the crank 196 reciprocates the left front permanent magnet pair mil back and forth via the connecting bar 195. The reciprocation of the left front permanent magnet pair mil reciprocates via the link bar Lfl, the cross link bar 190, and the link bar Lrr. The right rear permanent magnet reciprocates in conjunction with mrr. Make it.

[0080] The rotation of the crank 199 moves the right front permanent magnet pair mfr back and forth via the connecting bar 198, and the right front permanent magnet pair mfr reciprocates the link bar Lfr, cross link bar 191, link The left rear permanent magnet mrl is linked and reciprocated via the Kuba-I Lrl.

The driving of the motor 205 is also controlled by the microcomputer 170.

[0082] By driving the motor 205 and reciprocating the four pairs of permanent magnets mil, mfr, mrl, mrr back and forth, the horse model 20 swings the four legs 24L, 24R, 25L, 25R. Figure 8 shows how it runs! FIG. 11 shows and explains over time.

8 to 11, among the four sets of permanent magnet pairs mil, mfr, mrl, and mrr on the lower side of the traveling plate 5, the upper row shows the permanent magnet pair mfr, mrr on the right in the running direction, and the lower row A permanent magnet pair mil, mrl on the left side in the traveling direction is shown, and the upper polarity is displayed on each permanent magnet 184.

[0084] The permanent magnets Mil, Mfr, Mrl, Mrr embedded in the leg ends 24L3, 24R3, 25L3, 25R3 of the four legs 24L, 24R, 25L, 25R of the horse model 20 are all as described above. The N pole is facing the sole.

[0085] In FIG. 8, the left front permanent magnet pair mil and the right rear permanent magnet pair mrr are in a position close to each other, and the permanent magnet Mil of the left front leg 24L is magnetized to the S pole of the left front permanent magnet pair mil. Similarly, the permanent magnet Mrr of the right rear leg 25R is attracted to the S pole of the right rear permanent magnet pair mrr by the rear permanent magnet 184. It is adsorbed via the travel plate 5. The horse model 20 is supported by the left front leg portion 24L and the right rear leg portion 25R. At the same time, the right front permanent magnet pair mfr and the left rear permanent magnet pair mrl are separated from each other. , 184, N pole, the right front leg 24R and the left rear leg 25L are repelled by the permanent magnet Mfr and the permanent magnet Mrl, and are flipped forward and backward. The front permanent magnet 184 magnetized to the south pole of the left front permanent magnet pair m 11 and the rear permanent magnet 184 magnetized to the south pole of the right rear permanent magnet pair mrr are the center of the casing 161 of the drive traveling body 160. It is on the outside (front side and rear side) with respect to the N pole of the same magnet pair with reference to the part (where the pivot 183 is located). On the other hand, the south pole of the same magnet pair is on the inner side (center side) with respect to the south pole of the same magnet pair with respect to the center portion of the casing 161 of the drive traveling body 160. This “outer” and “inner” relationship also applies to other permanent magnet pairs mfr, mrl. [0086] Next, when the cranks 196, 199 are rotated about 90 degrees clockwise as viewed from above by driving the motor 205, the left front permanent magnet pair mil and the right rear permanent magnet pair mrr are separated from each other as shown in FIG. The right front permanent magnet pair mfr and the left rear permanent magnet pair mrl approach each other. Accordingly, the left front leg portion 24L and the right rear leg portion 25R open to each other. Then, when the swinging upward from the front of the limited length of the left front leg 24L becomes larger, the left front leg 24L is attracted with the left front permanent magnet Mil, and the left front permanent magnet pair mil is permanently attached to the front of the left front permanent magnet mil. The magnet is separated from the magnet 184 and is repelled by the rear-side permanent magnet 184 so as to be swung up forward and upward. Also, if the right rear leg 25R having a limited length is swung upward from the rear, the right rear permanent magnet Mrr is attracted to the right rear permanent magnet Mrr. It is separated from the rear permanent magnet 184, repelled by the front permanent magnet 184, and kicked rearward and upward.

[0087] Instead, the right front leg portion 24R and the left rear leg portion 25L are closed to each other, and the permanent magnet Mfr and the permanent magnet Mrl are respectively outside the front right magnet pair mfr and the left rear permanent magnet pair mrl. The right front leg 24R and the left rear leg 25L support the horse model 20 by being attracted to the permanent magnets 184, 184 on the rear side.

[0088] Further, when the cranks 196, 199 are rotated approximately 90 degrees clockwise in a top view, as shown in FIG. 10, the left front permanent magnet pair mil and the right rear permanent magnet pair mrr are moved closer to each other and then approach each other. Since the right front permanent magnet pair mfr and the left rear permanent magnet pair mrl are getting closer, the left front leg 24L and the right rear leg 25R are opened once and then closed, and the right front leg 24R and the left rear leg 25L are The horse model 20 is supported while being further closed while being attracted to the permanent magnets 184, 184 outside (front and rear) of the right front permanent magnet pair mfr and the left rear permanent magnet pair mrl, respectively.

[0089] Further, when the cranks 196, 199 rotate about 90 degrees clockwise, as shown in Fig. 11, the left front permanent magnet pair mil and the right rear permanent magnet pair mrr further approach each other, and the right front permanent magnet pair mfr And the left rear permanent magnet pair mrl move away from each other. Therefore, the left front leg 24L and the right rear leg 25R are closed to each other, and the permanent magnet Mil and permanent magnet Mrr are left front permanent magnet pair mfr and right rear permanent magnet pair mrr. The outer (front and rear) permanent magnets 184, 184 are attracted to support the horse model 20, and the right front leg 24R and the left rear leg 25L are the permanent magnet Mfr and the permanent magnet Mrl are the permanent magnet Mfr. While attracted to the south poles of the permanent magnets 184, 184 on the outside (front and rear) of the permanent magnet Mrl, it is repelled by the north poles of the inner permanent magnets 184, 184 and raised upward. [0090] Next, when the cranks 196, 199 rotate about 90 degrees clockwise, the state returns to the state shown in FIG.

[0091] In this way, when the cranks 196, 199 are rotated by driving the motor 205, the four permanent magnet pairs mil, mfr, mrl, mrr are connected to the guide long holes 182L, via the magnet reciprocating mechanism 180. The four legs 24L, 24R, 25L, and 25R are swung so that they are guided by 182R and reciprocate back and forth, so that they follow each other and at least two legs always support the horse model 20.

[0092] The four pairs of permanent magnets mil, mfr, mrl, and mrr move along the lower surface of the traveling plate 5 as the drive traveling body 160 travels while reciprocating back and forth, so that the horse model 20 has 4 Drive on the running plate 5 while swinging the legs 24L, 24R, 25L, 25R of the book.

[0093] When the horse model 20 is run, the front legs 24L and 24R are swung up forward and the left hind legs 25L and 25R are kicked up rearward and upward. Drive close to the movement of the leg, it can move, and do not give an unnatural impression.

[0094] As described above, the left front leg 24L and the right rear leg 25R are interlocked by the upper interlocking mechanism 70, and the right front leg 24R and the left rear leg 25L are interlocked by the lower interlocking mechanism 80. As a result, both the front and rear legs force the swinging of the legs to be promoted and the movement is smooth, and the body part 21 of the horse-shaped 20 is always between the four legs 24L, 24R, 25L, 25R. It is supported in a natural position in the center.

[0095] The four legs 24L, 24R, 25L, and 25R of the horse model 20 are swung by reciprocating the four pairs of permanent magnets mil, mfr, mrl, and mrr with a simple magnet reciprocating mechanism 180. Because it is operated, no electromagnet is used, and therefore no wiring is required for this purpose, the structure is simple and the cost can be reduced.

Note that the motor 205 may be driven to rotate the cranks 196, 199 to reciprocate the permanent magnet pairs mil, mfr, mrl, mrr back and forth using a force ball screw mechanism. At that time, the cross link bar 190 that interlocks the left front permanent magnet pair mil and the right rear permanent magnet mrr and the cross link bar 191 that interlocks the right front permanent magnet pair mfr and the left rear permanent magnet mrl remain, leaving two pairs. The permanent magnet pair mil, mfr, mrl, mrr can be driven by the ball screw mechanism and motor.

Next, a modification of the magnet reciprocating mechanism 180 will be described with reference to FIG.

[0098] The magnet reciprocating mechanism 250 includes a left and right parallel guide formed on the upper plate 251u of the case 251. Unlike the guide long holes 182L and 182R of the case 181, both ends of the long hole 252L and the right guide long hole 252R are curved outward in the left and right directions. Since this point is the same as the magnet reciprocating mechanism 180 except for this point, the same members will be described using the same reference numerals.

That is, the left guide long hole 252L forms front and rear curved portions 252Lf and 252Lr that are smoothly curved so that both ends warp to the left side, and the right guide long hole 252R is smooth so that both ends warp to the right side. Curved front and rear curved portions 252Rf and 252Rr are formed.

[0100] Therefore, when the container 185 in which the permanent magnet pair mil, mfr, mrl, mrr is inserted is in a straight portion excluding both ends of the left and right guide long holes 252L, 252R, the two permanent magnets 184 , 184 is in a posture where it is aligned back and forth along the straight line of the guide oblong holes 252L, 252R When the container 185 reaches the curved portion 252Lf, 252Rf, 252Lr, 252Rr at the front and rear ends, The extending guide pins Pfl, Pfr, Prl, Prr are arranged in the curved portions 252Lf, 252Rf, 252Lr, 252Rr and deviate from the straight line of the guide long holes 252L, 252R to the left and right.

[0101] For example, the state shown in Fig. 12 is the same as the state shown in Fig. 8, and the left front permanent magnet pair mil and the right rear permanent magnet pair mrr are close to each other! , 252R on the straight line, but the right front permanent magnet pair mfr and the left rear permanent magnet pair mrl are separated from each other, and the right front permanent magnet pair mfr is the front guide curved part of the right guide slot 252Rf. The magnet 184 of the right guide slot 252R is linearly disengaged to the right and the container 185 is slanted. Magnet 184 is left guide long hole 2 The linear force of 52L is also moved to the left side, and container 185 is slanted!

[0102] The left and right legs 24L and 25L of the horse model 20 swing along the straight part of the left guide slot 252L, and the right and left legs 24R and 25R are the straight part of the left guide slot 252R. Therefore, the permanent magnet Mfr on the right front leg 24R is attracted to the permanent magnet 1 84 on the front side of the right front permanent magnet pair mfr and moves forward, and the right front permanent magnet pair mfr moves on the right guide slot 252R. When the front end bay reaches the curved portion 252Rf and the front magnet 184 moves to the right side of the right guide oblong hole 252R, the permanent magnet Mfr becomes permanent on the front side. The adsorption with the magnet 184 is smoothly released, and the magnet is repelled by the rear permanent magnet 184 and flipped forward.

[0103] Similarly, the permanent magnet Mri of the left rear leg portion 25R is the left rear permanent magnet pair _mr i and the rear permanent magnet 18 When the left rear permanent magnet pair mrl reaches the left guide elongated hole 252R's rear end curved part 252Lr and the rear magnet 184 moves to the left guide elongated hole 252R, the linear force of the left guide elongated hole 252R also moves to the left. The swinging track of the permanent magnet Mrl of the rear leg 25R will also come off, and the permanent magnet Mrl will be released smoothly from the permanent magnet 184 on the rear side, and will be repelled by the permanent magnet 184 on the rear side. You can jump up and down.

[0104] By curving the front and rear ends of the left and right guide slots 252L and 252R outward in this way, the suction of the foot end of the leg portion can be quickly and smoothly performed at a predetermined position without being dragged. The suction can be released and the foot end can be flipped up. Therefore, the longitudinal length of the guide long holes 252 L and 252 R can be shortened, and thus the case 251 can be made somewhat compact.

[0105] Note that the present invention is not limited to a model body having four legs, but has two legs like a human, or has six legs like an insect. It can be applied to those with multiple legs, and is not limited to animal models, but can also be applied to those that move by moving in multiple oars such as ship models, in which case the oars correspond to the legs.

[0106] Further, the present invention is not limited to the case where the model body moves together with the driving body that separates the traveling plate that forms the partition plate, and only the leg portion is driven by the driving body while the model body is stopped at a fixed position. It can also be applied to devices that operate. The relationship between the north and south poles of the magnet can be obtained by reversing the case described above.

Claims

The scope of the claims

[1] A model body having a main body supported by a partition plate and a plurality of legs, and capable of running on the partition plate, and arranged below the partition plate to operate the model body A model body drive device comprising a driving body to be driven,

The plurality of leg portions of the model body are pivotally attached to the main body so as to be able to swing back and forth, the plurality of leg portions have foot end portions, and a magnet has one magnetic pole on each foot end portion. For

The driver is

A plurality of pairs of magnets are provided adjacent to the leg ends of the plurality of legs of the upper model body so as to be reciprocally movable in the front-rear direction along the lower surface of the partition plate. Each of the recording magnet pairs also has a magnet force before and after making a pair with the opposite poles facing upward, reciprocating the plurality of pairs of magnets back and forth, and the foot ends of the plurality of legs of the model body A reciprocating drive mechanism that swings a plurality of legs by applying the magnetic force of the plurality of pairs of magnets to the magnet;

A model body drive device characterized by that.

[2] Of the magnets before and after the magnet pair,

The inner magnet is magnetized to the same polarity as the magnetic pole on the sole of the corresponding foot end magnet, and the outer magnet is magnetized to the opposite polarity to the magnetic pole on the corresponding foot end magnet. The model body drive device according to claim 1.

[3] The model body driving device according to claim 1 or 2, wherein the driving body is movable by a moving mechanism.

[4] The reciprocating drive mechanism includes a guide long hole that guides the plurality of sets of magnet pairs back and forth, a crank mechanism that connects the magnet pairs, and means for driving the crank mechanism. The model body drive device according to claim 1.

[5] A model body having a partition plate, a main body supported by four legs, and capable of traveling on the partition plate, and being arranged below the partition plate, the model body being For a model body drive device comprising a driving body to be operated,

The four legs of the model body are pivotally attached to the main body so as to be swingable back and forth, The four legs have foot ends, and each foot end is provided with a magnet with one magnetic pole facing the sole,

The drive traveling body is movable below the partition plate,

The driving traveling body is:

Corresponding to each of the leg ends of the four legs of the upper model body, it is provided with four pairs of magnets provided adjacent to the lower surface of the partition plate so as to reciprocate in the front-rear direction, Each of the magnet pairs also has a magnet force before and after making a pair with the opposite poles facing upward,

The four pairs of magnets are reciprocated back and forth, and the four legs are shaken by applying the magnetic force of the four pairs of magnets to the magnets at the leg ends of the four legs of the model body. A reciprocating drive mechanism to move,

A model body drive device characterized by that.

[6] The four legs are composed of left front, right front, left rear and right rear legs.

The reciprocating drive mechanism is

A left front magnet pair, a right front magnet pair, a left rear magnet pair, a right rear magnet pair corresponding to the left front, right front, left rear, and right rear legs; and

Four pairs of magnets are reciprocated so that the left front magnet pair and the right rear magnet pair approach and separate from each other, and the right front magnet pair and the left rear magnet pair approach and separate from each other. The model body drive device according to claim 5, wherein:

[7] The reciprocating drive mechanism includes:

A first cross link mechanism that connects the left front magnet pair and the right rear magnet pair, a second cross link mechanism that connects the right front magnet pair and the left rear magnet pair, and a cross between the first and second cross link mechanisms A common pivot that pivots in state,

A drive mechanism for rotating the first and second cross link mechanisms;

A first guide slot for guiding the left front magnet pair and the left rear magnet pair;

A second guide slot for guiding the right front magnet pair and the right rear magnet pair;

Have

The first guide slot and the second guide slot are parallel

The model body drive device according to claim 6, wherein

[8] Both end portions of the first guide slot and the second guide slot are curved away from each other.

8. The model body driving device according to claim 7, wherein the model body driving device is V-shaped.

[9] A driving body coupled by a magnetic force via a partition plate and a model body supporting a main body by a plurality of legs with foot ends,

A plurality of pairs of magnets provided adjacent to each other so as to reciprocate in the front-rear direction along the lower surface of the partition plate so as to act on the respective leg ends of the plurality of legs of the model body; Each of the magnet pairs is provided with a reciprocating drive mechanism that reciprocally moves the plurality of pairs of magnets back and forth by a pair of front and rear magnet forces that make a pair with different polarities facing upward.

A drive body characterized by that.

[10] A model body having a main body coupled by a magnetic force via a driving body and a partition plate and supported by a plurality of legs on the partition plate,

Each of the plurality of legs includes a thigh, a shin that is pivotally attached to the tip of the thigh, and a foot end that is pivotally attached to the tip of the shin. The shin part and the shin part are connected by a link bar to make them swing relative to each other.

A magnet that receives the action of magnetic force from the driver is provided at each foot end with one magnetic pole facing the sole.

A model body characterized by this.