JPH0465714B2 - - Google Patents

Description

[Detailed Description of the Invention] "Industrial Application Field" The present invention relates to walking toys such as robot toys, and in particular, the present invention relates to walking toys such as robot toys.
To provide a walking toy that allows walking while standing on one leg by smoothly moving the center of gravity.

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

``Problems to be Solved by the Invention'' However, according to the above-mentioned conventional structure, the rotational movement of the power shaft of the gravity device in the body is simply converted into a swinging movement via the crankshaft and the arm, and the leg members are alternately rotated. Since the robot only moves back and forth, no consideration was given to the movement of the center of gravity of the body as it walks. Therefore, each time you move to a walking motion, the center of gravity shifts away from the foot on the side you are stepping on, making the whole thing extremely unstable, and you cannot stand upright as it is. A support member was provided protruding from the inside of the foot, giving it an unnatural appearance from a design point of view.

"Means for Solving the Problems" The present invention eliminates the drawbacks of the conventional type described above.
A trunk member is provided at the upper center of the main frame body and is forcibly swung by the first power device, and leg members are provided on both sides of the main frame body. The leg members are rotatably linked by a linking member, and the linking member is forcibly rocked by a second power device provided in the main frame. At the bottom of the leg member,
It has a configuration in which a support leg member is forcibly rotated by a third power device.

``Example'' The present invention will be described with reference to an example shown in the figure below. Reference numeral 1 is a main frame body provided at a position corresponding to the waist of a walking toy. Approximately T-shaped bearing plates forming bearings are arranged at predetermined intervals, and a body member 2 is swingably mounted above the bearing in the center of the main frame 1. . A battery accommodating portion 3 for the power plant and a control circuit 4 including an integrated circuit mounted on a printed wiring board constituting a control device are disposed on one side of the body member 2. In addition, box-shaped leg members 5 are swingably mounted on bearings on both sides of the main frame 1.
They are connected to each other by a linking member 6 at a predetermined interval with respect to the coaxial receiving portion. A vertical bearing is formed at the bottom of each of the leg members 5, and a support leg member 7 having a disk-shaped support plate at the bottom is rotatably mounted on the bearing.

10 is a first power unit for swinging the trunk member 2 at a predetermined angle with respect to the main frame 1; The body member 2 is provided with an arc-shaped fixed gear 11.
A pinion 14 on the output side is meshed with the fixed gear 11 via a speed reduction device 13 consisting of a plurality of pinions and a spur gear linked to the output shaft of a motor 12 installed on the side.

Reference numeral 20 indicates left and right leg members 5 for the main frame body 1.
A second power device for swinging the body member 2 at a predetermined angle in relation to the movement of the body member 2, and in this case, it engages with an elongated hole 61 formed in the center of the linking member 6. Drive arm 22 with eccentric shaft 21
and a motor 23 provided on one side of the main frame 1.
The drive arm 22 is attached to the output shaft side of the speed reduction device 24, which is composed of a plurality of worm gears etc. linked to the output shaft of the
It is equipped with.

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

The first power plant 10 and the second power plant 2
0, and the left and right third power units 30 are configured to operate in a predetermined order, and their control means include, for example, position detection of a plurality of limit switches linked to the control circuit 4. By providing the elements, the inclination angle of the torso member 2, the inclination angle of the torso member 5, the rotation angle of the support leg member 7, etc. can be controlled respectively.

In place of the position detection element, for example, a means for detecting the rotation speed of the output shaft of each motor or reduction gear is provided, and the control circuit 4 is configured to perform control based on the respective rotation speeds set in advance in the memory element of the control circuit 4. You can also.

"Function" With the above-described configuration, when the trunk member 2 is in the vertical position, its center of gravity is located approximately midway between the left and right leg members 5. Next, when the start switch 8 is turned on, the motor 12 of the first power unit 10 rotates, the pinion 14 rotates at a reduced speed via the reduction gear 13, and the meshing position with the fixed gear 11 changes. The body member 2 can be tilted by a predetermined angle from the upright state shown in FIG. 2a as shown in FIG. 2b. Due to this inclination of the trunk member 2, the center of gravity moves onto the left leg member 5a in the direction of inclination. Next, by rotating the motor 23 of the second power unit 20, the drive arm 22 is rotated clockwise via the reduction gear 24, and the left and right leg members 5 are interlocked with this. At the same time, the right leg member 5b, which is out of the center of gravity position, can be easily lifted. This results in a one-legged stance where the entire body is supported on the left supporting leg member 7a side.
In this state, when the left motor 31 of the third power unit 30 is rotated, the whole body rotates at a predetermined angle in a predetermined direction with the support leg member 7a as a fulcrum through the deceleration device 32. You can change its direction by rotating it. Next, the first
The state shown in FIG. 2a can be restored by operating the second power unit 10 and the second power unit 20 to reversely rotate the respective motors 12 and 23.
Next, from this state, the first power unit 10 continues to operate and the motor 12 rotates, so that the body member 2 can be tilted by a predetermined angle as shown in the body diagram C in the same manner as above. , due to the inclination of this body member 2, the right leg member 5 in the direction of inclination
Similarly, the motor 23 of the second power unit 20 is rotated, and the drive arm 22 is rotated counterclockwise via the reduction gear 24 to move the center of gravity on the left and right sides. The leg members 5 can be swung in conjunction with each other, and the left leg member 5a, which is out of the center of gravity, can be easily lifted, and the leg member 5a can be stood on one leg, supporting the entire leg member 7b on the right support leg member 7b side. can. In this state, similarly to the above, the right motor 31 of the third power unit can be rotated to rotate the entire body together with the right leg member 5b by a predetermined angle in a predetermined direction, thereby changing its direction. .
Thereafter, the walking motion can be performed step by step by repeating the same motion.

In this case, by arbitrarily controlling the timing of the operation of each power device, it is possible to freely adjust the direction of the direction change during walking, and it is possible to control the direction in which the walking progresses. .

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

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

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

[Brief explanation of the drawing]

FIG. 1 is a cutaway perspective view of a main part of a walking toy showing an embodiment of the present invention, and FIG. 2 is a front view for explaining the operation of the walking toy. In the figure, 1 is a main frame body, 2 is a body member, 3 is a battery housing part, 5 is a leg member, 6 is a linking member, 7 is a supporting foot member, 10 is a first power unit, and 20 is a second power unit. The power plant 30 is a third power plant.

Claims (1)

[Claims] 1. A walking toy having the following requirements. (b) Must have a main frame. (b) A trunk member that is forcibly swung by the first power unit is provided at the upper center of the main frame. (c) Leg members are swingably provided on both sides of the main frame, and both leg members are rotatably linked by linking members. (d) The linking member shall be forcibly swung by a second power device provided within the main frame. (e) A support leg member that is forcibly rotated by a third power device is provided at the lower part of the leg member.