JPS61255682A - walking toy - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention includes a flywheel in the body, and uses the gyroscopic effect during high-speed rotation to maintain the posture.
This invention relates to the structure of large walking toys such as robot toys that can walk upright.

In particular, it is constructed to provide stability and direction changeability in upright walking motion by providing a dedicated 7-light wheel motor for obtaining a gyroscopic effect and a dedicated motor for the drive device for both leg members.

[Conventional technology]

Conventional walking toys that walk upright, such as doll toys, have a power device in the body that includes one motor and a speed reduction device connected to it, and a crankshaft is formed on the output side of the power device. The left and right leg members were linked together, and walking was performed by alternately moving the left and right leg members back and forth using the driving force of the power device.

[Problem that the invention seeks to solve]

However, according to the above-mentioned conventional structure, since the power unit is located in the torso, the center of gravity is high and located approximately halfway between the legs, so during walking movement, the center of gravity swings left and right every time the leg members move back and forth. It had the disadvantage that it was not easy to fall over and its upright stability was impaired.

As a countermeasure to this, some devices have U-shaped auxiliary members protruding from the inside of each foot in order to obtain a certain degree of upright stability even with one foot, but this has the disadvantage of spoiling the appearance and causing unnatural movement. It had drawbacks such as being able to only move straight ahead and not being able to change direction freely.

[Means for solving problems]

The present invention eliminates the above-mentioned drawbacks of the conventional type, and includes a pair of support legs, and a leg member rotatably mounted on the support legs, and the leg members have two legs connected to each other. a connecting member is provided, the center of one of the connecting members is swingably supported on a frame member formed on one side of the body, and a drive device is formed for arbitrarily swinging the connecting member; Further, the body portion is provided with a flywheel having a substantially horizontal rotation axis, and the drive device and the flywheel are each provided with a driving motor.

〔Example〕

The present invention will be explained with reference to an embodiment shown in the figure below.1
1 is a support leg, and the support leg 1 is formed into a substantially disk shape, and a shaft member 2 is vertically protruded from the center thereof, and each coaxial member 2 is rotatably equipped with a splint member 3. It is set up.

A bearing plate 4 with shaft holes 5 and 6 formed at a predetermined interval vertically is provided on the upper part of the pair of leg members 3, while two linking members 7 and 8 each having shaft holes 9 and 10 are provided. The connecting members 7 and 8 are connected to the shaft holes 5 and 6 and the shaft holes 9 and 1, respectively.
0) 11 and 12 are installed, and the left and right leg members 3
are linked so that they move parallel to each other in the vertical direction.

Reference numeral 13 denotes a box-shaped body, and a plurality of bearing plates 14, 15, and 16 are fixed to the bottom of the body 13 with screws to form a predetermined frame member. A bearing hole 17 is formed in the lower part of this frame member, and the shaft 18 provided in the linking member 7 is installed in the bearing hole 17 to make the linking member 7 swingable. has a long hole 19 above.
An actuating piece (9) having an actuator protrudes in one direction and is formed into a substantially inverted T-shape. Further, in this bearing, an elongated hole 21 is formed in the linking member 8, which is positioned so as to overlap the front and back portions, so as to be movable regardless of the shaft 18.

n is a driving motor provided in a driving device for swinging the linking member 7, and the motor η is the bearing plate 14,
15, and a pinion n is provided on its output shaft. For this pinion 23, the bearing plate 15,
In order to configure a speed reduction device connected to this, bearing holes are formed vertically at a predetermined interval, and a shaft bearing in the upper bearing hole and a rotating shaft 5 bearing in the lower bearing hole are provided. Spur gears 26, 27, and 28 with pinions are rotatably installed on these shafts 24 and rotating shaft B, respectively, and
The pinion K is engaged with the spur gear A, the pinion of the spur gear is engaged with the spur gear n, the pinion of the spur gear n is engaged with the spur gear A, and the pinion of the spur gear is engaged with the rotation shaft 5. It is made to mesh with the spur tooth AA fixed to the . An eccentric shaft member 31 is provided at one end of the rotating shaft 5 on the output side of such a reduction gear.
The eccentric shafts of the eccentric shaft member 31 are engaged with the elongated holes of the actuating piece 21 of the linking member 7.

Further, a cylindrical holding portion 32 is formed on one side of the body portion 13 substantially parallel to the longitudinal direction of the linking member 7, and the cylindrical holding portion 32
The motor is equipped with a motor, and the rotary shaft of the motor is equipped with a flywheel.

Reference numeral I denotes a receiving device constituting a remote control device by radio control, and the receiving device is provided with a battery (not shown), and a drive circuit for independently controlling the motors n and 33 is configured on its output side. are doing.

[For production]

With the above configuration, its operation will be explained. When the motor n is rotated, the spur gear that meshes with the pinion n of its output shaft changes to the spur gear n1 that meshes with the pinion of the spur gear.
The rotating shaft 5 is driven at a predetermined deceleration speed through a speed reduction device consisting of a spur gear path meshing with the pinion of the spur gear n, a spur gear path meshing with the pinion of the spur gear 4, etc.
As the eccentric shaft member 31 of the rotating shaft portion rotates, the linking member 7 having the operating piece 21 linked thereto via the elongated hole 19 can be swung. However, by swinging the lever linking member 7, the left and right leg members 3 can be moved up and down in parallel alternately.

Next, when the motor A is rotated to rotate the flywheel A at high speed, a gyroscopic effect can be obtained along with rotational torque in a direction perpendicular to the linking member 7, and for example, as shown in FIG. 4d, the body 13 is tilted. Even when the robot is stopped, the torque from the gyro effect acts and automatically corrects the inclination to be vertical, making it possible to stand on one leg as shown in the figure or C. . By standing on one leg, for example, as shown in the same figure, the other supporting leg 1
When b leaves the floor, it becomes freely rotatable around the shaft member 2 of the support leg 1a that is in contact with the floor, and at this time, the trunk 13 is rotated by the torque associated with the gyroscopic effect acting on the trunk 13. It can be rotated in a predetermined horizontal direction, and then, by rotating the motor n during this rotation and changing the direction of inclination of the linking member 7, the gyroscopic effect causes the trunk to rotate as shown in a to c in the same figure. While holding the support leg 13 vertically, raise the support leg la side and bring the support leg lb side into contact with the floor, and change the posture of standing on one leg, and the torso 13 will be moved horizontally around the shaft member 2 of the support leg 1b. It can be rotated in the direction of Similarly, while holding the torso 13 vertically using the gyroscopic effect caused by the rotation of the motor, the posture of standing on one leg is alternately changed by the rotation of the motor ρ, so that the support leg 1 in contact with the floor is centered. The position of the torso 13 can be changed, and the direction change associated with standing on one leg can be used to perform a walking motion in which steps are taken one step at a time.Moreover, by changing the timing of the direction change little by little, the direction of walking can be changed. can be changed arbitrarily.

Note that the motor n and the motor 33 can be remotely controlled via a radio control device, or can also be controlled by a remote control device configured to directly supply electric power via a flexible lead wire.

Further, the drive device for swinging the linking member 7 is provided with an eccentric shaft member on the output shaft of the speed reducer connected to the motor n, and the eccentric shaft of the eccentric shaft member is attached to one side of the linking member 7 as a connecting shaft of a required length. It is also possible to make a configuration in which the rotary motion of the eccentric shaft that is decelerated and driven via the speed reduction device is converted into the rocking motion of the linking member 7 by connecting through the speed reduction device.

〔Effect of the invention〕

As described above, by providing a flywheel and a dedicated motor to drive it inside the body, a gyroscopic effect is obtained when the flywheel rotates at high speed, and the main body of the bipedal walking toy is always stably upright. be able to.

Furthermore, by alternately floating both leg members using a drive device using a separate motor, it is possible to perform a walking motion while changing the direction of the torso using the torque associated with the gyroscopic effect. This prevents the center of gravity from swinging to the left or right when walking, even if the center of gravity is high as in conventional models, and the self-restoring force provided by the above-mentioned gyroscopic effect ensures upright stability and makes it possible to stand on one leg, ensuring stable walking movement at all times. At the same time, by controlling the timing of alternate standing on one leg, the direction of walking can be changed in any direction, making it possible to perform extremely natural walking motions.

[Brief explanation of the drawing]

FIG. 1 is an exploded perspective view of the main parts of a walking toy showing one embodiment of the present invention, FIG. 2 is a cut-away side view of the main parts of the walking toy, and FIG.
The figure is a cutaway front view of the main parts of the walking toy, and FIG. 4 is an explanatory diagram of the operation of the walking toy. 1... Support leg 2... Shaft member 3... Leg member 7.
8... Linking member 13... Trunk section 14, 15, 1
6...Bearing plate 19...Elongated hole drilling...Operating piece ρ・
...Motor...Pinion 24...Shaft δ...
Rotating shafts 26, 27, 28... Spur gear with pinion 4...
・Spur gear (equipment)...Eccentric shaft 31...Eccentric shaft member!
...Cylindrical holding part...Motor...Flywheel patent applicant Pandai Co., Ltd. Figure 1 Figure 2 (a) (C) Figure 4 (b) (d)

Claims (5)

[Claims] (1) A leg member is provided with a pair of support legs, each rotatably attached to the support leg, and the leg member is provided with two linking members that link with each other, and one of the linking members The center of the member is swingably supported by a frame member formed on one side of the body, and a driving device is formed to arbitrarily swing the linking member, and the body has a substantially horizontal rotating shaft. 1. A walking toy comprising: a flywheel having a drive mechanism; the drive device and the flywheel are each provided with a drive motor; (2) The walking toy according to claim 1, wherein the rotation axis of the flywheel is disposed substantially parallel to the longitudinal direction of the linking member that links the leg members. (3) As a drive device for swinging one of the linking members, an operating piece with a long hole is provided protruding from one side of the linking member, and an eccentric shaft member is attached to the output shaft of the reduction gear linked to the drive motor. 2. The walking toy according to claim 1, wherein the eccentric shaft of the eccentric shaft member is linked to the elongated hole of the actuating piece. (4) As a drive device for swinging one of the linking members, an eccentric shaft member is provided on the output shaft of a speed reducer linked to the drive motor, and the eccentric shaft of the eccentric shaft member is connected to the linking member through the linking shaft. The walking toy according to claim 1, characterized in that the walking toy is connected to one side. (5) The pair of support legs are each formed into a disk shape, and a shaft member for rotatably connecting the leg members is provided at the center of each of the pair of support legs, as set forth in claim 1. walking toy.