U.S. patent application number 09/906056 was filed with the patent office on 2003-01-23 for biped toy that can walk on two feet.
Invention is credited to Sakai, Toshio.
Application Number | 20030017779 09/906056 |
Document ID | / |
Family ID | 26587526 |
Filed Date | 2003-01-23 |
United States Patent
Application |
20030017779 |
Kind Code |
A1 |
Sakai, Toshio |
January 23, 2003 |
Biped toy that can walk on two feet
Abstract
By attaining a certain correlation between shifting the weight
of a toy main body and shifting the center of gravity the toy main
body between legs thereof there is provided a biped toy that can
walk on two feet as naturally as a human being walks without
falling down. Left and right legs can be forwarded as naturally as
the human being does by positioning the center of gravity above one
of the legs which supports the toy main body. With a view to
eliminating unstable actions of leg portions, fulcrums thereof are
positioned rearward, with a view to eliminating unstable actions of
a torso, a fulcrum thereof is positioned rearward, and with a view
to eliminating unstable actions of the toy main body, fulcrums of
the left and right foot portions are each positioned either
inwardly or outwardly.
Inventors: |
Sakai, Toshio; (Tokyo,
JP) |
Correspondence
Address: |
Edward Pennington
Swidler Berlin Shereff Friedman, LLP
Suite 300
3000 K Street, N.W.
Washington
DC
20007-5116
US
|
Family ID: |
26587526 |
Appl. No.: |
09/906056 |
Filed: |
July 17, 2001 |
Current U.S.
Class: |
446/226 |
Current CPC
Class: |
A63H 13/00 20130101;
A63H 11/18 20130101 |
Class at
Publication: |
446/226 |
International
Class: |
A63H 003/06 |
Claims
What is claimed is:
1. A biped toy that can walk on two feet by virtue of the driving
force of a motor, wherein legs are rotatably supported on a torso,
wherein said motor having disc cams mounted on an output shaft
thereof and levers for transmitting the rotations of said cams are
disposed in the interior of said torso, wherein said legs are each
constituted by leg portions and a foot portion, said leg portions
and said foot portion being each rotatably supported, and wherein a
link mechanism is disposed in each of said legs to which the
driving force is transmitted by said levers, whereby with the right
leg of said legs being stepped forward by a step a toy main body is
inclined leftward so that the center of gravity thereof is
positioned directly above the left leg of said legs, then, in order
to allow said left leg to alternately be stepped forward by a step
said center of gravity is shifted to said right leg, and after said
center of gravity has been so shifted said left leg is lifted up
while said torso is being shifted rearward so that the weight
thereof is so shifted for advancement.
2. A biped toy that can walk on two feet as set forth in claim 1,
wherein said biped toy can walk while lifting up said left and
right legs alternately by positioning said center of gravity above
either said left leg or said right leg which bears the weight of
said toy main body.
3. A biped toy that can walk on two feet as set forth in claim 1,
wherein joint portions of said leg portions can be flexed in a
certain direction by positioning fulcrums of said leg portions
rearward.
4. A biped toy that can walk on two feet as set forth in any of
claim 1, wherein said torso can be inclined forward by positioning
a fulcrum of said torso rearward.
5. A biped toy that can walk on two feet as set forth in any of
claim 1, wherein the balance of said toy main body can be
maintained by positioning fulcrums of said foot portions inwardly
or outwardly.
Description
BACKGROUND OF THE INVENTION
[0001] 1. Field of the Invention
[0002] The present invention relates to a biped toy that can walk
on two feet as naturally as a human being walks by lifting up left
and right legs thereof alternately while shifting the weight of the
toy main body.
[0003] 2. Description of the Related Art
[0004] When walking a conventional biped toy scuffs with left and
right feet thereof being in contact with the ground or the like and
therefore the toy cannot walk as smoothly as a robot walks.
[0005] In order to allow a biped toy to walk as naturally as a
human being does there is a certain correlation to be attained
between shifting the weight of a toy main body and shifting the
center of gravity thereof between the legs thereof.
[0006] With the prior art, however, since the aforesaid technique
of shifting the weight and center of gravity has not been
materialized, if the natural walk is tried to be realized by
lifting up the left and right legs of a biped toy alternately, the
toy falls down, and therefore when walking the toy has to scuff
with the left and right feet thereof being in contact with the
ground or the like.
[0007] The present invention has been made in view of the problem
inherent in the prior art and an object thereof is to provide a
biped toy that can walk as naturally as a human being does while
lifting up alternately left and right legs thereof by solving the
correlation between shifting the weight of the toy main body and
shifting the center of gravity thereof between the legs.
SUMMARY OF THE INVENTION
[0008] With a view to attaining the object, according to a first
aspect of the present invention, there is provided a biped toy that
can walk on two feet by virtue of the driving force of a motor,
wherein legs are rotatably supported on a torso, wherein the motor
having disc cams mounted on an output shaft thereof and levers for
transmitting the rotations of the cams are disposed in the interior
of the torso, wherein the legs are each constituted by a leg
portion and a foot portion, the leg portion and the foot portion
being each rotatably supported, and wherein a link mechanism is
disposed in each of the legs to which the driving force is
transmitted by the levers, whereby with the right leg of the legs
being stepped forward by a step a toy main body is inclined
leftward so that the center of gravity thereof is positioned
directly above the left leg of the legs, then, in order to allow
the left leg to alternately be stepped forward by a step the center
of gravity is shifted to the right leg ,and after the center of
gravity has been so shifted the left leg is lifted up while the
torso is being shifted rearward so that the weight thereof is so
shifted for advancement.
[0009] According to the first aspect of the present invention, the
toy main body is prevented from falling down from the lost of its
balance by shifting the weight of the toy main body and shifting
the center of gravity thereof between the legs, whereby the toy
main body can walk as naturally as a human being walks. Namely, in
shifting the weight of the toy main body, with the right leg being
stepped forward by a step, the toy main body is inclined leftward
so that the center of gravity is positioned directly above the left
leg.
[0010] Then, the center of gravity is shifted from the left leg to
the right leg in a diagonal fashion, and after the center of
gravity has been so shifted the toy main body lifts up the left leg
to advance while shifting the weight thereof rearward.
[0011] In order to allow the left leg to be stepped forward by a
step from that condition, the toy main body is inclined rightward
so that the weight thereof is so shifted, when the center of
gravity is positioned directly above the right leg.
[0012] Thereafter, the center of gravity is diagonally shifted from
the right leg to the left leg, and after the center of gravity has
been so shifted, the toy main body lifts up the right leg to
advance while shifting the weight thereof rearward. Thus, the toy
main body can walk as naturally as a human being walks while
lifting up the left and right legs alternately with the torso being
shifted by shifting the weight of the toy main body and shifting
the center of gravity thereof between the legs.
[0013] According to a second aspect of the present invention, there
is provided a biped toy that can walk on two feet as set forth in
the first aspect of the invention, wherein the biped toy can walk
while lifting up the left and right legs alternately by positioning
the center of gravity above either the left leg or the right leg
which bears the weight of the toy main body.
[0014] According to the second aspect of the present invention, the
legs can be moved by alternately shifting the center of gravity
above the supporting leg of the two legs.
[0015] Namely, with the right leg being stepped forward by a step,
the center of gravity is positioned on the left leg which is being
the supporting leg.
[0016] Then, in order to allow the left leg to be stepped forward
by a step, the center of gravity is shifted to the right leg, and
after the center of gravity has been so shifted, the left leg is
lifted up to advance a step while the torso is being shifted
rearward.
[0017] With the left leg being stepped forward by a step, the
center of gravity is being positioned on the right leg which is
being the supporting leg. The center of gravity is shifted to the
left leg in order to allow the right leg to be stepped forward by a
step, and after the center of gravity has been so shifted, the
right leg is then lifted up so to advance another step while the
torso is being shifted rearward.
[0018] By repeating the series of actions the toy can walk as
naturally as a human being walks while lifting up the left and
right legs alternately
[0019] According to a third aspect of the present invention, there
is provided a biped toy that can walk on two feet as set forth in
the first or second aspect of the invention, wherein joint portions
of the leg portions can be flexed in a certain direction by
positioning fulcrums of the leg portions rearward.
[0020] According to the third aspect of the present invention, the
fulcrums of the leg portions are positioned rearward in order to
eliminate unstable actions of the leg portions.
[0021] According to the construction, the joint portion between the
torso and the upper leg, the joint portion between the upper leg
and the lower leg and the join portion between the lower leg and
the foot can be flexed in the certain direction, whereby natural
walking actions can be performed.
[0022] According to a fourth aspect of the present invention, there
is provided a biped toy that can walk on two feet as set forth in
any of the first to third aspect of the invention, wherein the
torso can be inclined forward by positioning a fulcrum of the torso
rearward.
[0023] According to the fourth aspect of the present invention, the
fulcrum of the torso is positioned rearward.
[0024] According to the construction, the torso can be inclined
forward, whereby natural walking actions can be performed.
[0025] According to a fifth aspect of the present invention, there
is provided a biped toy that can walk on two feet as set forth in
any of the first to fourth aspects of the invention, wherein the
balance of the toy main body can be maintained by positioning a
fulcrum of the foot portion inwardly or outwardly.
[0026] According to the fifth aspect of the invention, the fulcrums
of the foot portions are positioned either inwardly or outwardly in
order to eliminate unstable actions of the foot portions.
[0027] According to the construction, being made to keep the
balance, the toy main body are allowed to walk naturally.
[0028] Thus, according to the present invention, the toy main body
can perform natural walking actions without falling down by
shifting the weight of the toy main body, as well as shifting the
center of gravity thereof between the legs. In addition, in moving
forward the left and right legs, natural leg actions can be
attained by positioning the center of gravity above the supporting
leg.
[0029] Additionally, the fulcrums of the leg portions are
positioned rearward in order to eliminate unstable actions of the
leg portions. In addition, the fulcrum of the torso is positioned
rearward in order to eliminate unstable actions of the torso.
Furthermore, the fulcrums of the left and right foot portions are
positioned either inwardly or outwardly in order to eliminate
unstable actions of the toy main body.
BRIEF DESCRIPTION OF THE DRAWINGS
[0030] Further objects and advantages of the present invention will
be apparent from the following description with reference to the
accompanying drawings, wherein:
[0031] FIG. 1 is a perspective view showing the external appearance
of an embodiment of the present invention;
[0032] FIG. 2 is a side view of a toy main body, as viewed from the
right side, showing a mounting structure of a left leg;
[0033] FIG. 3 is a front view of the toy main body showing the
mounting structure of the left leg;
[0034] FIG. 4 is a diagram showing a transmission mechanism of the
driving force of a motor according to the present invention;
[0035] FIG. 5 is an enlarged view of FIG. 4;
[0036] FIG. 6 is a diagram showing the transmission mechanism of
the driving force of the motor according to the present
invention;
[0037] FIG. 7 is an enlarged perspective view showing a mounting
structure of a foot portion;
[0038] FIG. 8 is a diagram showing a state in which an upper leg is
swung left and right;
[0039] FIG. 9 is a diagram showing a state in which a lower leg is
swung left and right;
[0040] FIG. 10 is a diagram showing a state in which the foot
portion is tilted back and forth;
[0041] FIG. 11 is a diagram showing a state in which the foot
portion is tilted left and right;
[0042] FIG. 12 is an explanatory view of a state in which the foot
portion is tilted left and right;
[0043] FIG. 13 is an explanatory view of a state in which the foot
portion is tilted left and right;
[0044] FIG. 14 is an explanatory view of a state in which the foot
portion is tilted left and right;
[0045] FIG. 15 is a diagram showing a walking mechanism according
to the present invention ;
[0046] FIG. 16 is a diagram showing the waking mechanism according
to the present invention;
[0047] FIG. 17 is a diagram showing the waking mechanism according
to the present invention;
[0048] FIG. 18 is a diagram showing the waking mechanism according
to the present invention,
[0049] FIG. 19 is a diagram showing a mounting structure of an arm
portion, and
[0050] FIG. 20 is a diagram showing the mounting structure of the
arm portion.
DETAILED DESCRIPTION OF A PREFERRED EMBODIMENT
[0051] The particulars shown herein are by way of example and for
purposes of illustrative discussion of an embodiment of the present
invention. The description taken with the drawings makes it
apparent to those skilled in the art how the present invention may
be embodied in practice.
[0052] FIG. 1 is a perspective view showing an external appearance
of a biped toy that can walk on two feet according to the present
invention. A toy main body 1 is made to mimic a robot and is
constructed by assembling together a head portion 10, a torso 20,
two arm portions 30 and two legs 40. A waking action according to
the invention is realized by shifting the torso so that the weight
of the torso is shifted and shifting the center of gravity of the
toy betwee the two legs 40, and actions of the head portion 10 and
the two arm portions 30 are not associated with the walking action
but in order to realize natural walking actions the head portion
and the two arm portions are made to move in association with the
actions of the torso and the two legs.
[0053] Next, referring to FIGS. 2 and 3, a mounting structure of
the left leg will be described.
[0054] In the present invention, the left and right legs are
identical and therefore only the left leg will be described as a
matter of conveniences. The left leg 40 is rotatably supported on
the torso 20 via a shaft 401 and is constituted by three
constituent members such as an upper leg portion 41, a lower leg
portion 42 and a foot portion 43.
[0055] In addition, the left leg 40 has four joint portions so that
a walking action as natural as that of a human being can be
realized.
[0056] Namely, the four joint portions are a hip joint portion 44,
a knee joint portion 45, a joint portion 46 for allowing back and
forth or longitudinal movements and a joint portion 47 for allowing
left and right or lateral movements. The entirety of the left leg
is rotatably secured to the torso 20 via the shaft 401 to thereby
constitute the hip joint portion 44.
[0057] The upper leg portion 41 is rotatably secured to the lower
leg portion 42 via a shaft 402 to thereby constitute the knee joint
portion 45, whereby the upper leg portion and the lower leg portion
are allowed to swing back and forth, as well as left and right
directions.
[0058] In addition, the lower leg portion 43 is rotatably secured
to the foot portion 43 via a shaft 403 to thereby the
longitudinally moving joint portion 46 and the laterally moving
joint portion 47, whereby the foot portion 43 is allowed to
tiltably move longitudinally and laterally.
[0059] The mounting structure of the left leg which allows those
movements will be described in greater detail with reference to
FIG. 3.
[0060] As shown in FIG. 3, five link members are disposed in the
interior of the left leg, so that the rotating motion of a motor is
converted into reciprocating motion, whereby the toy main body
performs walking actions on two feet.
[0061] In other words, disposed on the upper leg portion 41
sequentially from the outside are the first link member 404, the
third link member 406 and the fifth link member 408 and a plurality
of coupling members 212, 213, 214 are interposed between the link
members so as to rotatably couple them together, respectively. In
addition, disposed on the lower leg portion 42 sequentially from
the outside are the second link member 405 and the fourth link
member 407 and a plurality of coupling members 409, 410 are
interposed between the link members so as to rotatably couple them
together, respectively. Furthermore, the first link member 404 and
the second link member 405 are rotatably coupled to each other at
an intermediate coupling member 411 via an engagement pin 411a, and
the third link member 406 and the fourth link member 407 are also
rotatably coupled to each other at an intermediate coupling member
412 via a coupling pin 412a.
[0062] Next, referring to FIGS. 4 to 6, a transmission mechanism
will be described through which the driving force of the motor is
transmitted to those link members.
[0063] FIG. 4 shows a positional relationship between a disc cam
and a plurality of levers, FIG. 5 is an enlarged view of FIGS. 4,
and 6 is an exploded perspective view showing a positional
relationship between the levers and a plurality of link members
which are disposed below the levers.
[0064] A member shown at the center of FIG. 4 is installed in the
torso 20 and only a transmission mechanism is shown for
transmitting power laterally. A power transmission mechanism for
the right leg exists on an opposite side of a motor unit 201. The
power transmission mechanism for the right leg is constructed the
same as the transmission mechanism for the left leg except that a
member identical to a circular cam 202 is formed with inner grooves
202a and outer grooves 202b which are disposed so as to be shifted
180 degrees relative to inner grooves 202a and outer grooves 202b
of a circular cam 202 for the left leg. Accommodated in the motor
unit 201 are a motor and a series of groups of gears, and the
driving force of the motor is transmitted to an output shaft 206
extending to project from an inner frame 205 via the series of
groups of gears. The output shaft 206 passes through the disc cam
202 and an outer frame 207. The inner grooves 202a and the outer
grooves 202b are formed in both sides of the disc cam, and guide
pins formed on the four levers are adapted to be guided by the
grooves for formed.
[0065] The guide pin 208a of the first lever 208 is guided in the
outer groove 202b in the external surface (front side) of the disc
cam so as to operate the leg 40 in such a manner as to tilt it back
and forth. Similarly, the guide pin 209a of the second lever 209 is
guided in the inner groove 202a in the external surface of the disc
cam so as to operate the leg 40 in such a manner as to tilt it left
and right. On the other hand, the guide pin 210a of the third lever
210 is guided in the outer groove (not shown) in the internal
surface (opposite side) of the disc cam so as to operate the lower
leg portion in such a manner as to swing it left and right.
Similarly, the guide pin 211a of the fourth lever 211 is guided in
the inner groove in the internal surface (not shown) so as to
operate the upper leg in such a manner as to swing it left and
right.
[0066] Bearings 208b, 210b are formed at distal ends of the first
lever 208 and the third lever 210, respectively, and the bearings
are fittingly inserted over a shaft 205a on an inner frame 205. In
addition, bearings 209b, 211b are formed at central end portions of
the second lever 209 and fourth lever 211, respectively and the
bearings are fittingly inserted over a shaft 205b on the inner
frame 205.
[0067] According to the construction, the rotating force of the
motor is transmitted to the disc cam 20, and since the guide pins
of the four levers are guided in the grooves, respectively, the
four lever members are allowed to swing in accordance with the
configurations of the respective grooves.
[0068] In addition, notched portions 208c, 209c, 210c, 211c are
formed in lower end portions of the lever members, respectively,
and as shown in FIG. 5, a plurality of coupling pins are brought
into engagement with the notched portions, respectively.
[0069] Namely, a pin 212a on the coupling member 212 is brought
into engagement with the notched portion 208c in the first lever,
and a pin 213a on the coupling member 213 is brought into
engagement with the notched portion 209c in the second lever. A pin
214a on the coupling member 214 is brought into engagement with the
notched portion 211c in the fourth lever, and a pin 41a on an inner
frame 41A of the upper leg is brought into engagement with the
notched portion 211c in the fourth lever. Additionally, the first
lever 208 is linked to the third link member 406 through the
engagement of the coupling member 212 with the third link member
406 via an engagement pin 212b. In addition, the third lever 209 is
linked to the first link member 404 through the engagement of the
coupling member 213 with the first link member 404 via an
engagement pin 213b.
[0070] On the other hand, the third lever 210 is linked to the
fifth link member 408 through the engagement of the coupling member
214 with the fifth link member via an engagement pin 214b.
[0071] As shown in FIG. 6, the first link member 404 and the third
link member 406 are disposed on the inner frame 41A and an outer
frame 41B of the upper leg portion, and the shaft 401 is allowed to
pass through shaft holes 41b, 213c, 212c, 41b, 214c sequentially,
whereby the upper leg portion 41 can be swung left and right on the
shaft 401 as a fulcrum.
[0072] In this positional relationship, the fifth link member 408
is disposed on a rear side of the inner frame 41A. In addition, the
second link member 405 and the fourth link member 407 are disposed
on an inner frame 41A and an outer frame 41B of the lower leg
portion, respectively, and the shaft 402 is allowed to pass through
shaft holes 42a, 412b, 411b, 42a sequentially, while another shaft
403 is allowed to pass through shaft holes 42b, 410b, 409b, 42b,
respectively, so that both the frames are screwed together.
[0073] Next, referring to FIGS. 6 and 7, a mounting structure of
the foot portion will be described below.
[0074] FIG. 7 is an enlarged perspective view of a mounting
structure of the foot portion. Provided on a surface of the foot
portion 43 is a pair of ribs 43a which is normal to the traveling
direction thereof and another rib 43b between the pair of ribs in
such a manner as to protrude from the surface of the foot portion
43, and the second link member 405 and the coupling member 409 are
locked to the rib 43 via a shaft 409a, and the fourth link member
407 and the coupling member 410 are rotatably secured to the foot
portion 43 between the pair of ribs 43a via a shaft 43c. According
to this mounting construction, when the second link member 405 is
pulled up, since the center of gravity of the foot portion is
positioned inwardly, the foot portion 43 tilts rightward (inwardly)
on the shaft 43c as a fulcrum. Then, when the second link member
405 is pulled down thereafter, the foot portion 43 tilts leftward
(outwardly) on the shaft 43c as the fulcrum. Additionally, when the
fourth link member 407 is pulled up, the foot portion 43 is tilted
up at the toe on the shaft 403 as a fulcrum, and when the fourth
link member is pulled down thereafter, the toe of the foot portion
43 is also tilted down.
[0075] Next, referring to FIGS. 8 to 11, operations of the upper
leg portion, the lower portion and the foot portion will be
described. In all the figures so referred to, the disc cam rotates
counterclockwise. As the disc cam so rotates, the operations of the
levers follow the configurations of the associated grooves,
respectively. In other words, the guide pins are pushed outwardly
in a portion of the grooves where a direct distance between the
center of the disc cam to the respective grooves is increased at
all times, while the pins are pushed inwardly in a portion of the
grooves where the direct distance is decreased at all times. Due to
this, the levers are swung clockwise when the guide pins reside in
the portion of the grooves where they are pushed outwardly, while
the levers are swung counterclockwise when the guide pins reside in
the portion of the grooves where they are pushed inwardly.
[0076] FIG. 8 is a diagram showing a state in which the upper leg
portion is swung left and right. The guide pin 211a on the fourth
lever 211 is guided in the inner groove (indicated by dotted lines)
formed in the back side of the disc cam 202 disposed inside the
torso 20. When the driving force of the motor is transmitted to the
output shaft 206, the disc cam rotates counterclockwise (in a
direction indicated by an arrow), and the fourth lever 211 is swung
clockwise (in a direction indicated by an arrow), this swinging the
upper leg portion 41 counterclockwise (in a direction indicated by
an arrow) on the shaft 401 as a fulcrum. In the figure, reference
numeral 402 denotes a fulcrum for the lower leg portion 42.
[0077] FIG. 9 is a diagram showing a state in which the lower leg
portion is swung left and right. The guide pin 210a on the third
lever 210 is guided in the outer groove (indicated by dotted lines)
formed in the back side of the disc cam 202 disposed inside the
torso. When the driving force of the motor is transmitted to the
output shaft 206, the disc cam 202 rotates counterclockwise (in a
direction indicated by an arrow), and the third lever 210 is swung
clockwise (in a direction indicated by an arrow) on the shaft 205a
as a fulcrum. Then, since the coupling member 214 is swung
counterclockwise on the shaft 401 as a fulcrum, the fifth link
member 408 is pushed down in a direction indicated by an arrow, and
as a result, the lower leg portion is swung counterclockwise (in a
direction indicated by an arrow) on the shaft 402 as a fulcrum.
[0078] FIG. 10 is a diagram showing a state in which the foot
portion is tilted back and forth. The guide pin 208a on the first
lever 208 is guided in the outer groove 202b formed in the front
surface of the disc cam 202 disposed inside the torso 20. When the
driving force of the motor is transmitted to the output shaft 206,
the disc cam 202 rotates counterclockwise (in a direction indicated
by an arrow), and the first lever 208 is swung clockwise (in a
direction indicated by an arrow) on the shaft 401 as a fulcrum.
Then, since the coupling member 212 is swung counterclockwise (in a
direction indicated by an arrow), the third link member 406 is
pushed down in a direction indicated by an arrow, and the
intermediate coupling member 412 is swung counterclockwise. In
addition, since the fourth link member 407 is pushed down in a
direction indicated by an arrow, the foot portion 43 is allowed to
tilt at the toe in a direction indicated by an arrow on the shaft
403 as a fulcrum.
[0079] Next, FIG. 11 is a diagram showing a state in which the foot
portion is tilted left and right. The guide pin 209a on the second
lever 209 is guided in the inner groove 202a formed in the front
surface of the disc cam 202 disposed inside the torso 20. When the
driving force of the motor is transmitted to the output shaft 206
of the motor, the disc cam 202 rotates counterclockwise (in a
direction indicated by an arrow) and the second lever 209 is swung
clockwise (in a direction indicated by an arrow) on the shaft 401
as a fulcrum. Then, since the coupling member 213 is swung
counterclockwise on the shaft 401 as a fulcrum, the first link
member 404 is pushed down in a direction indicated by an arrow, and
the intermediate member 411 is swung counterclockwise. In addition,
since the second link member 405 is pushed down in a direction
indicated by an arrow, the foot portion 43 is allowed to tilt
leftward (outwardly) on the shaft 43c as a fulcrum.
[0080] Furthermore, a state in which the foot portion is tilted
left and right will be described referring to FIGS. 12 to 14. These
figures are cross sectional views taken along the line A-A' of FIG.
7.
[0081] FIG. 12 shows a state in which the second link member 405 is
pushed down to a lowest position, and as this occurs the foot
portion 43 operates to tilt leftward (outwardly) on the shaft 43c
as the fulcrum. Thereafter, as shown in FIG. 13, when the second
link member 405 is lifted up such that the second link member 405
stays horizontal, the foot portion 43 operates to become horizontal
on the shaft 43c as the fulcrum. Then, as shown in FIG. 14, when
the second link member 405 is lifted up to a highest position, the
foot portion 43 operates to tilt rightward (inwardly) on the shaft
43c as the fulcrum.
[0082] Next, a walking mechanism will be described referring to
FIGS. 15 to 18. In all the figures so referred to, upper diagrams
are right side views showing a state in which the toy walks while
stretching and flexing the two legs, while lower diagrams are back
views showing the inclination of the torso 20 associated with
states shown in the upper diagrams, respectively. In the figures,
reference character L denotes the left foot and R a right foot. In
all the four diagrams, operations to be described therein are those
resulting when the disc cam 202 rotates half.
[0083] Firstly, in FIG. 15, the right foot 41R is stepped forward
by a step, and the center of gravity is positioned directly above
the left foot 41L, in which state the torso is inclined toward the
left foot side. In FIG. 16, the torso 20 is inclined from the left
foot 41L side to the right foot 41R side with the weight of the
torso 20 having been shifted in the state shown in FIG. 15. FIG. 17
shows a state in which the left foot 41L is being stepped forward
by a step from the state shown in FIG. 16 after the torso 20 has
been so shifted, and in this state, the torso 20 is shifted
rearward in order to maintain the balance of the torso 20 as a
whole. Then, FIG. 18 shows a state in which the left foot 41L is
stepped forward by a step from the state shown in FIG. 17 with the
center of gravity being positioned directly above the right foot
41R, in which state the torso 20 is inclined toward the right foot
side R. By repeating these actions the toy main body can step
forward by a step. Thereafter, in order to move forward the right
foot R by a step, the weight of the torso 20 is shifted from the
right foot side to the left foot side and the right foot is lifted
up while shifting the torso rearward, whereby the right foot is
stepped forward by a step. By repeating the series of actions the
toy main body can walk on two feet.
[0084] Next, referring to FIGS. 2, 4, 19 and 20, a mounting
structure of the arm portions to the torso will be described.
[0085] As shown in FIG. 2, the arm portion 30 is constituted by an
upper arm portion 31 and a lower arm portion 32 and is mounted to
the torso 20 via a shaft 207a in such a manner as to move back and
forth. Two shafts 207a and 207b are provided on an external frame
207 of the torso in such a manner as to protrude therefrom, and
after a coupling member 301 is loosely fitted on the shaft 207a,
and an oscillating member 302, a holding member 303 and a pinion
304 are inserted on a bearing 301a of the coupling member 301. In
addition, a bearing 302b disposed in a lower end portion of the
oscillating member 302 is loosely fitted on the shaft 207b. Then, a
rotating body having an eccentric pin 305a is fitted in a hole 207c
opened in the center of the external frame and an output shaft 206
of a motor is extended. According to the mounting construction, a
guide pin 301b of the coupling member and a guide pin of the
rotating body are guided in a longitudinal elongate hole 302c in
the oscillating member 302, whereby when the driving force of the
motor is transmitted to the output shaft 26, since the rotating
body rotates counterclockwise, the coupling member 301 is
oscillated in synchronism with the lateral oscillation of the
oscillating member 302. As a result, the upper arm portion 31
mounted to a distal end of the coupling member operates to be
oscillated back and forth.
[0086] Next, referring to FIG. 20, an internal structure of the arm
portion will be described.
[0087] As shown in the figure, the upper arm portion is constituted
by an internal frame 31A and an external frame 31B, and similarly,
the lower arm portion is also constituted by an internal frame 32A
and an external frame 32B. A shaft 305a on a pinion 305 extends
into a hole 31a in the internal frame 31A of the upper arm portion,
and a rotating body having an eccentric pin 306a is rotatably
secured to the shaft 305a via hole 306b. Then, the eccentric pin
306a is rotatably secured in a hole 307a in a distal end portion of
a link member 307, and a bearing 307b provided at a rear end
portion of the link member is rotatably mounted on a pin 32a
provided so as to erect on the internal frame 32A of the lower arm
portion. In addition, a cylindrical shaft 301a is rotatably secured
in a shaft hole 31b provided so as to protrude on the internal
frame 32A of the upper arm portion. The internal frame 31A of the
upper arm portion, the internal frame 32A of the lower arm portion,
the external frame 32B of the lower arm portion and the external
frame 31B of the upper arm portion are assembled sequentially with
a pin 308. According to this mounting construction, since the
cylindrical shaft 301a rotates, the upper arm portion 31 operates
to be swung back and forth, and when the upper arm rotates, the
pinion 305 rotates while meshing with another pinion 304, and
therefore the rotating body 306 also rotates in synchronism
therewith. The rotating force so generated is then converted into
reciprocating motion for transmission to the link member 307,
whereby the lower arm portion 32 operates to be swung back and
forth on the shaft 308 as a fulcrum.
[0088] Finally, referring to FIGS. 4 and 19, a mounting structure
of the head portion and the operation thereof will be
described.
[0089] As shown in FIG. 4, the head portion 10 is constituted by a
base 101, a rotating body 103, a link member 104 and the like, and
a long shaft 101a is provided so as to erect from the center
thereof and a pin 101b is also provided so as to erect at a
position on one side of the base. A crank member 102 is fitted on
the pin 101b via a hole 102a. In addition, a distal end portion
302d of the oscillating member shown in FIG. 19 is guided in a
notched portion 102b in the crank member. Then, a rotating member
103 having a cylindrical shaft 103a is fitted over the long shaft
101a. A projection 102c is provided at an opposite end to the
notched portion on the crank member in such a manner as to erect
therefrom, and similarly, a projection 103b is provided on an outer
circumference of the rotating body in such a manner as erect
therefrom. Then, the link member 104 is fitted on the projections,
respectively, via holes 104a, 104b. After having been fabricated as
has been described heretofore, a flat plate 105 is screwed and a
head 106 is placed thereon. According to the construction, when the
oscillating member 302 oscillates back and forth, since the crank
member 102 swings back and forth, the rotating member 103 rotates
with a predetermined stroke, whereby the whole head portion
operates to rotate in left and right directions.
[0090] Thus, while the embodiment of the present invention has been
described heretofore, the present invention is not limited to what
has been described. For example, the fulcrum of the foot portion
does not have to be positioned inwardly but may be positioned
outwardly. In addition, the configurations of the inner and outer
grooves in the disc cam may be varied freely, whereby the motion of
the two-feet walking can be varied.
[0091] The present invention may be embodied as has been described
heretofore, and the following advantages can be provided.
[0092] According to the present invention, the toy main body can
walk as naturally as a human being walks by shifting the weight of
the toy main body and shifting the center of gravity thereof
between the legs without falling down due to the lost of the
balance thereof.
[0093] In addition, according to the present invention, the feet
can be moved by alternately positioning the center of gravity above
one of the left and right legs which supports the toy main
body.
[0094] Furthermore, according to the present invention, since
unstable actions of the leg portions can be eliminated by
positioning the fulcrums of the leg portions rearward, when walking
on two feet, the toy main body can keep the balance thereof.
[0095] Moreover, according to the present invention, since the
torso can be inclined forward by positioning the fulcrum of the
torso rearward, when walking on two feet, the toy main body can
keep the balance thereof.
[0096] In addition, since unstable actions of the foot portions can
be eliminated by positioning the fulcrums of the foot portions
either inwardly or outwardly, the toy main body can keep the
balance thereof.
[0097] It is apparent to those skilled in the art that the prevent
invention may be modified variously without departing from the
sprit and scope of claims of the present invention which will be
described below.
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