JPH0421577Y2 - - Google Patents

Description

[Detailed description of the invention] (Industrial application field) This invention relates to a robot toy that performs certain actions using power.

(Prior Art) As this type of robot toy, one that uses power to move its arms and legs or rotate its neck has been known.

(Problems that the invention attempts to solve) However, in the field of this type of robot toys, there is always a demand for something that can perform more innovative actions, and this invention was created to meet this demand.

(Means for Solving the Problems) In order to solve the above problems, the robot toy according to this invention has a support that is erected on a base, and a head that is supported by the support so that it can tilt and return freely. an elevating member that is installed so as to be movable up and down along the support column and that tilts and returns the head as the elevating member moves up and down; a rotating lever that raises and lowers the elevating member; and a cam that rotates the rotating lever. and a power source for operating the cam, the support part of the elevating member relative to the head has a smooth arc-shaped support curved surface, and the support part is located on the head tilting side from the support part of the column relative to the head. It is made up of parts.

(Function) With the above configuration, when the power mechanism operates, the cam moves, the cam rotates the rotating lever, the rotating lever moves the lifting member up and down, and the lifting member The head is tilted and returned to its original position, and the movement of the head gives the appearance of the robot toy bowing its head or nodding its head.

(Example) The figure shows an example of the robot toy according to the present invention.

1 is an overall perspective view of the robot toy 1, which includes a power source 81 (FIG. 3) and a drive wheel 74 (FIG. 2) rotated by the power of the power source 81. A base 10 equipped with a caster 70 (FIG. 2), and a support 20 erected on the base 10.
(Fig. 6), a head 40 attached to the column 20 so as to be tiltable and returnable; and a head 40 installed along the column 20 so as to be movable up and down.
an elevating member 21 (FIG. 6) that tilts and returns the elevating member 21 that receives power from the power source 81;
cam 120 (Figures 2 and 4)
and a body 30 which is rotatably installed on the base 10 with the support 20 as an axis and which receives power from the power source 81 via the reversing mechanism 130 and makes reciprocating rotational movement around the support 20; A pair of left and right arm members 60 are swingably attached to the left and right sides of the body 30, and a microphone is attached to the upper end of a support rod 51 made of an elastic material and erected on the rear side of the base 10. It consists of 50.

The robot toy 1 configured in this way operates a switch (not shown) to connect the power source 81 in the body 30.
When activated, the first action is to rotate the torso 30 back and forth around the pillar 20 while running, and the left and right arm members 60 swing accordingly, walking briskly as if having fun. When a sound comes from the microphone 50, the second action is to stop running and move the head 4.
0 is tilted forward, and then, after a certain period of time has elapsed, the head 40 is tilted several times and returned to its original position, giving the appearance of bowing the head and nodding backwards.

In addition, during the traveling process, when the robot traveling toy 1 hits an obstacle (not shown) and receives a load above a certain level, the direction changing caster 70 changes direction, and accordingly, the robot traveling toy 1 changes direction. conduct.

Next, the configuration of each part of the robot traveling toy 1 will be explained in more detail.

The base 10 may have any shape, but in this embodiment it is formed into a cylindrical shape with a bottom, and legs 11 in the shape of robot legs are provided on both the left and right sides of the base 10. It is installed in one piece. The shape and attachment state of the legs 11, 11 are not limited either. A direction conversion caster (FIG. 2) is attached to the center of the front lower side of the base 10, and a pair of driven wheels 12 are rotatably attached to the rear lower side of the base 10.

The direction-changing caster 70 has been conventionally used as the drive wheel 74 of a traveling toy that runs while automatically avoiding obstacles, and when a traveling toy using this caster is subjected to a load exceeding a certain level due to hitting an obstacle, etc. When this occurs, the direction changing caster 70 automatically changes direction, thereby allowing the traveling toy to change direction.

That is, in the direction conversion caster 70, a drive wheel 74 is rotatably attached to a U-shaped frame 71 that is rotatably attached to a drive shaft 73, which will be described later, with a drive wheel 74 tilted clockwise when viewed from the front. A crown gear 74a is provided on the side thereof, and a pinion 75 fixed to the drive shaft 73 meshes with this crown gear 74a.

In this direction conversion caster 70, a sector-shaped rack 76b of a direction conversion member 76 is provided with a pin 76a as an axis and a spring 77 applies a clockwise rotational force when looking down from above, protruding from the upper surface of a U-shaped support frame 71. Due to the structure in which the pinion 72 is meshed with the pinion 72, a forward return force is always applied.

Further, on the base 10, as shown in FIG. 2, a first support plate 15 and a second support plate 16 are installed at regular intervals in the vertical direction. As shown in the block diagram in FIG. 3, electricity is supplied to the base 10 below the first support plate 15 from a power supply circuit 82 through a normal rotation switching circuit 80d, and in normal times The motor 81a rotates clockwise when viewed from the front, and the motor 81 is rotated by the sound detected by the microphone 50.
Each circuit 80a to 80 that constitutes the electrical system 80 that rotates a in the opposite direction (rotates counterclockwise when viewed from the front)
e is arranged.

That is, each of the circuits 80a to 80e includes an amplifier circuit 80a that amplifies the audio radio waves sent from the microphone 50, and a waveform shaping circuit 80b that shapes the audio radio waves amplified and sent from the circuit 80a into square waves. Then, the circuit 80b operates upon receiving the audio wave shaped into a square wave, and resupplies power to the power supply circuit 82 from the transfer switching circuit 80e side, causing the motor 81a to rotate in the reverse direction (as seen from the front). 80c. The flip-flop circuit 80c is returned to its original state by an automatic switch (installed on the second support plate 16), which will be described later, operated by a motor 81a.
That is, electricity is supplied from the power supply circuit 82 to the motor 81a shown as the power source 81 via the normal rotation switching circuit 80d, so that the motor 81a is returned to the state of normal rotation.

Further, on the first support plate 15, a first transmission gear group 90 and a second transmission gear group 100, which transmit the power of the motor 81a to each operating part, are arranged as shown in plan in FIG. and these transmission gear group 9
A power transmission switching mechanism 110 for switching the power transmission state between 0 and 100 is provided.

That is, the first transmission gear group 90 includes large gears 91a, 92a, 93a and small gears 91b,
It is composed of a plurality of gear bodies 91, 92, 93 formed integrally with the small gear 92b and 93b, and the large gear 92a is attached to the small gear 91b, and the small gear 92a is attached to the small gear 91b.
2b and the large gear 93b are in mesh with each other.

The small gear 93b has a large thickness, and its upper portion protrudes above the second support plate 16, and the second support plate 1 is attached to the protruding portion of the small gear 93b.
A gear 94 pivotally supported on the gear 6 is in mesh with the gear 94. An eccentric pin 94a is protruded from an eccentric position on the upper surface of the gear 94.

In addition, the second transmission gear group 100 includes a worm 101b with right-handed teeth and a spur gear 10.
1a, a gear body 101 formed integrally with
The gear 102 that meshes with the worm 101b and the right-handed worm 103 are on the same rotating shaft 103.
The gear body 105 is fixed to the worm 103, and the gear 106 is rotatably attached to the lower side of the second support plate 16 and always meshes with the worm 103. The rotating shaft 106a to which the gear 106 is fixed passes through the second support plate 16 and projects upward, and a cam 120 is fixed to the projecting upper end. With such a configuration, the gear 106
and cam 120 rotate together.

The gear switching mechanism 110 also includes a pinion 85 fixed to the drive shaft 81b of the motor 81a.
a gear 111 that is always meshed with the gear 111; a dogleg-shaped lever 112 that is rotatably attached to the upper end of a shaft 111a that rotatably supports the gear 111 and is in sliding contact with the upper surface of the gear 111; It is composed of planetary gears 113 and 114 that are constantly engaged with a gear 111 rotatably supported at the ends of both arms of the lever 112.

The gear switching mechanism 110 configured in this way is
The motor 81a rotates clockwise in FIG.
11 rotates counterclockwise, the lever 112 follows this and rotates counterclockwise, and the planetary gear 1
14 meshes with the large gear 91a of the gear body 91. At this time, the rotational force of the motor 81a is transmitted to the gear 94 via the gear switching mechanism 110 and the first transmission gear group 90. At this time, the planetary gear 113 side is in a free state.

On the other hand, when the motor 81 rotates counterclockwise in the figure, the gear 111 rotates clockwise, the lever 112 rotates clockwise following this rotation, and the other planetary gear 113 rotates around the gear 101. meshes with the spur gear 101a. At this time, the motor 81
The rotational force of a is transmitted to the rotating shaft 106a via the gear switching mechanism 110 and the second transmission gear group 100, and the cam 120 fixed to the rotating shaft 106a is rotated clockwise. At this time, the planetary gear 114
The side is free.

Further, the support column 20 is erected on the second support plate 16.

At the upper end of this support 20, the head 40 is tilted and returned (returned to a horizontal state) by a pin 41.
It can be installed freely.

Further, an elevating member 21 exemplified as an elevating cylinder is fitted onto the support column 20 so as to be able to rise and fall and rotate freely. A head support piece 21a located closer to the head tilting side than the pin 14 is integrally formed at the upper end of the elevating member 21. The upper surface of this head support piece 21a is a smooth arc-shaped curved surface, and the lower surface of the horizontal portion of the hook-shaped piece 40a, which is integrally provided at the inner front part of the head 40, is in contact with the curved surface. , the front side of the head 40 is supported. In this embodiment, the elevating member 21 is exemplified as having a cylindrical shape, but it does not have to be cylindrical as long as the rotating function of the elevating member 21 is sacrificed and the elevating and lowering function is limited to only the elevating and lowering function.

On the other hand, near the support column 20, as shown in FIG.
(One side is hidden and not shown in the figure.) A rotary member 141 is installed, and the free end 141b side is movable up and down while being rotatably supported by the rotary member 141. A pin 143 and a support piece 144 are provided on both sides of the free end 141b of the rotating member 141, respectively. Then, the elevating tube 2 is placed on the support piece 144.
1 is placed on top of the lower end.

Therefore, when the rotating member 141 is rotated by the cam 120 as will be described later, the elevating member 21 moves up and down, and the head 40 tilts and returns as the moving member 21 moves up and down. That is, when the elevating member 21 descends due to rotation of the cam 120, the head 40 tilts due to its own weight while being supported by the head support piece 21a.On the other hand, when the elevating member 21 rises, the head support piece 21a tilts. 21a presses the horizontal part of the hook-shaped piece 40a,
The head 40 returns. At this time, the contact point between the horizontal portion of the hook-shaped portion 40a and the head support piece 21a of the elevating member 21 moves on a smooth arc-shaped curved surface.

Further, a swing cylinder 2 is provided on the outside of the elevating member 21.
2 is rotatably fitted on the outside. This swinging tube 2
Teeth 22c that mesh with a sector gear 134, which will be described later, are formed at the lower end of the head support piece 2 over a predetermined angular range.
A notch recess 22a (detailed illustration is omitted) having approximately half a circumference is formed into which the portion 1a is fitted. The intermediate height position portion becomes a stepped portion 22b, the portion above it is a small diameter portion, and the portion below it is a large diameter portion. Further, an insulating plate 23 is mounted on the stepped portion 22b in a state in which the insulating plate 23 is fitted onto the small diameter portion of the oscillating tube 22 at its circular opening 23a.

On this insulating plate 23 is mounted a swinging cylinder 24 which is fitted onto the small diameter portion of the swinging cylinder 22. The rotations of the swing tube 24 and the swing tube 22 are insulated by the insulating plate 23 so that they are independent of each other.

Teeth 24a constituting a gear are formed over the entire circumference of the outer circumferential portion of the body swing tube 24, and a pair of left and right body attachment pieces 24 are provided at the upper end thereof.
b, 24b are provided protrudingly. This body mounting piece 2
A frame-shaped body portion 30 (FIG. 1) is fixed to 4b and 24b. Therefore, when the body swing tube 24 rotates, the body 30 also rotates.

Further, on the body oscillation tube 24, a oscillation tube 22 is provided.
A holding cylinder 25 is fitted on the outside of the holding cylinder 25. The head support piece 2 is provided on the front side of the upper end of the holding cylinder 25.
A slit hole 25a into which 1a can be fitted is formed. This slit hole 25a and the swing tube 22
Due to the presence of the notch recess 22a, the head support piece 21a of the elevating member 21 can be moved up and down within a predetermined range without being obstructed by the swing tube 22 and the holding tube 25.

By the way, the pillar 20 and each member 21, 2
Pin holes 20a and 21b (others not shown) are provided at the upper end portions of 2 and 25, penetrating in the left and right direction,
The pin 41 is passed through these pin holes 20a and 21b (the others are not shown), and the head 40 is supported by both end portions of the pin 41 projecting left and right so as to be tiltable and returnable as described above. ing.

The pin hole 20a of the support column 20 is shaped so that the pin 41 passed through the pin hole 20a can be rotated horizontally within a certain angle range, as shown in the cross section in FIG. There is. The pin hole 21b of the elevating member 21 is a vertically long slit with an open top, as shown by the two-dot chain line in FIG. It is a hole. Although not shown, the pin holes of the swing tube 22 and the holding tube 25 are round holes with approximately the same size as the pin 41, and the pin 41 can freely rotate therein. It's becoming like that.

Furthermore, the following members constituting a reversing mechanism 130 for reciprocating (reversing) the oscillating tube 22 and the body oscillating tube 24 are installed near the outside of the oscillating tube 22.

That is, the rotating shaft 131 is rotatable by the shaft hole (not shown) of the second support plate 16 and the shaft hole (not shown) of the bearing member 17 erected on the second support plate 16. Supported. The upper and lower parts of this rotating shaft 131 are provided with teeth 24 of the body swing cylinder 24, respectively.
A short pinion 132 that meshes with a and a long pinion 133 that meshes with the swing cylinder 22 are fixed. A portion of the rotating shaft 131 between the short pinion 132 and the long pinion 133 is rotatably fitted into a shaft hole 23b provided in the protruding portion of the insulating plate 23. Further outward, a sector gear 134 is rotatable with its base supported by a shaft 135, and teeth 134a are formed on its outer periphery. This tooth 134a is always in mesh with the pinion 133 and tooth 22c. Further, a long hole 134b extending in the radial direction is formed in the sector gear 134a (FIG. 2), and an eccentric pin 94a protruding from the gear 94 is fitted into this long hole 134b. ing.

With this configuration, when the gear 94 rotates, the sector gear 134 reciprocates. This sector gear 134 reciprocates the barrel 30 via the pinions 133, 132 and the barrel swing tube 24. At the same time, the head 40 is reciprocated (reversed) left and right via the swing tube 22. In this case, pinions 133 and 132 are provided on the side of the swinging cylinder 24.
, the rotation directions of the body 30 and the head 40 are always opposite.

By the way, there are pins 60 on both left and right sides of the body 30.
Since the arm members 60 are rotatably attached via the a, the left and right arm members 60 swing in opposite directions as the trunk 30 reciprocates (reverses). This oscillation is similar to the natural swinging of a person's arms when walking.

On the other hand, as shown in FIGS. 2 and 4, an elevating mechanism 140 for elevating and lowering the elevating member 21 is provided on a portion of the second support plate 16 located near the outer side of the swing tube 22. the cam 120 and the rotating member 1 rotated by the cam 120;
41 has been installed.

The cam 120 is formed into a disk shape, and on the upper surface of the cam 120, there are three approximately right triangular cam protrusions 121, 122 at predetermined angular intervals on the outer circumferential portion of the cam 120.
123 are provided in a protruding manner, and a flat portion 121a is formed at the upper end of one of the cam projections 121. Since the rotating member 141 has already been described in detail, repeated explanation will be avoided.

Since the elevating mechanism 140 is configured as described above, as the cam 120 rotates clockwise (looking down from above in FIG. 4), the cam protrusion 121,
122 and 123 sequentially contact a pin 143 protruding from the free end of the rotating member 141, and push up the free end side of the rotating member 141.

In this way, the free end 1 of the pivot member 141
When the 41b side is pushed up, the elevating member 21 is pushed up by the protrusion 144 of the rotating member 141 on the opposite side to the pin 143.

By the way, the cam projections 121, 122, 12
3 have different heights, the highest cam protrusion 1
When the pin 143 of the rotating member 141 is placed on the flat part 121a of the head 21, the front part of the head 40 is pushed up via the elevating member 21, so that the head 40 is supported substantially horizontally. Cam 12
When the pin 143 is on a plane without the cam protrusions 121, 122, 123 above, the front part of the head 40 is lowered together with the elevating member 21, and the head 40 is in an inclined state.

Further, a cam protrusion 124 is provided on the outer peripheral edge of the cam 120 to open and close the automatic switch 83. This cam projection 124 is similar to the cam projection 1
When the flat part 121a of the automatic switch 83 is in the position where it meets the pin 143 of the rotating member 141 and pushes up the pin 143, the movable contact piece 8 of the automatic switch 83
By hitting 3a and deflecting it, the automatic switch 83 is closed.

When the automatic switch 83 is in the closed state in this way, the flip-flop circuit 80c acts to flow electricity from the forward rotation switching circuit 80d side to the motor 81.
a rotates forward (clockwise in Fig. 5), and this motor 8
1a is transmitted to the body 3 via the power transmission mechanism 110, the first transmission gear group 90, and the reversing mechanism 110.
The robot toy 1 runs while being reciprocated (reversed) so that the robot toy 0 and the head 40 are oriented in opposite directions. At this time, along with the reciprocating rotation (reversal) of the trunk section 30, the pair of left and right arm sections 60 swing as described above.

While driving in this manner, if a sound exceeding a predetermined level (such as the sound of someone clapping their hands or yelling) is detected through the microphone 50, the flip-flop circuit 80c is reversed, and the next time acts to cause electricity to flow from the reverse switching circuit 80e side to the motor 81a, thereby causing the motor 81a to rotate in the reverse direction (counterclockwise in FIG. 5).

When the motor 81a rotates in reverse in this way,
The power of this motor 81a is transmitted to the cam 120 via the reversing mechanism 110 and the second transmission gear group 100, and the cam 120 is rotated clockwise (in the direction of the arrow in FIGS. 2 and 4) when looking down from above. Ru. As the cam 120 rotates, the rotating member 1
41 pin 143 falls from above the cam protrusion 121,
As a result, the free end 141b side of the rotating member 141 and the elevating member 21 are lowered, and the head 40 is lowered.
The front side of the is lowered. At the same time, the movable contact piece 83
a is released from the cam 124, and then the automatic switch 83 becomes open, and the motor 81a continues to operate.
continues to rotate in reverse.

Therefore, before the cam 120 makes one rotation, the pin 143 of the rotating member 141 falls from above the cam protrusion 121, and the head 40, which was tilted forward and downward, is moved by the cam protrusions 122, 123. Then, it was returned to a nearly horizontal state twice. The tilting and restoring operations of the head 40 performed in this manner are similar to when the robot toy 1 is scolded and hangs its head 40 down, and then twists its head twice.

When the pin 143 of the rotating member 141 rides on the cam protrusion 121 again, the head 40 is returned to a substantially horizontal state, and the cam 124 hits the movable contact piece 83a to close the automatic switch 83 again. As a result, the flip-flop circuit 80c is further reversed and returned to its initial state. At this time, the flip-flop circuit 80c is again connected to the power supply circuit 82.
This acts to cause the electricity to flow through the normal rotation switching circuit 80d to the motor 81a, and the motor 81a is returned to the normal rotation state. At this time, the cam 120 stops.

(Effects of the invention) As described above, the robot toy according to the invention has a head that moves on a smooth arc-shaped supporting curved surface and is tilted and returned by the operation of the power source.
The movement of its head gives the appearance of bowing its head or nodding, making it an interesting toy.

[Brief explanation of the drawing]

The figures show an embodiment of this invention, of which Figure 1 is an overall perspective view, Figure 2 is a perspective view showing the internal mechanism, Figure 3 is a block diagram showing the electrical system,
Fig. 4 is a partial perspective view showing the lifting mechanism and automatic switch, Fig. 5 is an explanatory diagram showing the gear mechanism in plan, Fig. 6 is a vertical cross-sectional side view showing the mechanism of the column and its surrounding parts, and Fig. 7 is a partial perspective view showing the lifting mechanism and automatic switch. FIG. 3 is a cross-sectional view showing a pin hole of a support. 1... Robot toy, 10... Base, 20...
Support column, 21... Lifting member, 40... Head, 81...
...Power source, 120...Cam, 141...Rotating lever.

Claims (1)

[Scope of utility model registration request] A pillar is installed on the base, and the pillar is tilted.
a head that is supported so as to be able to return freely; an elevating member that is installed along the pillar so as to be able to rise and fall and that tilts and returns the head as the elevating member moves up and down; a rotating lever that moves the elevating member up and down; A support portion of the elevating member relative to the head has a support curved surface on a smooth circular arc, and a support portion of the elevating member relative to the head has a support curved surface on a smooth circular arc. A robot toy characterized in that the robot toy is formed by a support part located on the head tilting side of the robot toy.