Note: Descriptions are shown in the official language in which they were submitted.
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TITLE OF THE INVENTION
[0001] Articulated Walking Toy Device
BACKGROUND OF THE INVENTION
[0002] This invention generally relates to powered, motive toys and, in
particular, to
articulated walking toys.
[0003] While articulated walking toys are generally known, it is believed that
an articulated
toy with an alternate motive mechanism for providing a more anatomic-like
walking movement
would be desirable.
BRIEF SUMMARY OF THE INVENTION
[0004] Briefly stated, the present invention is an articulated walking toy
device configured
for movement across a surface. The toy device comprises a frame and a
plurality of leg
assemblies movably coupled with the frame. Each leg assembly includes a leg
member
configured to rotate with respect to the frame about separate first and second
axes. The first
and second axes are at least generally transverse to one another. A drive
mechanism is
operatively engaged with the plurality of leg assemblies so as to actuate each
of the leg
members to rotate about the first and second axes in a like, predetermined,
repeatable cycle of
movement. At least some of the leg members are out of phase with other leg
members to
produce an anatomic-like gait of the toy device upon actuation of the drive
mechanism.
[0005] In another aspect, the present invention is an articulated device
configured for
walking movement across a surface. The device comprises a frame and a
plurality of leg
assemblies engaged with the frame. Each leg assembly includes a leg member
coupled with the
frame for movement with respect to the frame in at least two directions
transverse to one
another. Each leg assembly further includes at least two cams operably coupled
with the leg
member so as to move the leg member in different directions with respect to
the frame. A drive
mechanism is drivingly engaged with each of the plurality of leg assemblies
through at least the
two cams of each leg assembly so as to cause each of the leg members of the
leg assemblies to
move in the at least two different directions 'in a like, predetermined,
repeatable cycle of
movement of each leg member. Movement of at least some of the plurality of the
leg members
is unsynchronized with movement of others of the plurality of the leg members,
such that the
plurality of leg members produce an anatomic-like gait of the device across
the surface.
BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS
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[0~10~] ' Tlie o~lowing de~ai ed escription of a preferred embodiment of the
invention will
be better understood when read in conjunction with the appended drawings. For
the purpose of
illustrating the invention, there is shown in the drawings an embodiment which
is presently
preferred. It should be understood, however, that the invention is not limited
to the precise
arrangements and instrumentalities shown.
[0007] In the drawings:
[0008] Fig. 1 is an upper perspective view of the front and left side of an
articulated toy
device in accordance with the present invention in the form of an insect-like
creature with six
motive legs;
[0009] Fig. 2 is an upper perspective view of one end and one lateral side of
the device of
Fig. 1 with the body and other superfluous elements such as a gearbox or
transmission housing
removed to reveal a frame of two parts with six leg assemblies mounted
therebetween;
[0010] Fig. 3 is an upper perspective view of the opposing or remaining end
and lateral side
of the device of Fig. 2 with an upper plate of the frame and a cam element of
each of the leg
assemblies additionally removed, to reveal twin drive trains on the first and
second opposing
lateral sides of the toy device and chassis;
[0011] Fig. 4 is a perspective view of a leg assembly of the toy device of
Figs. 1-3 shown in
a down, propulsion position;
[0012] Fig. 5 is a perspective view of the leg assembly of Fig. 4 shown in an
up, return
position;
[0013] Figs. 6-9 are perspective views of a base and first and second cams of
a first cam
member of the leg assembly of Figs. 4-5 in various stages of walking;
[0014] Figs. 10-15 are perspective sectional views of the base and second cam
of the first
cam member of the leg assembly of Figs. 6-9 being shown in various stages of
walking; and
[0015] Fig. 16 is a partially sectioned side elevation view of the leg
assembly of Figs. 4-15;
[0016] Fig. 17 is an elevation view of the device of Fig. 1 showing a complete
cycle of
movement of the middle one of the legs; and
[0017] Figs. 18-23 depict the unsynchronized movements of the legs on one
lateral side of
the device.
DETAILED DESCRIPTION OF THE INVENTION
[0018] Certain terminology is used in the following description for
convenience only and is
not limiting. The words "right," "left," "upper," and "lower" designate
directions in the
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drlirig~s to whicli"~re'ference"is"~niade. The terminology includes the words
above specifically
mentioned, derivatives thereof, and words of similar import.
[0019] Referring to the drawings in detail, wherein like numerals indicate
like elements
throughout, there is shown in the figures a preferred embodiment of an
articulated walking toy
device, indicated generally at 10, in accordance with the present invention.
The toy device 10
walks along a surface (not shown) by cyclically moving each of a plurality of
leg assemblies
30, as will be described in more detail below. Preferably, the toy device 10
includes six leg
assemblies 30, three leg assemblies 30 on each lateral side 10a, lOb of the
device 10 (and its
frame 12), to mimic an insect-like creature. It is within the scope of the
present invention that
there be more or less than six leg assemblies 30, provided the toy device 10
can still function to
propel or support and propel the toy device 10, as described herein.
Additionally, it is intended
that the toy device 10 includes a decorative outer housing or body one example
of which is
indicated generally at 11 in Fig. 1. Body 11 is decorated in a bug-like,
and/or monster-like-
appearance that is visually attractive to the user.
[0020] Referring to Figs. 1-3, the toy device 10 includes a frame 12 having a
top, first plate
12a and a bottom, second plate 12b. The plurality of leg assemblies 30 are
coupled with the
frame 12, preferably be being sandwiched between the first and second plates
12a, 12b. Leg
shafts 37 extend between the first and second plates 12a, 12b, and preferably,
a portion of each
leg shaft 37 extends above the first plate 12a of the frame 12 and supports a
second cam
member 44 of the leg assembly 30 for rotation. The second cam member 44 will
be described
in more detail below.
[0021] Referring to Fig. 3, the toy device 10 is shown with the first plate
12a and the
second cam members 44 removed to expose part of a drive mechanism of the toy
device 10
indicated generally at and other portions of the leg assemblies 30. The toy
device 10 preferably
includes a drive mechanism indicated generally at 13, which preferably
includes two
independent drives that are mechanical mirror images of one another, on either
lateral side 10a,
10b of the device 10. Each drive preferably includes a reversible motor 14
(see Fig. 18) for
driving each of the three leg assemblies 30 on one of the lateral sides 10a,
10b. Each motor 14
engages with and drives a conventional reduction gear train portion of the
mechanism 13
indicated generally at 16, which drives the wheel assemblies 30 through
longitudinally
extending drive shafting 18 (again, indicated in Fig. 18). Each motor 14 is
rotatably coupled
through the reduction gear train 16 and shafting 18 with three worms 38, one
for each of the leg
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aski'1r4zb~e~ ~~~itYf~ oylthe device 10. Each worm 38 is engaged with and
drives a
worm gear 40 of the respective leg assembly 30.
[0022] The construction of each leg assembly 30 is preferably the same,
although details
and operation might vary from that of the described embodiment. Each leg
assembly 30
include a leg member 32 configured to rotate with respect to the frame 12
about separate first
and second axes as will be described. Each leg member 32 is actuated by the
drive mechanism
13 to rotate about the two axes in a like, predetermined, repeatable cycle of
movement. The
phases of the cycles of the leg members are suggestedly varied with respect to
one another to
unsynchronize the movements of each leg assembly 30 and at least its
immediately adjoining
leg assembly(-ies) 30 to prevent all the legs assemblies or even adjoining
pairs of leg
assemblies on either lateral side of the toy device from moving in parallel
and so as more
faithfully mimic an anatomic gait. Accordingly, one leg assembly 30 will be
described, the
description applying to the other leg assemblies 30.
[0023] Referring to Figs. 3-16, each depicted leg assembly 30 includes a base
member 34
supporting the leg member 32 for rotation about the two separate axes with
respect to the frame
12. As will be described, the two axes are at least generally transverse to
one another
sufficiently to provide each leg member 32 with freedom of rotation in at
least two directions.
The leg member 32 is preferably generally L-shaped so that the leg members 32
of the various
leg assemblies 30 extend generally outwardly and downwardly from the frame 12
in order to
support the frame 12 above a support surface S.
[0024] Referring now to Figs. 3 and 6-16, rotatably fixed with each worm gear
40 is a first
cam member 42 with first and second cams 42a, 42b respectively, and the second
cam member
44 with a third cam 44a such that rotation of the gear 40 causes simultaneous
rotation of the
coupled together cam members 42, 44 and cams 42a, 42b, 44a. The worm gear 40
and cam
members 42-44 may be made as separate pieces and keyed or otherwise fixed
together to rotate
in unison or they may be keyed to the leg shaft and the leg shaft rotated on
the frame 12. There
may be three separate cam members instead of two or all three cams could be
combined in a
single member with or without the worm gear 40. The three cams 42a, 42b, 44a
all rotate
together about the central axis 37a of leg shaft 37 but need not be so linked
or arranged.
[0025] The first cam member 42 is preferably captured between the first and
second plates
12a, 12b. The first cam 42a and second cam 42b are preferably disposed in a
stacked manner
with the first cam 42a atop the second cam 42b in the figures. The order of
the cams could be
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re~'er~ed~ lioweverTli'e frs't' c'amember 42 is situated within a channe134d
in the base
member 34 of each leg assembly 30. Referring generally to Figs. 3-16, the base
member 34 of
each assembly 30 is preferably pivotally engaged with the second plate 12b of
the frame 12 at a
pivot 35 (see Figs. 10-16) and further coupled to the frame 12 by the leg
shaft 37 which passes
through a generally arcuate slot 34c (best seen in Figs. 10-11, 13 and 15) in
the bottom of the
base member 34, and which is offset from the pivot 35. Coupled to the frame 12
in this
manner, the base member 34 pivots horizontally forward and rearward (with
respect to the
longitudinal direction of the frame 12 and device 10) about the pivot 35 and
its central axis 35a
by rotational motion of the first and second cams 42a, 42b within the channel
34d of the base
member 34.
[0026] Specifically, motion of the base member 34 is accomplished as depicted
in Figs. 6-
15. The first cam 42a of first cam member 42 is fully depicted in each of
Figs. 6-9. The second
cam 42b of the first cam member 42 is fully depicted in Figs. 10-15 together
with a portion of a
web or spacer 42c which supports the first cam 42a over the second cam 42b.
The first cam
42a preferably interacts with a first follower surface 34a in the channe134d
of the base member
34 to pivot the base member 34 about the pivot 35 in a first, return direction
as shown in Figs.
6-9. The second cam 42b then preferably interacts with a second follower
surface 34b in the
channe134d of the base member 34 to pivot the base member 34 about the pivot
35 in a second,
propulsion direction opposite the first direction as shown in Figs. 10-15. The
forward-rearward
cycle is repeated as long as the worm gear 40 is driven. Preferably, the first
and second cams
42a, 42b of the first cam member 42 are oriented and configured so that motion
of the base
member 34 in the first, return direction begins immediately after motion in
the second
propulsion direction is completed and vice versa so that there is no
noticeable lag. However,
one or more of the base members 34 can be made to dwell, if desired,
particularly in the first,
return direction of the movement when the leg assembly will be elevated from
the surface
supporting the device 10, as will be described. Additionally, it is preferred
that the first and
second cams 42a, 42b are configured such that the base member 34 moves faster
(and thus for
less time) in the first, return (i.e., forward) direction when elevated than
it does in the second,
propulsion (i.e. rearward) direction, preferably approximately 25% of the
cycle time to move in
the first, return (i.e., forward) direction and approximately 75% of the time
in the opposite
second (i.e., rearward/propulsion) direction. Although this is preferred, it
is within the present
invention that the first and second cams 42a, 42b be configured differently to
vary the timing
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anWoT"tlie''di~recfiori {oiino~i'o:n o~fitliebase member 34, provided the
device 10 is still capable of
functioning as described herein.
[0027] Preferably each leg member 32 is pivotably attached to the base member
34 by a
generally horizontal pivot shaft 36 to rotate or more particularly pivot about
its central axis 36a.
Preferably, each leg member 32 is biased in an upward direction by a bias
member, such as a
linear tension spring 46 (Fig. 16) or a torsional spring (not depicted)
centered about the pivot
shaft 36 between the leg member 32 and the base member 34, or another type of
spring or
spring member or elastomeric member (none depicted) disposed between the leg
member 32
and the base meinber 34 or between the leg member 32 and a portion of the
frame 12.
Referring to Figs. 2, 4, 5 and 16, the second cam member 44 and its third cam
44a interact with
a follower 32a operably associated with the leg member 32. The follower 32a
may be a roller
or wheel as depicted or merely a surface. The second cam member 44 and third
cam 44a
function to maintain the leg member 32 in a lowered position (against the bias
of the spring 46)
while the base member 34 moves in the second direction and allows the leg
member 32 to pivot
about the pivot shaft 36 to a raised position (with the bias of the spring 46)
while the base
member 34 moves in the first, return direction. By coordinating the vertical
and horizontal
pivoting motion of each leg member 32 in this way, the first, second and third
cams 42a, 42b
and 44a, function to move the leg member 32 in a cyclic walking motion
depicted in Fig. 17.
[0028] The horizontal, forward/rearward movements generated by the first and
second cams
42a, 42b are illustrated in Fig 17 where the center leg member32 is depicted
in solid half way
through a forward horizontal movement in the first (return) direction between
points I and II.
The rearward horizontal movement in a second propulsion direction (opposite
the first) occurs
between points III and IV. Also illustrated in Fig. 17 are vertical movements,
a downward
movement between points II and III and an upward movement between points IV
and I, caused
by the third cam 44a. The pivot 35 and shaft 36 and their central axes 35a,
36a are at least
generally transverse to one another to provide two degrees of freedom of
rotation to each leg
member 35 and are preferably at least essentially perpendicular to one another
to maximize the
two degrees of freedom of movement to each leg assembly to permit the two
dimensional
movement of the leg members 32 in a generally vertical, longitudinal extending
plane that is
illustrated in Fig. 17. In this way, each of the leg members 32 is actuated by
the drive
mechanism 13 to rotate about the first and second axes 35a, 36a in the like,
predetermined
repeatable cycle of movements depicted in Fig. 17.
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[0620f "Refe'rrin~glo Fig's':'~'1"8' first, second and third cam 42a, 42b and
44a of the leg
assemblies 30 are preferably configured such that the phase of the cyclic
movement of each of
the leg members on a lateral side are varied from one another such that only
one of the three leg
members 32 on each side of the toy device 10 is lifted from the travel surface
at any given time.
That is, only one leg member 32 on each side is in the raised position and
pivoting in the first,
return (forward) direction at a time while the other two leg members 32 of
each side are in the
lowered position and pivoting in the second (rearward) direction to impart
forward motion to
the toy device 10. In particular, the three legs in the foreground on the
lateral side 10a of
device 10 are raised and moved in the first, return direction one at a time
from the leftmost leg
member to the rightmost leg member. It can be further seen that the remaining
three legs in the
background on the opposite lateral side (10b) of the device 10 are similarly
being raised and
moved in the rearward direction from the leftmost to the rightmost leg member
30 (as viewed in
the figure) but are displaced by a partial cycle from the leg members in the
foreground. In this
way, a sufficient member of the leg members 32 are in contact with the surface
S to at all times
support the toy device 10 in an upright manner illustrated and to produce an
anatomic-like gait
of the device 10 on the surface S upon actuation.
[0030] It is noted that the just described motion of the leg members 32 occurs
only when
both motors 14 are driven in a rotary direction causing "forward" movement of
the device 10.
When both of the motors 14 are driven in an opposite rotary direction causing
"rearward"
movement, the cyclic motion of the leg members 32 is reversed as is the
direction of the cycle
of each leg member 32 illustrated in Fig. 17. Turning of the toy device 10 can
be accomplished
by driving one of the motors 14 in a forward-motion rotary direction and the
other of the
motors 14 in the rearward-motion rotary direction or by driving only one of
the motors 14 or by
driving both motors 14 but at different speeds.
[0031] It will be appreciated by those skilled in the art that changes could
be made to the
embodiment described above without departing from the broad inventive concept
thereof. In
one important aspect of the invention, as few as a pair of the leg assemblies
on opposite sides of
the toy device could be used to propel the toy device. Two leg assemblies also
could be used to
support or at least partially support the toy device. For example, the distal,
surface contacting
end of each leg could be provided with a member or surface that resists
rearward motion while
permitting forward motion. This would permit each leg to be moved from a
forward position to
a rearward position as described above and brought back to a forward position
without being
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ralse1fr~in tTi~e'suppor't surfa{'c'e'"int'a's~uffling or sliding movement.
Alternatively or in
addition, each leg could be pivoted slightly downwardly at the end of its
rearward movement to
momentarily tilt the toy device away from that side before the leg is slightly
raised from the
surface and returned to a forward position. Thus a chassis with one or more
support wheels or
equivalents such as castors or skids could be provided and the leg assemblies
used only for
propulsion or propulsion and partial support. Four leg assemblies could be
used to mimic four-
legged creatures (e.g., mammals, amphibians, and reptiles) while eight leg
assemblies can be
used to mimic arachnids.
[0032] The toy device 10 is conventionally powered by an on-board power
source, such as
a battery, or battery pack (not shown). Furthermore, it is preferred that the
toy device 10 have
conventional remote control electronics (not shown) for example mounted on a
circuit board
22 (see Fig. 18) and including conventional radio receiver, microprocessor and
appropriate
motor control circuits (none depicted) to be remotely controlled by a user
using a generally
conventional remote control device (not shown) spaced from the toy device 10.
[0033] While remote control of the toy device is preferred, it will be
appreciated that the
toy device can be factory preprogrammed to perform a predetermined movement or
series of
movements or can be configured to be selectively programmed by a user to
create such
predetermined movement(s). Alternatively or in addition, the toy device can be
equipped with
sensors, e.g., switches, proximity detectors, etc., that will control the toy
device to turn away
from or reverse itself automatically from whatever direction it was moving in
if or when an
obstacle is contacted or otherwise sensed.
[0034] Furthermore, while two, independently operative, reversible electric
motors are
preferred, the toy device could easily be propelled by a single motor in a
conventional fashion
where one of the drive trains on one side of the toy device is in continuously
engages the motor
with the leg assemblies on one side of the toy device and the other leg
assemblies are connected
to the motor through an additional throw-out gear and idler, which maintain
the output of the
drive reaching the other leg assemblies in the same rotational direction
regardless of the
rotational direction of the motor. This arrangement is sometimes referred to
as J-drive.
[0035] It is understood, therefore, that this invention is not limited to the
particular
embodiment disclosed, but it is intended to cover modifications within the
spirit and scope of
the present invention.
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