公开(公告)号：US11833688B2

公开(公告)日：2023-12-05

申请号：US16956676

申请日：2019-01-07

申请人： PETOI, LLC

发明人： Rongzhong Li

IPC分类号： B25J9/16 ,  B25J9/00 ,  B25J9/12 ,  B25J11/00 ,  B25J13/08 ,  B25J19/00 ,  B62D57/032 ,  A63H11/18 ,  A63H11/20

CPC分类号： B25J9/1664 ,  A63H11/18 ,  A63H11/20 ,  B25J9/0009 ,  B25J9/126 ,  B25J9/161 ,  B25J9/1653 ,  B25J9/1697 ,  B25J11/003 ,  B25J11/0005 ,  B25J13/085 ,  B25J19/0016 ,  B62D57/032 ,  G05B2219/45083

摘要： Legged robots and methods for controlling legged robots are disclosed. In some examples, a mobile robot includes a frame, legs, and a control system. The mobile robot includes, for each leg, a motor coupled to the frame, the motor comprising a motor arm and a spring attachment point, the motor being configured to rotate the motor arm and the spring attachment point. The mobile robot includes, for each leg, a spring coupled to the spring attachment point of the motor and the leg, wherein the leg includes a track shaped to receive the motor arm, and wherein the leg is coupled to the spring such that the motor arm is within the track. The control system is configured, e.g., by virtue of appropriate programming, to control the motors to cause the mobile robot to move.

公开(公告)号：US20150217202A1

公开(公告)日：2015-08-06

申请号：US14609676

申请日：2015-01-30

申请人： MD Works Company Limited

发明人： Ryota Morikawa ,  Takayuki Takano

IPC分类号： A63H11/18

CPC分类号： A63H11/18 ,  A63H29/04 ,  A63H29/22 ,  A63H31/08

摘要： A walking toy includes a body on which gravity center position adjusting members and paired legs are supported to be able to swing in a forward/backward direction, and a gearbox which has a crank mechanism for forcibly swinging the paired legs alternately forward and backward in a forcible swinging direction and which is mounted in the body. Each of the paired legs has a bottom which is configured to be in contact with a floor surface and which is formed into a curved face curved in the forcible swinging direction. The gearbox is driven by a torsion coil spring and has a lever which rotates a drive gear of a gear train for transmitting rotation of the torsion coil spring to an output shaft for rotating the crank mechanism.

摘要翻译： 行走式玩具包括：主体，重心位置调整部件和成对的支腿能够向前后方向摆动的主体;以及齿轮箱，其具有用于将所述成对的腿部交替地前后倒转的曲柄机构， 强制摆动方向安装在车身上。 每对成对的腿部具有被配置为与地板表面接触并且被形成为以强制摆动方向弯曲的弯曲面的底部。 齿轮箱由扭力螺旋弹簧驱动，并具有使齿轮系的驱动齿轮旋转以将扭转螺旋弹簧的旋转传递到用于旋转曲柄机构的输出轴的杆。

公开(公告)号：US20050233675A1

公开(公告)日：2005-10-20

申请号：US11152493

申请日：2005-06-13

申请人： Jon Marine ,  Tara McGrath ,  Joyce Mesch ,  Kevin Gray ,  Ok-Soo Choi

发明人： Jon Marine ,  Tara McGrath ,  Joyce Mesch ,  Kevin Gray ,  Ok-Soo Choi

IPC分类号： A63H3/20 ,  A63H3/28 ,  A63H11/18 ,  A63H3/00

CPC分类号： A63H3/20 ,  A63H3/28 ,  A63H2200/00

摘要： The present invention provides animated toys adapted to imitate multiple personas.

摘要翻译： 本发明提供了适于模仿多个人物角色的动画玩具。

公开(公告)号：US20050230159A1

公开(公告)日：2005-10-20

申请号：US11092747

申请日：2005-03-30

申请人： Leonid Maslov ,  Yonng Son ,  Joo-Young Kwak

发明人： Leonid Maslov ,  Yonng Son ,  Joo-Young Kwak

IPC分类号： B25J5/00 ,  A63H11/18 ,  B25J19/00 ,  B62D51/06

CPC分类号： B25J19/0091

摘要： Provided is an anthropomorphic robot having two legs and which is capable of walking upright. Each of the two legs has a foot which comprises an upper plate on which an ankle joint is installed and which is similar to a foot of a human, and a lower plate attached to a lower surface of the upper plate and having a plurality of contact portions which contact a ground and which are separated from one another.

摘要翻译： 提供了一种具有两条腿并且能够直立行走的拟人机器人。 两个腿中的每一个都具有脚，其包括上板，踝关节安装在其上并且类似于人的脚，下板附接到上板的下表面并且具有多个接触 接触地面并彼此分离的部分。

公开(公告)号：US5224896A

公开(公告)日：1993-07-06

申请号：US825153

申请日：1992-01-24

申请人： Rouben T. Terzian

发明人： Rouben T. Terzian

IPC分类号： A63H11/18

CPC分类号： A63H11/18

摘要： A motorized, self supporting ambulatory doll having pivoting foot or ankle, knee and hip joints with internal hidden parallelogram linkages driving the legs in a realistic articulation as the doll walks or jogs. In addition, the doll's torso, head and arms pivot in cooperation and synchronization with the movement of the legs to enhance the realism of the movement of the doll. Two speed operation of the doll provides for selective walking or jogging operation and electronic speech is coordinated with the selected speed.

摘要翻译： 具有旋转脚或脚踝，膝盖和髋关节的机动化，自支撑的卧床娃娃，内部隐藏的平行四边形连杆，当玩偶走动或慢跑时，以现实的关节度驱动腿部。 另外，娃娃的躯干，头臂和手臂枢轴与腿的运动同步，增强了娃娃运动的现实感。 娃娃的两速操作提供选择性步行或慢跑操作，电子语音与所选择的速度协调。

公开(公告)号：US4820232A

公开(公告)日：1989-04-11

申请号：US196683

申请日：1988-05-20

申请人： Hajime Takahashi ,  Eiichi Maeda

发明人： Hajime Takahashi ,  Eiichi Maeda

IPC分类号： A63H29/22 ,  A63H3/28 ,  A63H3/31 ,  A63H11/18 ,  A63H11/20 ,  A63H13/02 ,  A63H31/08 ,  A63H33/40 ,  A63H3/22

CPC分类号： A63H3/28 ,  A63H11/20

摘要： A voice making device for a moving animal toy, wherein an air is drawn in by a fan through air suction slits and delivered to a voice generating member with a vibrating piece through an air flow controlling cock, and the air suction slits are opened and closed by communication holes and blocking portions of an adjust plate, the cock and the adjust plate being actuated according to the motion of the moving animal toy. A moving animal toy using a voice making device, wherein a head, upper and lower jaws are mounted oscillatably and a voice making device is actuated by the indivisual motion of the head, upper and lower jaws to produce a sound with a specific tone.

摘要翻译： 一种用于移动动物玩具的制音装置，其中空气通过空气抽吸狭缝被风扇吸入，并通过气流控制旋塞被传送到具有振动片的声音产生部件，并且吸气狭缝被打开和关闭 通过调节板的连通孔和阻挡部分，根据移动的动物玩具的运动来致动旋塞和调节板。 一种使用声音制作装置的移动动物玩具，其中头部，上部和下部钳口可摆动地安装，并且通过头部，上部和下部钳口的独立运动来致动制音装置以产生具有特定音调的声音。

公开(公告)号：US4680022A

公开(公告)日：1987-07-14

申请号：US581424

申请日：1984-02-17

申请人： Shiro Hoshino ,  Bonpei Fujino

发明人： Shiro Hoshino ,  Bonpei Fujino

IPC分类号： A63H11/20 ,  A63H11/00 ,  A63H11/18 ,  A63H13/02

CPC分类号： A63H11/20 ,  Y10T74/18856 ,  Y10T74/20

摘要： A toy is constructed to include two unique linkages with the first linkage including a series of links located in a sequential array with each link pivotally connected to its next immediate adjacent neighbor and every other link operatively connected such that each link can pivot with respect to its neighbor and motion of a link pivotally connected to one side of a link is communicated to the link pivotally connected to the other side of that same link. This allows the linkage to propagate motion along the totality of the sequence in response to movement of any one link. The second linkage includes a first member which is pivotally connected to a rotating crank pin and connected at its upper end to a second lever which is pivotally connected to a body on which the crank pin rotates. A third member formed as a bell crank is pivotally connected at the junction of its arms to the other end of the first member and pivotally connected at the end of one of its arms to a fourth member which is also pivotally connected to the body. Movement of the crank pin causes movement of the first member which is transmitted to the remainder of the members with the lower end of the first member moving in a first small orbit and this motion being communicated to the lower end of the third member to move it in a larger orbit.

摘要翻译： 玩具被构造成包括两个独特的连杆，其中第一联动装置包括位于顺序阵列中的一系列连杆，每个连杆枢转地连接到其下一个紧邻的邻近物体，并且每个其他连杆可操作地连接，使得每个连杆可以相对于其 可枢转地连接到链节的一侧的连杆的相邻和运动被传递到枢转地连接到同一链节的另一侧的连杆。 这允许链接响应于任何一个链路的移动沿着序列的整体传播运动。 第二联动装置包括第一构件，该第一构件枢转地连接到旋转曲柄销并且在其上端连接到第二杆，第二杆枢转地连接到曲柄销旋转的主体。 形成为钟形曲柄的第三构件在其臂的接合处枢转地连接到第一构件的另一端，并且在其一个臂的端部处枢转地连接到也可枢转地连接到主体的第四构件。 曲柄销的运动引起第一构件的运动，第一构件的传递到构件的其余部分的第一构件的下端在第一小轨道中移动，并且该运动连通到第三构件的下端以使其移动 在较大的轨道上

公开(公告)号：US4614504A

公开(公告)日：1986-09-30

申请号：US755116

申请日：1985-07-15

申请人： Toshio Yamasaki

发明人： Toshio Yamasaki

IPC分类号： A63H11/18 ,  A63H13/06 ,  A63H33/00 ,  A63H3/22

CPC分类号： A63H13/06 ,  A63H11/20 ,  A63H33/003

摘要： A toy vehicle having a plurality of leg members driven by a motor, with a ramp at the rear end thereof positionable between a first position enabling loading of other vehicles thereon, and a second position for supporting the vehicle in an upright position, with actuation of the rear leg members engaging the supporting surface to rock the figure while motion of the other leg members simulate a boxing figure.

摘要翻译： 一种玩具车，具有由电动机驱动的多个腿部构件，其后端处的斜面位于能够在其上安装其他车辆的第一位置和用于将车辆支撑在直立位置的第二位置， 后腿构件接合支撑表面以摇摆图，同时其他腿构件的运动模拟拳击图。

公开(公告)号：US4576583A

公开(公告)日：1986-03-18

申请号：US654167

申请日：1984-09-24

申请人： Yosuke Yoneda

发明人： Yosuke Yoneda

IPC分类号： A63H11/10 ,  A63H11/00 ,  A63H11/18 ,  A63H11/20 ,  A63H17/00

CPC分类号： A63H17/004 ,  A63H11/20

摘要： A moving toy has a plurality of rotating elements located along opposite sides of its body. A motor is connected to these elements via a gear train so as to rotate the elements on the body. A plurality of sets of movable members each are capable of independently being connected to either the rotating elements or to both the rotating elements and the body. Each of the sets of the movable members when connected to the rotating elements are capable of moving the body in a unique manner which differs from the method of movement of any of the other of the sets of the members. The members can include eccentric rolling members, single walking members or compound walking members.

摘要翻译： 移动玩具具有沿其身体的相对侧定位的多个旋转元件。 马达通过齿轮系连接到这些元件上，以便将元件旋转到主体上。 多组可动构件能够独立地连接到旋转元件或旋转元件和主体。 当连接到旋转元件时，可移动构件的每一组能够以与组件中的另一组中的任何一个的移动方法不同的独特方式移动身体。 构件可以包括偏心滚动构件，单个行走构件或复合步行构件。

公开(公告)号：US4467555A

公开(公告)日：1984-08-28

申请号：US348863

申请日：1982-02-16

申请人： Rouben T. Terzian ,  Horst D. Herbstler ,  Walter J. Wozniak

发明人： Rouben T. Terzian ,  Horst D. Herbstler ,  Walter J. Wozniak

IPC分类号： A63H13/04 ,  A63H11/10 ,  A63H11/18 ,  A63H13/02 ,  A63H13/12 ,  A63H23/02

CPC分类号： A63H11/18 ,  A63H11/10 ,  A63H13/02 ,  A63H13/12

摘要： A doll that may be actuated to simulate a swimming, walking or kicking action includes a torso with a pair of arms rotatably mounted thereto. A head mounting member is pivotally mounted to the upper portion of the torso and a leg mounting structure is secured to the lower portion of the torso. A pair of legs are pivotally mounted on the leg mounting structure in a manner to allow independent rotation. A compound cam is rotatably mounted in the torso and includes a helical groove in which a pair of cam followers are positioned that are in turn secured to each of the legs. A third cam follower is positioned within the torso to engage an eccentric cam that is part of the compound cam. The third cam follower is mechanically connected to the head mounting member resulting in pivoting of the head. A flotation device is arranged to be engageable by the doll's arms for use in the swimming mode. The doll may also include a wheeled vehicle that supports the doll in a generally vertical orientation while allowing the legs of the doll to engage a surface such as a floor. Movement of the legs propels the doll and the wheeled vehicle over a surface.

摘要翻译： 可以被驱动以模拟游泳，步行或踢动作的玩偶包括具有可旋转地安装在其上的一对臂的躯干。 头部安装构件枢转地安装到躯干的上部，并且腿部安装结构固定到躯干的下部。 一对支腿以允许独立旋转的方式枢转地安装在腿部安装结构上。 复合凸轮可旋转地安装在躯干中，并且包括螺旋槽，一对凸轮从动件定位在该螺旋槽中，所述一对凸轮从动件又固定到每个腿部。 第三凸轮从动件定位在躯干内部以接合作为复合凸轮的一部分的偏心凸轮。 第三凸轮从动件机械连接到头部安装部件，导致头部的枢转。 浮选装置布置成可以由玩偶的手臂接合以用于游泳模式。 该玩偶还可以包括一个轮式车辆，它以大致垂直的方向支撑娃娃，同时允许玩偶的腿与诸如地板的表面接合。 腿的运动推动了玩偶和轮式车辆在一个表面上。