JP3095851U - Walking mechanism in robot toys - Google Patents
Walking mechanism in robot toysInfo
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- JP3095851U JP3095851U JP2003000625U JP2003000625U JP3095851U JP 3095851 U JP3095851 U JP 3095851U JP 2003000625 U JP2003000625 U JP 2003000625U JP 2003000625 U JP2003000625 U JP 2003000625U JP 3095851 U JP3095851 U JP 3095851U
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- right legs
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- legs
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Abstract
(57)【要約】
【課題】 堅牢で、変形や、摩耗等による損傷が生じ難
く、耐久性に優れ、大きな負荷でも損傷し難く、歩行動
作が長期に亙ってガタつくことなく、スムーズに、安定
的に行え、構成簡素で、組立て容易で、量産に適し、低
廉で経済的な歩行機構を提供する。
【解決手段】 左右に横軸３ａを突設した連繋体３と、
左右脚の頂部に突設した差込縦軸１４と、連繋ブロック
体１０とを備え、連繋ブロック体１０の上部左右側面に
は、連繋体３の左右横軸３ｂが貫通可能な縦長孔１１を
設け、連繋ブロック体１０の下部下面には、差込縦軸１
４が旋回自在に且つ軸心方向に摺動自在に挿入可能とな
る差込縦軸穴１２を穿設し、左右の脚のいずれか一方の
脚を前方に繰り出すと、一方の連繋ブロック体１０、連
繋体３、他方の連繋ブロック体１０を介して、他方の脚
が相対的に後方に揺動するよう構成する。
PROBLEM TO BE SOLVED: To be robust, resistant to damage due to deformation, abrasion, etc., excellent in durability, resistant to damage even under a large load, and capable of walking without rattling for a long period of time and smoothly. The present invention provides a low-cost and economical walking mechanism which can be performed stably, has a simple structure, is easy to assemble, is suitable for mass production, and is inexpensive. SOLUTION: A linking body 3 having left and right horizontal shafts 3a protruding therefrom,
It has an insertion longitudinal axis 14 protruding from the tops of the left and right legs, and a connecting block body 10. On the upper left and right side surfaces of the connecting block body 10, there is a vertically long hole 11 through which the left and right horizontal axes 3 b of the connecting body 3 can pass. In the lower surface of the lower part of the connecting block body 10,
4 is provided with an insertion longitudinal hole 12 which can be inserted in a freely rotatable and slidable manner in the axial direction, and when one of the left and right legs is extended forward, one of the connecting block members 10 is formed. The other leg swings relatively rearward via the linking body 3 and the other linking block body 10.
Description
【０００１】[0001]
本考案は、ロボット玩具が移動する際にその左右の脚が交互に繰り出せるよう にした歩行機構に係るもので、特に、大きな負荷がかかるような比較的大きなロ ボット玩具を構成した場合であっても堅牢で、変形や、摩耗等による損傷が生じ 難く、耐久性に優れ、更に、歩行動作がスムーズとなり、しかも、構成が簡素で 、組立てが容易となるよう工夫したロボット玩具に於ける歩行機構に関するもの である。 The present invention is designed so that the left and right legs of the robot toy can be extended alternately when moving. It is a relatively large locomotive that is subject to a large load. Even if a bot toy is constructed, it is robust and will not be deformed or damaged due to wear. Difficulty, excellent durability, smooth walking, and simple structure , Walking mechanism in robot toys designed to be easy to assemble Is.
【０００２】[0002]
従来、この種のロボット玩具にあっては、種々のものが提案されており、例え ば、特許文献１の歩行ロボット玩具がある。 そして、前記歩行ロボット玩具は、腰部内に一対の回転軸をその軸が前後方向 に向くように左右対称に配置し、該回転軸に一体に取り付けた平歯車を互いに噛 み合わせして回転軸を逆方向に連動して回転可能とするとともに、各々の回転軸 には水平方向に離隔した２つの支軸を形成して該支軸により前記脚機構の平行リ ンクの上端部を枢支させ、主脚リンクと補助脚リンクの下端に前記足部を自由支 持させ、更に、左右の平行リンク機構のリンクの上端に各々垂直軸を突出形成し て、該突出軸を前記腰部の中心線上で水平方向に回転自在に支持された揺動リン クの両端に貫通させることにより左右の脚の前後方向の傾きを連動させるように 構成したものである。 Various robot toys of this type have been proposed in the past. For example, there is a walking robot toy disclosed in Patent Document 1. The walking robot toy has a pair of rotary shafts in the waist, and the shafts are in the front-back direction. Are arranged symmetrically so that they face each other, and the spur gears integrally attached to the rotary shaft are meshed with each other. It is possible to rotate the rotating shafts by interlocking them in the opposite direction, Is formed with two support shafts which are separated in the horizontal direction, and the support shafts are used to form parallel legs of the leg mechanism. Pivot the upper end of the link, and freely support the foot on the lower ends of the main and auxiliary leg links. In addition, the vertical shafts are formed to project at the upper ends of the links of the left and right parallel link mechanisms. The projecting shaft is rotatably supported in the horizontal direction on the center line of the waist. The left and right legs can be linked to each other by inserting them at both ends. It is composed.
【０００３】[0003]
【特許文献１】 特開２００２−３０６８５８[Patent Document 1] JP 2002-306858A
【０００４】[0004]
しかしながら、前述の如き歩行ロボット玩具にあっては、腰部の中心線上で水 平方向に回転自在に支持される揺動リンクが比較的薄い板材によって構成されて おり、しかも、この揺動リンクの両端部分に穿設した長孔に垂直軸が貫通されて 、左右の脚の前後方向の傾きが連動するように構成してあるため、歩行ロボット 玩具自体を比較的大きく構成した場合や、遊戯者によって大きな負荷が脚に加え られたような場合には、垂直軸と揺動リンクにはかなり大きな負荷がかかるよう になる。特に、揺動リンクの長孔部分に於いて変形や摩耗等が生じ易い難点があ り、更に、変形や摩耗が進むとガタつきが生じ、スムーズな歩行動作が行い難く なる等の難点があった。 However, in the walking robot toy as described above, the water should be placed on the centerline of the waist. The swing link supported rotatably in the horizontal direction is composed of a relatively thin plate material. Moreover, the vertical shaft penetrates through the long holes formed at both ends of the swing link. Since the left and right legs are configured to interlock with each other, the walking robot If the toy itself is configured to be relatively large, or if a heavy load is applied to the legs by the player. In such cases, the vertical shaft and swing link are subject to a considerable load. become. In particular, there is a problem that deformation or wear easily occurs in the long hole portion of the swing link. Moreover, if deformation or wear progresses, rattling will occur, making it difficult to perform a smooth walking motion. There was a difficulty such as becoming.
【０００５】[0005]
そこで、本考案は、前述の如き難点等の解消を図り、歩行機構自体を堅牢とし 、変形や、摩耗等による損傷等が生じ難く、耐久性に優れ、更に、歩行動作がガ タつくことなく、スムーズに且つ安定的に行え、しかも、構成が簡素で、組立て 容易となり、加えて、推進駆動手段の作動切換操作がスムーズに且つ確実に行え 、左右の脚を交互に前方へ繰り出す動作が迅速に行えるようなロボット玩具に於 ける歩行機構を提供すべく案出されたものである。 Therefore, the present invention aims to solve the above-mentioned difficulties and the like, and makes the walking mechanism itself robust. Also, it is resistant to deformation, damage due to wear, etc., and has excellent durability. Smooth and stable operation without rattling, and simple construction, and assembly In addition, the operation switching operation of the propulsion drive means can be performed smoothly and reliably. , A robot toy that allows the left and right legs to be alternately forwarded forward quickly It was devised to provide a walking mechanism for kicking.
【０００６】 しかして、請求項１記載の歩行機構にあっては、前後方向に揺動自在となるよ うに左右の脚の上部をベース部１に夫々装着し、この左右の脚の下部に適宜推進 駆動手段を夫々内蔵し、この左右の推進駆動手段を交互に作動せしめることによ り、左右の脚が交互に繰り出されるようになって移動する歩行型のロボット玩具 であって、前記ベース部１の支持部２に旋回自在に装着されると共に、その左右 に横軸３ｂが突設されている連繋体３と、左右の脚の頂部に夫々突設される差込 縦軸１４と、略直方体状を呈すると共に、前記差込縦軸１４と横軸３ｂを連繋す る連繋ブロック体１０とを備え、この連繋ブロック体１０の上部左右側面には、 連繋体３の左右横軸３ｂが貫通可能な縦長孔１１が設けられ、連繋ブロック体１ ０の下部下面には、差込縦軸１４が旋回自在に且つ軸心方向に摺動自在に挿入可 能となる差込縦軸穴１２が穿設され、左右の脚のいずれか一方の脚が前方に繰り 出されると、この脚の揺動動作が、一方の連繋ブロック体１０、連繋体３、他方 の連繋ブロック体１０を介して他方の脚に伝わり、他方の脚が相対的に後方に揺 動するよう構成する手段を採用した。[0006] Therefore, in the walking mechanism according to claim 1, it is possible to swing in the front-back direction. Attach the upper parts of the left and right legs to the base part 1 respectively and propel them to the lower parts of the left and right legs. By incorporating the drive means respectively, the left and right propulsion drive means are operated alternately. A walking-type robot toy that moves with its left and right legs alternating And is attached to the support portion 2 of the base portion 1 so as to be rotatable, and A connecting body 3 having a horizontal shaft 3b projecting from it and plugs projecting at the tops of the left and right legs respectively. The vertical axis 14 has a substantially rectangular parallelepiped shape, and connects the insertion vertical axis 14 and the horizontal axis 3b. And the upper and left side surfaces of the connecting block body 10, A vertically elongated hole 11 through which the left and right horizontal axes 3b of the connecting body 3 can penetrate is provided, and the connecting block body 1 Insert the vertical axis 14 into the lower bottom surface of 0 so that it can rotate and slide in the axial direction. A vertical hole 12 for insertion is provided so that either one of the left and right legs can move forward. When it is taken out, the swinging motion of this leg causes the connecting block body 10 on one side, the connecting body 3 on the other side, and the other side. Is transmitted to the other leg through the connecting block body 10 of the The means to configure to move is adopted.
【０００７】 また、請求項２記載の歩行機構にあっては、前記連繋体３の回動ブロック３ａ にスイッチ取付杆５を介して切換スイッチ６を取付け、この切換スイッチ６の両 脇に配されるように一対の当接バー７をベース部１に立設し、左右の脚が交互に 前方へ繰り出すときの切換時に、切換スイッチ６が左右の当接バー７に当接し、 左右の脚の下部に内蔵した適宜推進駆動手段の作動切換操作を、切換スイッチ６ が行うように構成する手段を採用した。[0007] Further, in the walking mechanism according to claim 2, the rotation block 3a of the connecting body 3 is provided. The changeover switch 6 is attached to the switch mounting rod 5 through A pair of abutment bars 7 are erected on the base part 1 so as to be arranged aside, and the left and right legs are alternately arranged. At the time of switching when it is extended forward, the selector switch 6 contacts the left and right contact bars 7, The changeover switch 6 is used to change the operation of the appropriate propulsion drive means incorporated in the lower part of the left and right legs. Adopted the means to configure.
【０００８】[0008]
以下、本考案を図示例に基づいて詳細に説明する。 本考案は、左右の脚による歩行型のロボット玩具に於ける歩行機構に係るもの で、ロボット玩具自体は、略腰の部分となる位置にベース部１を配し、このベー ス部１の左右側部に、軸ピン１６を介して前後方向に揺動自在となるように左右 の脚の上部を夫々装着し、この左右の脚の下部に適宜推進駆動手段を夫々内蔵し 、この左右の推進駆動手段を交互に作動せしめることにより、左右の脚が交互に 繰り出されるようになって移動するように構成されたものである。 しかも、左右の脚夫々は、その上端部が軸ピン１６を介してベース部１に装着 される略平行な一対の脚杆１５と、この一対の脚杆１５の下部に軸ピン１６を介 して装着される駆動枠部２０とによって構成され、この駆動枠部２０に、適宜駆 動推進手段が内蔵されている。 Hereinafter, the present invention will be described in detail based on illustrated examples. The present invention relates to a walking mechanism in a walking robot toy with left and right legs. In the robot toy itself, the base part 1 is placed at a position that is approximately the waist, The left and right side portions of the base portion 1 are swingable in the front-back direction via the shaft pin 16 The upper part of each leg is installed, and the propulsion drive means are built in under the left and right legs respectively. , By alternately operating the left and right propulsion drive means, the left and right legs are alternately It is configured to move as it is extended. Moreover, the upper ends of the left and right legs are attached to the base portion 1 via the shaft pins 16. And a pair of substantially parallel bar rods 15, and a shaft pin 16 under the pair of bar rods 15. Drive frame portion 20 that is mounted in the drive frame portion 20. A dynamic propulsion means is built in.
【０００９】 そして、本考案の歩行機構は、前記ベース部１の上部に設けた支持部２に旋回 自在に装着されると共に、その左右に横軸３ｂが突設されている連繋体３と、左 右の脚の頂部に夫々突設される略小円柱状の差込縦軸１４と、略直方体状を呈す ると共に、前記差込縦軸１４と横軸３ｂを連繋する連繋ブロック体１０とを備え たものである。[0009] In addition, the walking mechanism of the present invention pivots on the support portion 2 provided on the upper portion of the base portion 1. It is freely attached and the left and right connecting bodies 3 are provided with lateral shafts 3b protruding from the left and right. Shows a substantially rectangular parallelepiped shape with the insertion vertical axis 14 of a substantially small columnar shape protruding from the top of the right leg, respectively. And a connecting block body 10 that connects the insertion vertical axis 14 and the horizontal axis 3b. It is a thing.
【００１０】 更に、前記連繋ブロック体１０の上部左右側面には、連繋体３の左右横軸３ｂ が貫通可能な縦長孔１１が設けられ、連繋ブロック体１０の下部下面には、差込 縦軸１４が旋回自在に且つ軸心方向に摺動自在に挿入可能となる差込縦軸穴１２ が穿設され、左右の脚のいずれか一方の脚が前方に繰り出されると、この脚の揺 動動作が、一方の連繋ブロック体１０、連繋体３、他方の連繋ブロック体１０を 介して他方の脚に伝わり、他方の脚が相対的に後方に揺動するよう構成されてい る。[0010] Further, the left and right lateral axes 3b of the connecting body 3 are provided on the upper left and right side surfaces of the connecting block body 10. Is provided with a vertically elongated hole 11, and the lower surface of the lower portion of the connecting block body 10 is inserted into Insert vertical axis hole 12 in which the vertical axis 14 can be inserted pivotably and slidably in the axial direction When one of the left and right legs is extended forward, the The dynamic operation causes the one connecting block body 10, the connecting body 3 and the other connecting block body 10 to move. Is transmitted to the other leg via the other leg, and the other leg is configured to swing relatively rearward. It
【００１１】 前記連繋体３は、例えば、中央に支持部２への取付孔が設けられて、支持部２ に旋回自在（水平方向に回動自在）に取付けられる略圧肉円盤状の回動ブロック ３ａと、この回動ブロック３ａの左右側部に、左右側方に向って突出するように 固定される略丸棒状の左右横軸３ｂとからなり、この横軸３ｂは、十分な強度、 剛性を備えた材料（例えば、金属材）によって構成される。[0011] The connecting body 3 has, for example, a mounting hole for the supporting portion 2 at the center thereof, Rotating block in the shape of a generally thickened disk that can be swung freely (rotatably in the horizontal direction) 3a and the left and right side portions of the rotation block 3a so as to project to the left and right sides. It consists of left and right horizontal axes 3b that are fixed in a substantially round bar shape, and this horizontal axis 3b has sufficient strength, It is made of a material having rigidity (for example, a metal material).
【００１２】 前記連繋ブロック体１０は、十分な強度、剛性を得られるように、適宜金属材 によって略縦長な直方体状に形成されている。 そして、連繋ブロック体１０の上部の左右側面を貫通するように設けた縦長孔 １１は、前記横軸３ｂの太さに合致するような幅に形成されると共に、横軸３ｂ の太さの略倍程度の長さに形成されている。すなわち、縦長孔１１は、前後方向 に於いて横軸３ｂとのガタつきが生じないようにし、更に、上下方向に於いて横 軸３ｂが移動できるように形成してある。 また、連繋ブロック体１０の下面に穿設した差込縦軸穴１２は、略小円柱状に 形成される差込縦軸１４に合致するように形成されている。すなわち、差込縦軸 １４が挿入された差込縦軸穴１２は、差込縦軸１４に対してガタつくことなく旋 回可能で、しかも、ガタつくことなく上下方向に摺動可能となるように形成して ある。[0012] The connecting block body 10 is appropriately made of a metal material so as to obtain sufficient strength and rigidity. Is formed in a substantially rectangular parallelepiped shape. Then, a vertically elongated hole provided so as to penetrate the left and right side surfaces of the upper portion of the connecting block body 10. 11 is formed to have a width that matches the thickness of the horizontal axis 3b, and the horizontal axis 3b Is formed to have a length approximately twice the thickness of the. That is, the vertically elongated hole 11 is In the horizontal axis 3b to prevent rattling, and in the vertical direction, The shaft 3b is formed so as to be movable. Further, the insertion vertical axis hole 12 formed in the lower surface of the connecting block body 10 has a substantially small cylindrical shape. It is formed so as to match the formed insertion longitudinal axis 14. That is, the vertical axis The insertion vertical axis hole 12 in which 14 is inserted is rotated with respect to the insertion vertical axis 14 without rattling. It is formed so that it can rotate and can slide up and down without rattling. is there.
【００１３】 前記差込縦軸１４は、図示例のように、略縦長直方体状に形成された脚取付部 材１３の上端部分に設け、この脚取付部材１３を脚杆１５の上部に固定するよう にして設けたものであっても良いし、脚杆１５の上端部に直接設けるようにして も良い。ところで、本考案に於いては、脚取付部材１３の上部に差込縦軸穴を穿 設し、この差込縦軸穴に合致する差込縦軸を連繋ブロック体１０に突設するよう な構成態様も含まれるものである。[0013] The insertion vertical axis 14 is a leg attachment portion formed in a substantially vertically long rectangular parallelepiped shape as shown in the illustrated example. It is provided at the upper end of the member 13 so that this leg mounting member 13 is fixed to the upper part of the leg rod 15. It may be provided in the above manner, or may be provided directly on the upper end portion of the leg rod 15. Is also good. By the way, in the present invention, a vertical axis hole is formed in the upper portion of the leg mounting member 13. So that the insertion vertical axis that matches the insertion vertical axis hole is projected on the connecting block body 10. Such a configuration mode is also included.
【００１４】 また、本考案の歩行機構は、連繋体３の回動ブロック３ａにスイッチ取付杆５ を介して切換スイッチ６を取付け、この切換スイッチ６の両脇に配されるように 一対の当接バー７をベース部１に立設して構成されている。 すなわち、左右の脚が交互に前方へ繰り出すときの切換時に、切換スイッチ６ が左右の当接バー７に当接し、左右の脚の下部に内蔵した適宜推進駆動手段の作 動切換操作を、切換スイッチ６が行うように構成してある。[0014] In addition, the walking mechanism of the present invention includes a switch mounting rod 5 on the rotation block 3a of the connecting body 3. Attach the changeover switch 6 via the so that it is arranged on both sides of this changeover switch 6. A pair of contact bars 7 are provided upright on the base portion 1. That is, when the left and right legs are alternately extended forward, the changeover switch 6 Contact the left and right contact bars 7, and the operation of appropriate propulsion drive means built in the lower part of the left and right legs. The changeover switch 6 is configured to perform a dynamic changeover operation.
【００１５】 ところで、当接バー７は、ストッパー兼用となる略棒状のものでも良いし、過 度の負荷によって切換スイッチ６が損傷するのを防止すべく板バネ状としたもの や、コイルスプリング状としたものや、その他適宜構成のものを利用することが できる。 尚、図中８は、例えば、バッテリーや受信器やサーボモータ等が収納されてい る電源及び制御部で、この電源及び制御部８では、駆動推進手段のモータ２１に 電気ブレーキがかけられるように構成されている。[0015] By the way, the contact bar 7 may be a substantially bar-shaped member which also serves as a stopper, A leaf spring shape to prevent the changeover switch 6 from being damaged by a load It is also possible to use a coil spring-shaped one, or any other suitable one. it can. It should be noted that reference numeral 8 in the figure stores, for example, a battery, a receiver, a servomotor, and the like. In the power source and control unit, the power source and control unit 8 is It is designed to be electrically braked.
【００１６】 前記駆動推進手段は、例えば、適数のモータ２１と、駆動枠部２０の前後に配 した駆動ローラ２２と、モータ２１の駆動回転力を駆動ローラ２２に伝達する歯 車列とからなり、駆動ローラ２２の駆動回転によって進むように構成されている 。尚、駆動ローラ２２の代わりにキャタピラ等を利用しても良い。[0016] The drive propulsion means is arranged, for example, in an appropriate number of motors 21 and before and after the drive frame portion 20. Drive roller 22 and teeth for transmitting the driving torque of the motor 21 to the drive roller 22. It is composed of a train of vehicles and is configured to advance by the drive rotation of the drive roller 22. . A caterpillar or the like may be used instead of the drive roller 22.
【００１７】 ところで、ロボット玩具の具体的構成、形状、寸法、材質、歩行機構の具体的 構成、形状、寸法、配設位置、ベース部１の具体的構成、形状、配設位置、支持 部２の具体的構成、形状、寸法、配設位置、連繋体３の具体的構成、形状、寸法 、材質、配設位置、回動ブロック３ａの具体的構成、形状、寸法、材質、横軸３ ｂの具体的構成、形状、寸法、材質、配設位置、スイッチ取付杆５の具体的構成 、形状、寸法、材質、配設位置、切換スイッチ６の具体的構成、形状、寸法、材 質、配設位置、当接バー７の具体的構成、形状、寸法、材質、配設位置、電源及 び制御部８の具体的構成、形状、寸法、配設位置、連繋ブロック体１０の具体的 構成、形状、寸法、材質、縦長孔１１の具体的構成、形状、寸法、配設位置、差 込縦軸穴１２の具体的構成、形状、寸法、配設位置、脚取付部材１３の具体的構 成、形状、寸法、材質、配設位置、差込縦軸１４の具体的構成、形状、寸法、材 質、配設位置、脚杆１５の具体的構成、形状、寸法、材質、配設位置、数、軸ピ ン１６の具体的構成、形状、寸法、材質、配設位置、駆動枠部２０の具体的構成 、形状、寸法、材質、配設位置、モータ２１の具体的構成、形状、寸法、数、配 設位置、駆動ローラ２２の具体的構成、形状、寸法、材質、配設位置等は、図示 例のもの等に限定されることなく、適宜自由に設定、変更できるものである。[0017] By the way, the specific configuration, shape, dimensions, materials, and walking mechanism of the robot toy Configuration, shape, dimensions, placement position, specific configuration, shape, placement position, support of the base portion 1 Specific configuration, shape, dimensions, arrangement position of the section 2, specific configuration, shape, dimensions of the linking body 3 , Material, installation position, specific configuration, shape, dimensions, material of the rotating block 3a, horizontal axis 3 Specific configuration of b, shape, size, material, installation position, specific configuration of the switch mounting rod 5. , Shape, size, material, disposition position, specific configuration, shape, size, material of changeover switch 6 Quality, installation position, specific configuration, shape, dimensions, material of the contact bar 7, installation position, power source and And the specific configuration of the control unit 8, the shape, the dimensions, the arrangement position, the specific configuration of the connecting block body 10. Configuration, shape, size, material, specific configuration of vertical hole 11, shape, size, placement position, difference Specific configuration, shape, size, disposition position of the vertical axis hole 12, and specific configuration of the leg mounting member 13. Composition, shape, size, material, installation position, concrete configuration, shape, size, material of insert vertical axis 14. Quality, installation position, specific configuration, shape, dimensions, material, installation position, number, shaft pin of the leg rod 15. Specific configuration, shape, size, material, disposition position, specific configuration of the drive frame 20 , Shape, size, material, installation position, specific configuration, shape, size, number, layout of the motor 21. The installation position, the specific configuration, shape, size, material, disposition position, etc. of the drive roller 22 are shown in the drawings. The present invention is not limited to the above examples and can be freely set and changed.
【００１８】 本考案のロボット玩具に於ける歩行機構は、前述の如く構成されており、次に その作動状態について説明すると、先ず、左右どちらか一方の脚の推進駆動手段 が作動して、一方の脚が前方に繰り出されるようになると、一方の脚の連繋ブロ ック体１０が脚（脚杆１５）の揺動と共に後方に移動すると共に、一方の横軸３ ｂが後方に移動するように連繋体３が支持部２を中心として僅かに旋回（右旋回 ）する。このとき、一方の連繋ブロック体１０が、差込縦軸１４を中心として僅 かに旋回（右旋回）すると共に、一方の横軸３ｂの先端部分が、縦長孔１１内を 下がわに移動するようになる。[0018] The walking mechanism in the robot toy of the present invention is configured as described above. The operation state will be described. First, the propulsion drive means for either the left or right leg. Is activated and one leg begins to move forward, the connecting block of one leg The hook body 10 moves rearward as the leg (leg rod 15) swings, and the one horizontal shaft 3 The connecting body 3 turns slightly around the support portion 2 so that b moves backward (right turn). ) Do. At this time, one of the connecting block bodies 10 is slightly moved around the insertion vertical axis 14. While turning to the right (turning to the right), the tip portion of one of the horizontal shafts 3b moves inside the vertically elongated hole 11. It will move to the bottom.
【００１９】 また、他方の脚の連繋ブロック体１０にあっては、前記連繋体３の僅かな旋回 （右旋回）による他方の横軸３ｂからの力を受けて、前方に移動する。しかも、 その際、他方の脚（脚杆１５）を、後方に揺動せしめるようにする。このとき、 他方の連繋ブロック体１０は、差込縦軸１４を中心として僅かに旋回（右旋回） すると共に、他方の横軸３ｂの先端部分は縦長孔１１内を上がわに移動するよう になる。[0019] In addition, in the connecting block body 10 of the other leg, a slight turning of the connecting body 3 is performed. It receives a force from the other horizontal shaft 3b due to (right turn) and moves forward. Moreover, At that time, the other leg (leg 15) is made to swing backward. At this time, The other linked block body 10 turns slightly around the insertion vertical axis 14 (turn right). At the same time, the tip of the other horizontal shaft 3b moves upward in the vertically elongated hole 11. become.
【００２０】 そして、切換スイッチ６が他方の当接バー７に接触すると、一方の脚の推進駆 動手段が停止する（モータ２１に電気ブレーキがかかる）と共に、他方の脚の推 進駆動手段が作動して、他方の脚が前方に繰り出されるようになり、これが交互 に繰り返されて前進（或いは、後進）移動するようになる。 尚、本考案の歩行機構に於いて、ロボット玩具を左右に旋回移動させる場合は 、脚が前方に繰り出されたときに、そのまま推進駆動手段が作動し続けるよう制 御することによって行えるよう構成されている。このとき、後方に揺動している 脚の推進駆動手段のモータ２１を逆に作動せしめるように制御して、その旋回動 作がより迅速に行えるように構成しても良い。[0020] When the changeover switch 6 comes into contact with the other contact bar 7, the propulsion drive of one leg is performed. The moving means stops (the electric brake is applied to the motor 21) and the other leg is pushed. The forward drive means is activated, and the other leg is extended forward, which alternates. Repeatedly, the vehicle moves forward (or backward). In the walking mechanism of the present invention, when the robot toy is rotated left and right, , When the legs are extended forward, the propulsion drive mechanism keeps operating. It is configured so that it can be done by controlling. At this time, it is swinging backward The motor 21 of the leg propulsion drive means is controlled so as to operate in reverse, and its turning motion is controlled. It may be configured so that the work can be performed more quickly.
【００２１】[0021]
従って、請求項１記載のロボット玩具に於ける歩行機構は、前後方向に揺動自 在となるように左右の脚の上部をベース部１に夫々装着し、この左右の脚の下部 に適宜推進駆動手段を夫々内蔵し、この左右の推進駆動手段を交互に作動せしめ ることにより、左右の脚が交互に繰り出されるようになって移動する歩行型のロ ボット玩具であって、前記ベース部１の支持部２に旋回自在に装着されると共に 、その左右に横軸３ｂが突設されている連繋体３と、左右の脚の頂部に夫々突設 される差込縦軸１４と、略直方体状を呈すると共に、前記差込縦軸１４と横軸３ ｂを連繋する連繋ブロック体１０とを備え、この連繋ブロック体１０の上部左右 側面には、連繋体３の左右横軸３ｂが貫通可能な縦長孔１１が設けられ、連繋ブ ロック体１０の下部下面には、差込縦軸１４が旋回自在に且つ軸心方向に摺動自 在に挿入可能となる差込縦軸穴１２が穿設され、左右の脚のいずれか一方の脚が 前方に繰り出されると、この脚の揺動動作が、一方の連繋ブロック体１０、連繋 体３、他方の連繋ブロック体１０を介して他方の脚に伝わり、他方の脚が相対的 に後方に揺動するよう構成したので、歩行機構自体が堅牢で、変形や、摩耗等に よる損傷が生じ難く、耐久性に優れたものとなる。すなわち、ロボット玩具自体 を比較的大きく構成した場合や、遊戯者等によって大きな負荷が脚に加えられた ような場合でも、損傷し難いものとなる。 更に、歩行動作自体が長期に亙ってガタつくことなく、スムーズに且つ安定的 に行われるようになり、しかも、構成が簡素で、組立てが容易となり、量産に適 し、比較的低廉に提供することができる経済的な歩行機構となる。 Therefore, the walking mechanism in the robot toy according to claim 1 swings back and forth. Attach the upper part of the left and right legs to the base part 1 respectively so that Incorporating propulsion drive means in each case, and operate the left and right propulsion drive means alternately. As a result, the left and right legs are alternately extended to move and move in a walking type. A bot toy, which is mounted on the support portion 2 of the base portion 1 so as to be rotatable. , The connecting body 3 in which the horizontal shafts 3b are provided on the left and right sides thereof, and the tops of the left and right legs, respectively. The inserted vertical axis 14 and the horizontal axis 3 have a substantially rectangular parallelepiped shape. a connecting block body 10 for connecting b, and the upper left and right sides of the connecting block body 10 The side surface is provided with a vertically long hole 11 through which the left and right horizontal shafts 3b of the connecting body 3 can penetrate. On the lower surface of the lower portion of the lock body 10, the insertion vertical axis 14 is rotatable and slides in the axial direction. The insertion vertical axis hole 12 that can be inserted at any position is bored so that either one of the left and right legs is When it is extended to the front, the swinging motion of this leg causes the connecting block body 10 on one side to connect. It is transmitted to the other leg through the body 3 and the other connecting block body 10, and the other leg is relatively Since it is configured to swing backwards, the walking mechanism itself is robust and is resistant to deformation and wear. It is less likely to be damaged and has excellent durability. That is, the robot toy itself Is relatively large, or a heavy load is applied to the leg by a player or the like. Even in such a case, it is hard to be damaged. Furthermore, the walking movement itself is smooth and stable without rattling for a long period of time. In addition, it has a simple structure, is easy to assemble, and is suitable for mass production. However, the economical walking mechanism can be provided at a relatively low cost.
【００２２】 また、請求項２記載のロボット玩具に於ける歩行機構は、前記連繋体３の回動 ブロック３ａにスイッチ取付杆５を介して切換スイッチ６を取付け、この切換ス イッチ６の両脇に配されるように一対の当接バー７をベース部１に立設し、左右 の脚が交互に前方へ繰り出すときの切換時に、切換スイッチ６が左右の当接バー ７に当接し、左右の脚の下部に内蔵した適宜推進駆動手段の作動切換操作を、切 換スイッチ６が行うように構成したので、左右の脚の下部に内蔵した適宜推進駆 動手段の作動切換操作がスムーズに且つ確実に行えるようになり、左右の脚を交 互に前方へ繰り出す動作が迅速に行えるようになる。しかも、作動切換操作のた めの構成が簡素で、取付け易く、故障等も生じ難いものとなる。[0022] The walking mechanism in the robot toy according to claim 2, wherein the connecting body 3 rotates. The changeover switch 6 is attached to the block 3a through the switch attachment rod 5, and the changeover switch 6 A pair of contact bars 7 are erected on the base part 1 so as to be arranged on both sides of the switch 6, and When the legs are alternately extended forward, the changeover switch 6 turns the left and right contact bars. 7 and the operation switching operation of the propulsion drive means incorporated in the lower parts of the left and right legs is switched off. Since the switch 6 is configured to do so, the appropriate propulsion drive installed under the left and right legs The operation switching operation of the moving means can now be performed smoothly and reliably, and the left and right legs can be exchanged. It becomes possible to quickly perform the forward movements of each other. Moreover, the operation switching operation The structure is simple, easy to install, and resistant to failure.
【図１】本考案の歩行機構を例示する一部分解概略斜視
図である。FIG. 1 is a partially exploded schematic perspective view illustrating a walking mechanism of the present invention.
【図２】本考案の歩行機構を例示する部分概略平面図で
ある。FIG. 2 is a partial schematic plan view illustrating the walking mechanism of the present invention.
【図３】本考案の歩行機構を例示する部分概略平面図で
ある。FIG. 3 is a partial schematic plan view illustrating the walking mechanism of the present invention.
【図４】本考案の歩行機構を例示する部分概略正面図で
ある。FIG. 4 is a partial schematic front view illustrating the walking mechanism of the present invention.
【図５】本考案の歩行機構を例示する一部切欠概略側面
図である。FIG. 5 is a partially cutaway schematic side view illustrating the walking mechanism of the present invention.
１ ベース部 ２ 支持部
３ 連繋体
３ａ 回動ブロック ３ｂ 横軸
５ スイッチ取付杆 ６ 切換ス
イッチ
７ 当接バー ８ 電源及
び制御部
１０ 連繋ブロック体 １１ 縦長孔
１２ 差込縦軸穴 １３ 脚取付
部材
１４ 差込縦軸
１５ 脚杆 １６ 軸ピン
２０ 駆動枠部 ２１ モータ
２２ 駆動ローラDESCRIPTION OF SYMBOLS 1 Base part 2 Support part 3 Connection body 3a Rotation block 3b Horizontal shaft 5 Switch mounting rod 6 Changeover switch 7 Abutment bar 8 Power supply and control part 10 Connection block body 11 Vertically long hole 12 Insert vertical axis hole 13 Leg mounting member 14 Insert vertical axis 15 Leg rod 16 Axis pin 20 Drive frame 21 Motor 22 Drive roller
Claims (2)
脚の上部をベース部に夫々装着し、この左右の脚の下部
に適宜推進駆動手段を夫々内蔵し、この左右の推進駆動
手段を交互に作動せしめることにより、左右の脚が交互
に繰り出されるようになって移動する歩行型のロボット
玩具であって、前記ベース部の支持部に旋回自在に装着
されると共に、その左右に横軸が突設されている連繋体
と、左右の脚の頂部に夫々突設される差込縦軸と、略直
方体状を呈すると共に、前記差込縦軸と横軸を連繋する
連繋ブロック体とを備え、この連繋ブロック体の上部左
右側面には、連繋体の左右横軸が貫通可能な縦長孔が設
けられ、連繋ブロック体の下部下面には、差込縦軸が旋
回自在に且つ軸心方向に摺動自在に挿入可能となる差込
縦軸穴が穿設され、左右の脚のいずれか一方の脚が前方
に繰り出されると、この脚の揺動動作が、一方の連繋ブ
ロック体、連繋体、他方の連繋ブロック体を介して他方
の脚に伝わり、他方の脚が相対的に後方に揺動するよう
構成したことを特徴とするロボット玩具に於ける歩行機
構。1. An upper part of each of the left and right legs is attached to a base part so as to be swingable in the front-rear direction, and a propulsion drive means is appropriately built in each of the lower parts of the left and right legs, and the left and right propulsion drive means are provided. Is a walking robot toy in which the left and right legs are alternately extended so that the left and right legs move alternately. A connecting body having a shaft protruding therefrom, an insertion vertical axis projecting at each of the tops of the left and right legs, and a connecting block body having a substantially rectangular parallelepiped shape and connecting the insertion vertical axis and the horizontal axis. On the left and right side of the upper part of the connecting block body, vertical holes through which the left and right horizontal axes of the connecting body can pass are provided, and on the lower lower surface of the connecting block body, the insertion vertical axis is rotatable and the axial center Inserted vertical axis hole that can be slidably inserted in the direction, When one of the left and right legs is extended forward, the swinging motion of this leg is transmitted to the other leg via the one connecting block body, the connecting body, and the other connecting block body, and the other leg is moved. A walking mechanism in a robot toy, wherein the robot is configured to swing relatively backward.
付杆を介して切換スイッチを取付け、この切換スイッチ
の両脇に配されるように一対の当接バーをベース部に立
設し、左右の脚が交互に前方へ繰り出すときの切換時
に、切換スイッチが左右の当接バーに当接し、左右の脚
の下部に内蔵した適宜推進駆動手段の作動切換操作を、
切換スイッチが行うように構成したことを特徴とする請
求項１記載のロボット玩具に於ける歩行機構。2. A changeover switch is attached to the rotary block of the connecting body through a switch attachment rod, and a pair of contact bars are erected on the base portion so as to be arranged on both sides of the changeover switch. When the legs are alternately extended forward, the changeover switch comes into contact with the left and right contact bars, and the operation switching operation of the appropriate propulsion drive means incorporated in the lower parts of the left and right legs is performed.
The walking mechanism for a robot toy according to claim 1, wherein the changeover switch is configured to perform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2003000625U JP3095851U (en) | 2003-02-12 | 2003-02-12 | Walking mechanism in robot toys |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2003000625U JP3095851U (en) | 2003-02-12 | 2003-02-12 | Walking mechanism in robot toys |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP3095851U true JP3095851U (en) | 2003-08-22 |
Family
ID=43249754
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2003000625U Expired - Lifetime JP3095851U (en) | 2003-02-12 | 2003-02-12 | Walking mechanism in robot toys |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3095851U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180256992A1 (en) * | 2015-09-04 | 2018-09-13 | Gymworld Inc. | Connecting member for self-assembly toy |
-
2003
- 2003-02-12 JP JP2003000625U patent/JP3095851U/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180256992A1 (en) * | 2015-09-04 | 2018-09-13 | Gymworld Inc. | Connecting member for self-assembly toy |
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