JPH041992Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Technical Field] The present invention relates to a radio-controlled toy that performs various operations in response to commands sent from a transmitter.

[Prior Art] A method of allocating one control signal to each operation is generally adopted for controlling radio-controlled toys. According to this, it is fine if the motion is relatively simple and the number of motions is limited, such as a toy car, but if you want to increase the number of motions, such as a robot or animal toy, the transmitter and receiver need to be adjusted accordingly. As the number of control signal output sections increases, it is practically difficult to operate two or more at the same time because the circuit configuration becomes complicated and expensive.

Therefore, the present applicant has developed a radio-controlled toy that can perform more actions without complicating the configuration and also has the ability to memorize any number of actions and reproduce them at a desired time. An application has been filed for utility model registration. (Jitsugan No. 59-14903). this is,
A different frequency is assigned to each operation or a combination of two or more operations, and when one or more operations are simultaneously input from the input switch of the transmitter, a pulse signal of the corresponding frequency is transmitted, while the reception A toy body equipped with a machine is configured to generate one or more control signals corresponding to the frequency of the received signal, so that even if the number of operations increases, the number of signals that distinguish them is small. Therefore, it is possible to avoid complicating the configuration of the signal generator.

[Problems to be solved by the invention] However, with the above method of distinguishing motions based on differences in frequency, there are limits to the frequency band and frequency resolution that can actually be used, so the number of motions is also limited. There is a limit (for example, when there are more than 10 movements). Furthermore, if one frequency corresponds to two or more operations, the combination will be limited to a specific combination, and making frequencies correspond to all combinations of operations is rather a matter of the number of frequencies to be distinguished. will increase.

This invention was devised in view of the above problems, and its purpose is to perform a very large number of operations (for example,
To provide a radio-controlled toy that can reliably distinguish and execute each action without complicating the configuration, even when the toy has 10 or more actions.

[Means for Solving the Problems] According to the present invention, the transmitter has a plurality of operation specifying means for specifying any one of the plurality of operations, and does not operate any of the operation specifying means. An operation signal that generates a series of pulse signals in which each pulse corresponds to an operation, and when each operation specifying means is operated, outputs a pulse train signal from which pulses corresponding to the specified operation are omitted. The toy includes a control signal generating means for transmitting a control signal corresponding to the missing pulse of the pulse train signal transmitted from the transmitter and received by the receiver to the drive unit, The drive unit is configured to perform a predetermined operation by operating the drive unit.

[Example] The present invention will be described below based on an example shown in the accompanying drawings.

FIGS. 1 and 2 respectively show the whole and the bottom of a robot toy which is an embodiment of the wirelessly controlled toy of the present invention. The external shape of this robot toy 1 is
A substantially rectangular box-shaped bottom part 2, a body part 3 attached thereto, two rotatable arms 4L and 4R attached to the left and right sides of the body part, and a rotatable arm at the tip of each arm. It is composed of attached hands 5L and 5R and a head 6 attached to the upper surface of the body section 3.

As shown in Fig. 2, the bottom part 2 of the toy body has three pairs of front and rear running wheels 7L, 7R, 8L, 8R, and 9L.
and 9R are rotatably attached to each wheel 10, and the middle and rear wheels 8L, 8R, 9L, 9R
The left and right wheels are rotationally driven separately by a pair of motors 12L and 12R housed in the central drive unit 11, respectively. The configuration and operation of the drive section 11 will be explained in detail later.

As shown in FIG. 1, the body portion 3 has an opening at the lower part of the front surface that projects forward, and a cassette-type tape recorder 21 is housed through the opening. This tape recorder is provided as a recording device for memorizing and reproducing the actions performed by the toy body as described later, and has a structure in which a cassette tape 22 is detachably held on the top surface of the tape recorder. When attaching or removing, it is pulled out toward you. On the front of the tape recorder 21,
Push button switches 23 to 28 for stop, recording, rewinding, fast forwarding, playback, and pause (pause) are arranged, and when operating, the tape recorder 21 is housed in the body 3, so that the front It becomes part of the front of the fuselage.

On the front upper part of the body part 3, there are a time display part 31 of a timer device described later, a group of other switches 32 for time setting, a slide switch 33 for power ON/OFF and timer switching, and a radio control (RC) for controlling the toy body 1. ), storage (PRG), and tape recorder use (TR) modes, pushbutton switches 34, 35, and 36 are arranged, and a slide switch 37 is arranged to release the storage in order to pull out the tape recorder 21. There is. The operations of these various switches will be explained in detail later. Furthermore, a receiving antenna 38 is installed inside the body part 3.
(Fig. 6) is stored.

Two eyes 39L and 39R made of a light-transmitting material are provided on the front surface of the head 5, and light emitters 40L and 40R for lighting the eyes are provided inside the eyes 39L and 39R.
(Fig. 6) are arranged.

The illustrated robot toy has a transmitter 5 shown in FIG.
"Forward" according to the operation command sent from 0,
"Go backwards", "turn clockwise", "turn counterclockwise", "raise your arms",
"Lower your arms", "Rotate your hands to the right", "Rotate your hands to the left", "Open your fingers", "Close your fingers", "Rotate your head left and right", "Move your head up and down" It performs 17 different actions: ``change running speed,'' ``light up eyes,'' ``tape control,''``pronunciation,'' and ``voice.'' Among these operations, "tape control" includes the operation of driving and stopping the tape of the tape recorder 21, and "sound generation".
is the operation of generating a predetermined robot sound from the sound generation section, which will be described later, and "sound" is the operation of stopping each of the above operations,
The sound transmitted from the operator through the microphone of the transmitter 50 is generated from the sounding section of the robot (in this case, the speaker of the tape recorder 21). The mechanism for performing these operations will be described below.

(1) Transmitter As shown in FIG. 3, as a motion designation means for designating any motion among the plurality of motions mentioned above, there is a transmitter 50 on the front right side of the transmitter 50 that indicates the running direction of the robot toy 1 from front to back, left and right. four push-button switches 51, 52, 53, and 54 for specifying the operation, and a push-button switch 55 for specifying each operation of switching the running speed (high speed, low speed), tape control, sound generation, and eye lighting. , 56, 57, and 58, and on the left side of the front are pushbutton switches 59 and 60 for moving the arm up and down, pushbutton switches 61 and 62 for rotating the wrist left and right, and pushbutton switches for opening and closing the fingers. Button switches 63 and 64
and push button switches 65, 66 for rotating the head vertically and horizontally. Furthermore, on the left side of the transmitter 50, there is a radio control mode (RC)
A push-button switch 67 for switching the mode and audio mode (TALK) is arranged, and a power switch 68, a pilot lamp 69 that lights up when the switch is on, and a microphone 70 for inputting sound are arranged at the top of the front. A transmitting antenna 71 protrudes from the top surface.

Inside the transmitter 50, each of the above-mentioned switches 51 is provided.
An operation signal generator that outputs a pulse train signal of a predetermined length in accordance with the on/off state of 67 is housed together with other necessary circuits. As shown in FIG. 4, this operation signal generator 72 is a microcomputer (CPU) having predetermined input/output ports.
The switches 51 to 66 are connected to each of the 16 input ports (numbers 4 to 9 and 14 to 23), respectively. This CPU has each switch 51
It is programmed to send out a pulse train signal set as follows to the output port in response to an operation designation input (in this case, a "0" signal) when .about.66 is turned on. In addition, in the figure, 73
7 is an amplifying section that amplifies the output of the microphone 69;
4 is an oscillation section, and 75 is a modulation section.

First, the switches 51 to 6 as operation specifying means
When none of 7 is operated, CPU 72 is
A series of pulse train signals as shown in Figure a are repeatedly generated. This pulse train signal consists of 19 pulses with a constant duty ratio (its time width is, for example, 300 μsec)
The correspondence between each pulse and the motion of the toy is as follows.

Pulse number Operation 1... Signal start (reset) 2... Radio control/audio switching 3... Forward 4... Reverse 5... Clockwise 6... Counterclockwise 7... Raise arm 8... Lower arm 9... Rotate hand clockwise 10 … Rotate the hand to the left 11 … Open the fingers 12 … Close the fingers 13 … Rotate the head left and right 14 … Move the head up and down 15 … Change the running speed 16 … Turn on the eyes 17 … Tape control 18 … Pronunciation 19...Signal End On the other hand, when any of the switches 51 to 67 is operated, a pulse train signal is output from which pulses corresponding to the designated operation are omitted.

For example, when the input switch 51 is turned on (a "forward" command), the input port 4 of the CPU 72 changes from "1" to "0", so as long as this continues,
As shown in FIG. 5b, a pulse train signal in which the pulse number 3 is omitted is output. Similarly, when commanding other running motions, arm motions, etc., a signal is output in which pulses numbered 4 to 14 corresponding to each motion are omitted.

Regarding the pulse number 2, if it is present, the radio control (RC) mode is activated, and if it is absent, it is the audio (TALK) mode. This switching is performed by a push button switch 70 on the transmitter.

Regarding the pulse number 15, this occurs when the toy is started (reset), and the toy's traveling mechanism is set to a high-speed traveling state. At this time, when the speed change switch 55 of the transmitter is pressed, a signal lacking this pulse is generated to switch the toy to a low speed state. Thereafter, when the switch 55 is pressed again, a signal containing this pulse is transmitted and the high speed state is returned.

Regarding pulse number 16, this also occurs when the toy is started (reset), and the toy's eyes do not light up. At this time, when the lighting switch 58 of the transmitter is pressed, a signal without this pulse is generated, and the eyes of the toy are lit. Thereafter, the lighting state continues unless the switch 58 is pressed again.

Regarding the pulse number 17, this also occurs when the toy is started (reset), and the tape recorder 21
is turned off. At this time, TAPE switch 56
Pressing generates a signal without this pulse,
Turn on the tape recorder. This state will continue unless the switch 56 is pressed again.

Regarding pulse number 18, this also occurs when the toy is started (reset) and the toy does not make a sound.
At this time, when the sound generation switch 57 is pressed, a signal from which this pulse is omitted is generated, causing a sound generation device, which will be described later, to produce a predetermined sound.

(2) Circuit inside the toy To explain with reference to Figure 6, robot toy 1
Inside, a receiver 81 and a control signal generator 8 are installed.
2. Circuit section 83 of tape recorder 21, timer device 84, time display section 31 and switch group 32 of the timer device arranged on the upper front of toy 1, power supply and timer switching slide switch 33, radio control, memory, tape Push button switches 34, 35, 3 for switching to each mode of recorder use
6. A circuit including a driving circuit for a driving motor, a light emitter driving circuit for lighting the robot's eyes, etc. is housed.

The above-mentioned pulse train signal received by the receiver 81 in the circuit of FIG. 6 is input to the switching circuit 85 and the gate circuit 86. Here, when the radio control switch 34, the memory switch 35, and the recording switch 24 of the tape recorder 21 are pressed, the signals sent from each switch are expressed as RC, PRG, and R, respectively, and the audio mode switching from the control signal generator 82 is performed. When the signal (described later) is expressed as VO, the switching circuit 85
is if both RC and VO are input or
When both PRG and R are input, the pulse train signal from the receiver 81 is transferred to the tape recorder 21.
It is configured to send the signal to the mixing circuit 92 of. On the other hand, the gate circuit 86 opens when R is input, and transmits the pulse train signal to the control signal generator 8.
2 input ports. Furthermore, a second gate circuit 87 is connected between the memory switch 35 and the input port of the control signal generator 82, which opens when the gate circuit 86 is closed, that is, when the recording switch 24 is not pressed. When the memory switch 35 is not pressed (indicated by a solid line), the pulse train signal is input to the control signal generator 82 through the gate circuit 87.

The circuit section 83 of the tape recorder generates audio by sending signals to a speaker 94 using a preamplifier 91, a mixing circuit 92, and a main amplifier 93 connected to a recording head 90 via a recording switch 24. As mentioned above, the radio control (RC) switch 34
is pressed and the audio mode switching signal (VO) is output, or when the memory (PRG) mode switch 35 and the recording (R) switch 24 are pressed, the output of the receiver 81 is output from the switching circuit. 8
5 to the mixing circuit 92. On the other hand, when the storage mode switch 35 is not pressed, a power supply voltage signal (PRG) is applied to the third gate circuit 95 via this switch 35. This gate circuit 95 is provided between the microphone terminal to which the microphone 96 is connected and the mixing circuit 92 as necessary, and when the above signal (PRG) is applied, the microphone 96
Mixing circuit 92 mixes the audio signal input from 6.
It is configured to send to Note that a power supply line to the tape drive motor 97 is provided with a motor drive switch 98 that is interlocked with each switch for recording, playback, etc.

In addition, a luminous body 4 placed in the robot's eyes
The lighting of 0L and 40R is controlled by a drive circuit 99 connected to the output section of the main amplifier 93 of the tape recorder. In addition to the output of the main amplifier 93 of the tape recorder, this drive circuit 99
Alarm signal S output from timer device 84
Alternatively, by inputting the lighting signal L from the control signal generator 82, the two light emitters are turned on at the same time.

Next, the control signal generating device 82 is composed of a microcomputer (CPU) having predetermined input/output ports, similar to the aforementioned operation signal generating device 72,
The following circuits are connected to each of the output ports P1 to P18.

P1 and P2 → Drive circuit 101 for left wheel drive motor 12L, P3 and P4 → Drive circuit 102 for right wheel drive motor 12R, P5 → Connected to drive circuit 103 for gear change motor 216 (FIG. 7), which will be described later. One input of exclusive OR circuit 104, P6 and P7 → arm drive motor 231, which will be described later
(Fig. 9) drive circuit 105, P8 and P9 → hand drive motor 251 to be described later
(Fig. 10) drive circuit 106, P10 and P11 → finger drive motor 2 to be described later
61 (FIG. 10), P12 and P13→drive circuit 108 of the head drive motor 270 (FIG. 11), which will be described later, and drive circuits 101 and 102 other than the drive circuit 103 of the speed change motor 216 described above. ,105,106,
107 and 108 indicate that when one of the two output ports is "1" and the other is "0", each motor 12
L, 12R, 270, 231, 251 and 26
1 in normal rotation, one of the two output ports is “0”
When the other one is "1", each motor is configured to rotate in reverse.

The drive circuit 103 of the speed change motor 216 rotates the motor 216 in one direction when the exclusive OR circuit 104 outputs "1". The output of the exclusive OR circuit 104 changes depending on the inputs supplied from the CPU 82 and a transmission mechanism switch 220 (FIG. 7), which will be described later. That is, the switch 22
When 0 is on (at high speed), the input that will be added is “1”, and when the CPU 82 outputs “0” at this time, the output of the exclusive OR circuit 104 becomes “1” and drives the motor 216. and switch to low speed (switch 220 is turned off), CPU82
When outputs “1”, exclusive OR circuit 104
The output becomes "0" and does not drive the motor 216, maintaining the high speed state. On the other hand, Switch 220
When is off (at low speed), the input that will be added from now on is “0”, and at this time the CPU 82 is “1”
When the output of the exclusive OR circuit 104 becomes "1", the motor 216 is driven and switched to high speed (switch 220 is turned on), and the CPU 82
When outputs “0”, exclusive OR circuit 104
The output becomes "0" and the motor 216 is not driven and the low speed state is maintained.

Output port P14 of CPU82 is connected to arms 4L and 4R, hands 5L and 5R, and finger 1 when the toy is started.
41 and 142 (FIGS. 1 and 9), and detection switches 109, 110, 111, 112, 113, attached to each part of the toy to determine whether the head 6 is in a predetermined position. 1
14 and 115 are connected. The other end of each detection switch is connected through a diode.
Output ports P6, P7, P9, P1 of CPU82
0, P11, P12 and P13. Of these detection switches, 109 and 110 detect the upper and lower limit positions of the arms 4L and 4R, and the switch 111 detects the upper and lower limit positions of the arms 4L and 4R.
Detects the starting position of R, and switches 112 and 1
13 detects the open and closed positions of the fingers 241 and 242, and switches 114 and 115 are arranged to detect the vertical and lateral center positions of the head 6, respectively, so that the arms etc. are in the above-mentioned positions. At some point it turns off. For example, limit switches can be used as these detection switches.

At startup (power on), the CPU 82 outputs ports P7, P9, P11, P12 and P1.
It sequentially outputs "1" to P3 and checks the input to P14. Each detection switch 109, 110, 11
1, 112 and 113 are on, P1
Since 4 is “1”, this becomes “0”.
That is, a drive signal is sent to each drive circuit 105, 106, 107, and 108 until each detection switch is turned off. As a result, the arm is reset to the lower limit position, the hand to the starting position, the fingers to the closed position, and the head to the center position.

Incidentally, failures of the drive mechanism can be prevented by stopping the arms and the like at their respective limit positions using the signals from the above-mentioned detection switches.

The output port P15 of the CPU 82 is connected to the light emitter drive circuit 99, and is connected to the receiver 81.
A lighting signal L is output in response to a lighting command signal sent to the CPU 82.

Further, the output port P16 outputs an audio mode switching signal (VO), and its output is sent to the switching circuit 85 and also supplied to the normally open relay 88 via the amplifier. A contact point of this relay 88 is connected to a speaker 94 of the tape recorder 21.

Furthermore, output ports P17 and P18 output signals for driving the tape and generating robot sounds, respectively, and both are connected to a timer device 84. This timer device 84 is composed of a known clock LSI for driving the time display section 31 using a liquid crystal, and displays the time according to the input of each switch in the switch group 32, or when an arbitrarily set time is reached. It is equipped with the function of emitting a predetermined signal or alarm sound. In the illustrated robot toy, the operation of the timer device 84 is controlled by the CPU 8.
It is controlled by a control signal from 2.

That is, when the output port P17 of the CPU 82 outputs "1", the timer device 84 outputs a signal to close the normally open relay 89 provided in the power supply line to the motor 97 of the tape recorder 21.
Further, when the output port P18 outputs "1", an alarm sound signal S of a predetermined frequency is transmitted to a small sounding unit such as a piezoelectric buzzer according to an alarm sound generation program stored in the timer device 84.
Send to the output port connected to 00. This alarm sound signal S is also supplied to the light emitter drive circuit 99.

The CPU 82 receives the aforementioned pulse train signal (Fig. 5).
When input, the following control signals are output to each of the above output ports.

For example, when receiving a pulse train signal in which pulse number 3 is missing, as shown in Figure 5b (forward command)
, the CPU 82 outputs "1" to output ports P1 and P3 and "0" to output ports P2 and P4. As a result, both motors 12L and 12R rotate in the normal direction, moving the toy forward.

When the CPU 82 receives the signal with the pulse number 2 omitted, it outputs "1" to the output port 16 as the voice mode switching signal (VO).

Also, when a signal containing pulse number 15 (command for high-speed running) is received, "1" is output to output port P5, and when a signal without this pulse (command for low-speed running) is received, the output is Port P
Output “0” to 5. Therefore, as mentioned above,
Depending on whether the switch 220 is turned on or off, the exclusive OR circuit 104 outputs “0” or “1”,
Maintain high or low speed, or switch speeds. The speed switching mechanism of this embodiment will be explained in detail later.

When receiving a signal including the pulse number 16, the CPU 82 sends a lighting signal L to the output port P15.
However, when it receives a signal without this pulse, it sends a lighting signal L to the drive circuit 99 to light the light emitters 40L and 40R.

Further, when a signal with the pulse number 17 omitted is received, it is output to the output port P17 and the power supply line of the tape motor 97 is turned on via the timer device 84.

Furthermore, when a signal with the pulse number 18 omitted is received, it is output to the output port P18, the timer device 84 generates the sounding signal S, and the sounding section 100
At the same time, the drive circuit 99 is driven to light up the light emitters 40L and 40R.

(3) Drive mechanism of toy Running part As shown in FIGS. 2 and 7, the running drive part 11 includes left and right drive wheels 8L, 8R and 9L, 9.
It consists of a mechanism that drives drive gears 210L and 210R, which are arranged on the left and right so as to mesh with the gear portion formed in the R, independently and at two different speeds: high and low.

The mechanism that drives the wheels on the left side of the toy (the right side in Fig. 7) is a combination gear 212L consisting of three large, medium and small gears that mesh with a pinion 211L attached to the rotating shaft of the motor 12L and rotate together; It is comprised of another combination gear 213L that meshes with one of the two gear parts, and a reduction gear train 214L that transmits the rotation of this combination gear 213L to the drive gear 210L. Also,
Similarly, the mechanism for driving the wheels on the right side (left side in FIG. 7) of the toy includes a combination gear 212R consisting of three large, medium and small gears that mesh with a pinion 211R attached to the rotating shaft of the motor 12R and rotate as one, and this combination gear 212R. It is comprised of another combination gear 213R that meshes with one of the two large and medium gear parts, and a reduction gear train 214R that transmits the rotation of this combination gear 213R to the drive gear 210R.

During running, the motors 12L and 12R of the left and right wheel drive mechanisms are driven by drive circuits 101 and 102, respectively, which are controlled by the CPU 82 described above.
It rotates forward or reverse depending on the output from (Fig. 6).
The toy moves forward or backward when both motors rotate forward or backward, and turns to the right or left when one of the motors rotates forward and the other rotates reversely.

A transmission mechanism that switches the rotational speed of each drive gear 210L and 210R is arranged between the left and right wheel drive mechanisms. This mechanism is
Drive circuit 103 controlled by CPU 82
(Figure 6) A third motor 216 that rotates in only one direction with the output from the worm gear (not shown)
It has a cam 218 that is always rotated clockwise by a motor 216 via a cam 218, and a leaf spring for locking this cam in two positions corresponding to two high and low rotations, and a position corresponding to high speed rotation of the cam. A switch part 220 that is turned on at a certain time and a spring 2
A switching lever 2 that is connected to the cam 218 by 22 and whose tip rotates left and right as the cam rotates.
24, a circular protrusion 226 that fits into an 8-shaped opening drilled at the tip of this lever is fixed at the center, and the combination gears 212L and 212R are fixed on both sides of the circular protrusion 226, which is movable in the axial direction. Rotating axis 2
It consists of 28.

The operation of this transmission mechanism is as follows. first,
The first combination gears 212L and 212R move left and right together with the rotating shaft 228, and the positions where each center gear meshes with the center gears of the second combination gears 213L and 213R as shown in FIG. 7 and FIG. As shown in FIG.
It is set at either the position where it meshes with the large gears L and 213R. Therefore, each drive gear 210L and 210R rotates at high speed in the case of FIG. 7, and rotates at low speed in the case of FIG.

Now, in the high speed rotation state shown in Fig. 7, the
When the motor 216 is rotated by the output from the drive circuit 103 controlled by the CPU 82 and the cam 218 is rotated clockwise, the switching lever 224 is pulled by the spring 222 and its tip moves to the left. Therefore, the rotating shaft 228 also moves to the left and becomes the state shown in FIG.
10R is switched to low speed. At this time switch 2
20 is turned off and the output of the exclusive OR circuit 104 is set to "0" as described above, so that the motor 21
6 stops.

Next, in the low speed rotation state shown in Figure 8, the CPU
When 82 outputs "1" from output port P5,
Since the output of the exclusive OR circuit 104 becomes "1", the drive circuit 103 drives the motor 216 to rotate the cam 218 clockwise. Therefore, the switching lever 224 is pulled by the spring 222 and moves to the right, and the rotating shaft 228 also moves to the right, resulting in the state shown in FIG.
R is switched quickly. At this time switch 220
is turned on and the output of the exclusive OR circuit 104 is set to "0", so that the driving of the motor 216 is stopped.

Arm rotation mechanism The left and right arms 4L and 4R of the robot toy 1 are
Although the shape is symmetrical, the drive mechanism is the same, so only the left arm 4L will be described here.

As shown in FIG. 9, the arm 4L consists of an upper arm section from the shoulder to the joint, and a lower arm section rotatably connected to the upper arm section. The upper arm portion is rotatably connected to a connecting shaft 230 that protrudes outward from the body portion 3, and inside thereof, in order from the top, a motor 231, a reduction gear train 232 including a worm gear, and a gear set fixed to the connecting shaft 230. Two coaxial gears 233a and 233b that mesh with the reduction gear train 231, a spur gear 234 that meshes with the larger diameter coaxial gear 233b,
A drive mechanism consisting of a gear 236 fixed to a connecting shaft 235 extending from the lower arm and rotatably connected to the upper arm is disposed.

Therefore, when the motor 231 rotates forward or reverse by the output from the drive circuit 105 controlled by the CPU 82 in FIG. Along with this, the lower arm also rotates about the connecting shaft 235 with the upper arm.

Hand rotation and finger opening/closing mechanism Since the left and right hands 5L and 5R have the same shape and configuration, only the left hand 5L will be described as in the case of the arms.

As shown in FIGS. 9 and 10, the hand 5L consists of a cylindrical member rotatably connected to the tip of the lower arm, and from inside the hand 5L there are one curved finger member 241 and two fingers. Finger member 2 joined at the proximal end.
42 (see FIG. 1) extends forward. The base end of each finger member 241 and 242 is connected to the support shaft 2, respectively.
It is rotatably connected to the inside of the hand 5L by 43 and 244, and meshes with gear parts formed over about half a circumference that touch each other, so that the fingers can simultaneously rotate in the directions of opening and closing. . The proximal front portion of each finger member 241 and 242 is pulled in the closing direction by a spring 245, and a back-and-forth moving member 248 extending from inside the lower arm.
The tips of the finger members 241 and 242 are in contact with rod-shaped protrusions 246 and 247 protruding from the rear of the proximal end of each finger member 241 and 242, and as this moving member 248 moves forward, each finger member 241 and 242 is moved by the spring 145. It is designed to open against the tensile force of.

As shown in FIG. 10, inside the lower arm part there is a mechanism for rotating the hand 5L left and right, and the above-mentioned finger member 2.
A mechanism for opening and closing 41 and 242 is housed.

The mechanism for rotating the hand 5L includes a motor 215,
A gear train 252 is formed at the end protruding from the hand 5L into the lower arm, and the gear train 252 decelerates the rotation.
It consists of a gear part 253 that meshes with the tip gear 52 and rotates the hand 5L at a low speed.

Therefore, when the motor 251 rotates forward or reverse by the output from the drive circuit 106 controlled by the CPU 82 shown in FIG. 6, the hand 5L rotates clockwise or counterclockwise around the joint with the arm 4L. do.

On the other hand, the mechanism for opening and closing the fingers is provided by another motor 261.
, a gear train 262 that decelerates its rotation, a cam 264 that rotates together with a bevel gear 263 disposed at the tip thereof, and the aforementioned moving member 248 that moves in the front-rear direction as the cam rotates. cam 26
4 has a semi-helical shape as shown in FIG. 10b.

Therefore, when the motor 261 rotates forward or backward by the output from the drive circuit 107 controlled by the CPU 82, the moving member 264 moves forward or backward to open or close the fingers.

Head Drive Mechanism In the illustrated robot toy, the following mechanism is housed in the head 6 in order to move the head 6 up and down and rotate it left and right.

As shown in FIG. 11, this drive mechanism includes a drive circuit 108 controlled by the aforementioned CPU 82.
A vertical movement mechanism 274 is positioned above a rotating shaft 273 installed in the vertical direction, with a spur gear 272 that meshes with a pinion 271 of the motor fixedly attached to the motor 270 as a power source. , a left-right rotation mechanism 275 located at the bottom of the rotation shaft 273
It consists of

First, as shown in FIGS. 11 and 12, the vertical movement mechanism 274 includes a switching drum having two planetary gears 281 and 282 attached to its lower end surface, which rotate in mesh with a sun gear 280 attached to a rotating shaft 273. It is equipped with 283. This switching drum 28
3, when the motor 270 is driven so that the rotating shaft 273 rotates counterclockwise when viewed from above (hereinafter referred to as normal rotation), one of the planetary gears 281 rotates to the gear 284 as shown in FIG. or, as shown by the broken line, the other planetary gear 282 meshes with the adjacent gear 285, and depending on which planetary gear meshes, the third gear 286 and the worm 287 coaxial therewith, A gear 289 coaxial with the worm wheel 288 can be rotated in two directions.

As shown in FIG. 13, the gear 289 is meshed with a sector gear 292 that is integrated with a swing lever 291 that is provided above the switching drum 283 and is rotatable up and down about a horizontal shaft 290.
The rotation of the swing lever 2 together with the sector gear 292
91 rotates up and down. A second horizontal shaft 293 is fixed to one end of the swing lever 291, and the second horizontal shaft 293 is rotatably supported at both ends by bearings (not shown) formed on the inner surface of the head 6 of the robot toy. By rotating the swing lever 291 up and down, the front surface of the head 6 is rotated upward or downward.

The other end of the swing lever 291 has two upper and lower ends as shown in the figure.
The switching lever 294 is in contact with a protruding portion. As shown in FIGS. 13 and 14, this switching lever 294 is arranged to be able to rotate up and down about a third horizontal shaft 295, and the lower end of the switching lever 294 connects planetary gears 281 and 282, respectively. Two upper and lower protrusions 283a and 2 are formed at approximately symmetrical positions on the circumferential side of the switching drum 283 in order to set the gears 284 and 285 in the meshing position shown in FIG.
83b. Also,
The switching lever 294 is pulled by a spring 296 so as to constantly contact the other end of the swinging lever 291.

When the lower end protrusion of the switching lever 294 engages with the upper protrusion 283b of the switching drum 283 to prevent rotation of the drum as shown in FIGS. 13 and 14, as shown in FIG. One of the planetary gears 281 meshes with the gear 284, causing a gear 289 coaxial with the worm wheel 288 to rotate clockwise in FIG. 13. Therefore, the swing lever 291 rotates counterclockwise, raising the front surface of the toy's head.

When the rocking lever 291 rotates counterclockwise by a predetermined angle (for example, 40 degrees) from the horizontal state, the lower end protrusion of the switching lever 294, which contacts the other end and similarly rotates counterclockwise, is lifted. Since the switching drum 283 is disengaged from the upper protrusion 283b, the drum 283 rotates and stops again when the upper protrusion 283a engages the switching lever 294. At this time, one planetary gear 281 separates from the gear 284, and the other planetary gear 282 meshes with the adjacent gear 285. Accordingly, the gear 289 coaxial with the worm wheel 288 rotates in the reverse direction, rotates the swinging lever 291 clockwise, and begins to lower the front surface of the toy's head from the upper limit position.

When the rocking lever 291 rotates clockwise from the horizontal state by a predetermined angle (for example, 40°, which is the same as for the upward movement), the lower end protrusion of the switching lever 294 is lowered and engaged with the upper protrusion 283a of the switching drum 283. Since the connection is released, the drum 283 rotates,
When the lower protrusion 283b engages with the switching lever 294, it stops again. As a result, one planetary gear 281 meshes with the gear 284 again, and the other planetary gear 282 separates from the adjacent gear 285. Therefore, the swing lever 291 starts to rotate counterclockwise again, causing the front surface of the toy's head to move upward from the lower limit position.

Thus, as long as the motor 270 rotates normally, the head 6 repeatedly moves up and down within a predetermined angular range.

On the other hand, as shown in FIGS. 11 and 15, the left-right rotation mechanism 275 includes a large gear 30 that meshes with a small gear 300 fixed to the lower part of a common rotation shaft 273.
1 rotating shaft 302 and two planetary gears 304 that mesh with and rotate with a sun gear 303 attached thereto.
and 305 attached to the upper end surface of the switching drum 3
06. When the rotating shaft 273 of the motor 270 is driven to rotate clockwise when viewed from above by the control signal from the CPU 82 described above (hereinafter referred to as reverse rotation), the switching drum 306
As shown in FIG. 15, one planetary gear 305 meshes with the adjacent gear 308, or the other planetary gear 304 meshes with the adjacent gear 307, and depending on which planetary gear meshes, the reduction gear 309
As shown in FIG.
a are engaged and rotated forward or reverse along the circumferential surface of the disk 311. This disk 311 is fixed on the upper end surface of the toy body 3, and the head 6 is rotatably installed above it.

As shown in FIG. 16, a U-shaped switching lever 31 is supported vertically and rotatably by a horizontal shaft 312.
3 is arranged close to the sides of the switching drum 306 and the disk 311. The upper end of the switching lever 313 is formed at a substantially symmetrical position on the circumferential side surface of the switching drum 306 in order to set the planetary gears 304 and 305 in meshing positions with the gears 307 and 308 shown in FIG. 15, respectively. two protrusions 30
6a and 306b. Further, the lower end of the switching lever 313 is formed so as to be in contact with the side surface of a cam part 311b formed at the lower part of the disc 311, and is constantly in contact with the cam part 311b by a spring 314 connected to the upper part of the switching lever 313. .

As shown in FIG. 17, the disc cam part 311b has an intermediate protrusion part 321 that protrudes to a constant height over about 1/4 (range of 90 degrees) of its outer circumferential surface, and an intermediate protrusion part 321 that protrudes even higher than this. It has a maximum protrusion 322. Therefore, the switching lever 313 is rotated by a predetermined angle clockwise about the horizontal axis 314 in FIG. 16 by moving its lower end from the smallest circular portion to the intermediate protruding portion 321 along the outer periphery of the cam portion 311b. Then, by moving from the intermediate protrusion 321 to the maximum protrusion 322, it further rotates clockwise. The lower end of the switching lever 313 is the cam part 3
When moving in the opposite direction along the outer circumference of 11b,
The switching lever 313 naturally rotates counterclockwise in stages.

The upper end of the switching lever 313 moves downward from the highest position as shown in FIG. 16 when the lower end moves from the smallest circular part of the cam part 311b to the intermediate projection 321, The engagement with portion 306a is maintained to prevent rotation of the switching drum. At this time, the outer gear 310 meshing with the gear portion 311a of the disk 311 rotates counterclockwise as shown in FIG. 15, so the head 6 supported above the fixed disk 311 rotates counterclockwise as a whole. Rotate in the direction.

After that, the lower end of the switching lever 313
11b from the intermediate protrusion 321 to the maximum protrusion 322
, the upper end of the switching lever 313 moves further downward and separates from the upper protrusion 306a of the switching drum 306, so the switching drum 306 rotates and the lower protrusion 306b of the switching lever 313 moves further downward.
When it engages with the upper end of No. 3, it stops again. At this time, one planetary gear 305 separates from the gear 308, and the other planetary gear 304 meshes with the adjacent gear 307. Therefore, the outer gear 310 reverses and rotates clockwise, so that the head 6 supported above the fixed disk 311 now begins to rotate clockwise.

After that, the lower end of the switching lever 313
From the maximum protrusion 322 of 11b to the intermediate protrusion 3 again
21, the upper end of the switching lever 313 maintains engagement with the upper protrusion 306a of the switching drum 306 to prevent rotation of the switching drum.

When the lower end of the switching lever 313 moves from the intermediate protrusion 321 of the cam part 311b to the smallest circular part again, the upper end of the switching lever 313 is lifted and disengaged from the lower protrusion 306b of the switching drum 306. Therefore, the drum 283 rotates again, and its upper protrusion 306a engages the switching lever 313.
It stops when it engages with the As a result, one planetary gear 305 meshes with gear 308 again, and the other planetary gear 304 separates from gear 307. Therefore, the outer gear 310 rotates counterclockwise again and the head 6 as a whole begins to rotate counterclockwise.

Thus, as long as the motor 270 rotates in reverse, the head 6 repeats left and right rotation within the range of the angle θ determined by the intermediate protrusion 321 and the maximum protrusion 322 of the cam portion 311b.

(4) Operation of the illustrated robot toy For radio control (RC) First, turn on the power switch 33 on the front of the body of the robot toy 1 and press the RC switch 34.
The two interlocking movable contacts switch as shown in broken lines in FIG. Therefore, the power supply voltage applied to the RC switch 34 via the power switch 33
Vdd is supplied to the receiver 81, and the aforementioned
It is supplied to the switching circuit 85 as an RC signal.

Therefore, each pushbutton switch 51 of the transmitter 50
When operations 66 to 66 are performed, pulse train signals corresponding to each operation are transmitted as described above. At this time, in the robot toy 1, the memory switch 35 and the recording switch 24 are in the solid line position in FIG.
Since neither PRG nor R is generated and the signal VO from the control signal generator 82 is not output,
The pulse train signal received by the receiver 81 is input to the control signal generator 82 through the storage switch 35 and the second gate circuit 87 without passing through the switching circuit 85 and gate circuit 86 . The control signal generator 82 outputs an output according to the input signal to operate the toy.

Next, when the audio changeover switch 67 of the transmitter 50 is pressed, a signal lacking the pulse number 2 in FIG. 5a is transmitted. In the robot toy 1, when this signal is input from the receiver 81 to the control signal generator 82 through the gate circuit 86, "1" is output to the output port P16, turning on the energizing relay 88 to the speaker 94. and the aforementioned signal
It is supplied to the switching circuit 85 as VO. Thereafter, the control signal generator 82 will not accept other signals unless a pulse train signal for canceling this is input.

Therefore, when audio is input from the microphone 70 of the transmitter 50, an audio signal is transmitted to the receiver 81.
The signal is then sent to the switching circuit 85. At this time, since the two signals RC and VO are applied to the switching circuit 85, the audio signal is inputted to the mixing circuit 92 through the switching circuit 85, amplified by the main amplifier 93, and outputted as audio from the speaker 94. Output. In this way, the audio switching switch 67
If you press , the transmitter 50 can be used as a wireless microphone.

Memory (PRG) When the power switch 33 is turned on and the PRG switch 35 is pressed, the four interlocking movable contacts switch to the positions shown by the broken lines in FIG. 6, and at the same time, the RC switch 34 returns to the solid line position. Therefore, the power supply voltage Vdd applied to the PRG switch 35 via the power switch 33 is supplied to the receiver 81, and is also supplied to the switching circuit 85 as the aforementioned PRG signal. When the recording button 24 of the tape recorder 21 is pressed to set it in a recording ready state, the power supply voltage Vdd is supplied as the aforementioned signal R to the switching circuit 85 and the gate circuit 86. In conjunction with this, the power supply switch 98 to the motor is turned on, and the tape begins to rotate.

In this state, when each pushbutton switch 51 to 66 of the transmitter 50 is operated, a pulse train signal corresponding to each operation is transmitted as described above. The signal received by the receiver 81 of the robot toy 1 is transferred from the switching circuit 85 to the mixing circuit 92 and the main amplifier 93.
and the recording head 90 through the recording switch 24.
and recorded on tape sequentially. On the other hand, the control signal generator 82 outputs according to the input pulse train signal. This memorization operation is completed by stopping the robot toy and pressing the stop button 23 to stop the tape.

Memory playback (autopilot) After the above memory operation is completed, the tape recorder 21
When the recording/playback (play) button 27 is pressed, the recording switch 24 enters the state shown in FIG. At the same time, the tape begins to rotate, and the motion recorded on the tape is input from the head 90 through the preamplifier 91, the PRG switch 35, and the second gate circuit 87 to the control signal generator 82. Therefore, the control signal generator 82 outputs the same signal as described above in response to the input pulse train signal to automatically operate the robot toy.

Tape recorder operation (TR) When the TR switch 36 of the robot toy 1 is pressed,
At the same time that the RC switch 34 and the PRG switch 35 return to their original unpressed state (solid line position in FIG. 6), the power switch 33 outputs the control signal generator 82 and the drive circuits 101 to 103, 105 to
The power supply line to 108 etc. is cut off. This is because the operation of the control signal generator 82 and the like is not required when the tape recorder is used, and the influence of noise is eliminated. Further, the third gate circuit 95 transfers the audio signal from the microphone 96 to the mixing circuit 92.
It will be ready to be sent to. Therefore, the tape recorder 21 can be used as a normal tape recorder regardless of the operation of the robot toy.

In the timer mode, when the power switch 33 is set to the right TIMER position, the power to the receiver 81 is cut off, and the transmitter 5
Radio control from 0 will no longer be possible. in this case,
After setting an arbitrary time in advance by appropriately operating the switch group 32 on the front of the body of the robot toy 1, the recording/reproduction (play) button 27 of the tape recorder 21 is pressed. In this way, the timer device 84 activates the relay 89 when the set time is reached.
is turned on, the tape begins to rotate, and the robot toy can perform the above-mentioned memory replay (autopilot) operation.

[Effects of the invention] As described above, according to the radio-controlled toy of the invention, when the transmitter does not operate any of the action specifying means for specifying an arbitrary action, the transmitter performs a series of actions in which each pulse corresponds to the action. It generates a pulse signal, and when each action designation means is operated, it transmits a pulse train signal in which the pulse corresponding to the designated action is omitted, and the toy that receives this transmits a control signal corresponding to the omitted pulse. Since the drive section is configured to perform a predetermined operation by generating a signal and operating in response to this control signal, even if the number of operations increases, it can be handled accurately. The number can be reduced, and the configuration of the signal generator can be prevented from becoming complicated.

[Brief explanation of the drawing]

Fig. 1 is an external perspective view of a robot toy which is a specific example of a radio-controlled toy according to the present invention, Fig. 2 is a perspective view showing its traveling drive section, Fig. 3 is a perspective view of a transmitter, and Fig. 4. is the circuit diagram of the transmitter, Figure 5 is the waveform diagram of the pulse train signal generated by the transmitter, and Figure 6 is the waveform diagram of the pulse train signal generated by the transmitter.
Figures 7 and 8 are plan views showing the structure of the running section, and Figures 9 and 10 show the internal structure of the arm. 11 is a configuration diagram of the head drive mechanism; FIG. 12 is an explanatory diagram of the vertical movement switching mechanism seen from below along the line - in FIG. 11;
3 and 14 are explanatory diagrams of the mechanism that moves the head up and down, and FIG. 15 is an explanatory diagram of the left-right rotation switching mechanism seen from above along the line - in FIG. 11.
Figure 6 is an explanatory diagram of the operation of the switching mechanism in Figure 15, and Figure 17.
The figure shows the shape of the cam of the switching mechanism. 1... Robot toy, 11... Travel drive unit, 1
2L and 12R...Travel motor, 21...Tape recorder, 22...Cassette tape, 23-
28...Push button switch, 31...Time display section, 33...Power switch, 34...Radio control switch, 35...Memory switch, 36...Tape recorder use switch, 50...Transmitter, 51-
67... Push button switch, 70... Microphone, 72... Operation signal generator, 81... Receiver, 82... Control signal generator, 83... Tape recorder circuit section, 84... Timer device, 101
~103 and 105~108...Motor drive circuit, 109~115...Position detection switch, 21
6... Speed change motor, 231... Arm drive motor,
251... Manual rotation motor, 261... Finger opening/closing motor, 270... Head drive motor.

Claims (1)

[Claims for Utility Model Registration] 1. A radio-controlled toy comprising a transmitter, a receiver, and a toy body having a drive unit that performs a plurality of operations, wherein the transmitter performs any one of the plurality of operations. A plurality of operation specifying means are provided for specifying the operation, and when none of the operation specifying means is operated, a series of pulse train signals in which each pulse corresponds to an operation is generated, and when each operation specifying means is operated, a series of pulse train signals are generated. and an operation signal generating means for outputting a pulse train signal from which a pulse corresponding to the designated action is deleted, the toy body configured to eliminate the pulse train signal transmitted from the transmitter and received by the receiver. A wireless device comprising a control signal generating means for sending a control signal corresponding to a pulse to the driving section, and configured so that the driving section operates according to the control signal to perform a predetermined operation. Control toy. 2. The toy body is provided with a position detection means for detecting the position of the actuation part of the drive part, and the control signal generation means is configured to move the actuation part of the drive part to a predetermined starting position by the detection output of the position detection means at the time of starting. The radio-controlled toy according to claim 1, which is configured to output a signal for resetting the actuating part to the starting position if the actuating part is not at the starting position. 3. The position detecting means is arranged to detect a limit position of the actuating part of the drive section, and when the position detecting means detects the limit position, the control signal generating means generates a signal to stop the actuating part of the drive part. The radio-controlled toy according to claim 2 of the utility model registration claim, which is configured to output.