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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.
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公开(公告)号：US20160016088A1
公开(公告)日：2016-01-21
申请号：US14775682
申请日：2014-03-14
申请人： Brian M. WHITE
发明人： Brian M. White
摘要： A toy simulating a walking or crawling creature comprising, a drive wheel assembly with at least a drive wheel, and a plurality of shafts that are eccentrically configured with respect to the main rotational axis of the drive wheel. A plurality of limbs are loosely coupled to said drive wheel through the plurality of shafts. The joint end of a limb is loosely coupled to a shaft so the limb can freely pivot around the shaft. A pair of left and right limbs coupled to a shaft further comprise at least a rotation stop that reciprocally restrain the rotational movement of the paired limbs. The terminal tip ends of limbs extend outward and downward to make contact with a surface continuously or temporarily through a rotation cycle of the drive wheel assembly. The limbs slide linearly and reciprocally on a surface as the drive wheel assembly is rotated.
摘要翻译： 一种模拟步行或爬行动物的玩具，包括至少具有驱动轮的驱动轮组件和相对于所述驱动轮的主旋转轴线偏心配置的多个轴。 多个肢体通过多个轴松动地联接到所述驱动轮。 肢体的关节端松散地联接到轴上，使得肢体可以绕轴自由地枢转。 耦合到轴的一对左和右肢还包括至少一个可相互限制所述成对的肢体的旋转运动的旋转止动件。 四肢的末端末端向外和向下延伸，以通过驱动轮组件的旋转周期连续或临时地与表面接触。 当驱动轮组件旋转时，四肢在一个表面上线性地并且平行地滑动。
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公开(公告)号：US20150217202A1
公开(公告)日：2015-08-06
申请号：US14609676
申请日：2015-01-30
发明人： Ryota Morikawa , Takayuki Takano
IPC分类号： A63H11/18
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。
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公开(公告)号：US08500512B2
公开(公告)日：2013-08-06
申请号：US13565962
申请日：2012-08-03
申请人： Michael G. Hoeting
发明人： Michael G. Hoeting
IPC分类号： A63H13/00
摘要： A motorized doll includes an upper body portion and a lower body portion. The upper body portion may include a torso and a pair of arms. The lower body portion may include a pelvis connected to the torso at a universal joint, a pair of legs, and a pair of feet rotatable with respect to the legs. The doll is actuated to walk by a torso motor which drives the torso to tilt and rotate about the universal joint, which causes the doll to shift from foot to foot and repeatedly rotate forwards in a realistic walking motion. The doll includes a shoulder motor for rotating the pair of arms and a pelvis motor for driving the legs between a standing position and one of a crawling position or sitting position depending on the position of the pair of arms when the doll is tipped forward.
摘要翻译： 电动娃娃包括上身部和下身部。 上身部分可以包括躯干和一对臂。 下身部分可以包括在万向接头处连接到躯干的骨盆，一对腿和相对于腿可旋转的一对脚。 该玩偶由一个躯干电机驱动，以驱动躯干以围绕万向接头倾斜和旋转，这使得玩偶从脚向脚移动并以现实的步行动作反复地向前旋转。 娃娃包括用于使一对手臂旋转的肩部电机和用于当玩偶向前倾斜时根据一对手臂的位置，在站立位置和爬行位置或坐姿位置之间驱动腿部的骨盆马达。
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公开(公告)号：US08371898B1
公开(公告)日：2013-02-12
申请号：US12830302
申请日：2010-07-03
申请人： John Sinisi
发明人： John Sinisi
IPC分类号： A63H33/40
摘要： A suction toy assembly and its method of operation. The suction toy assembly has a chassis. The chassis has a front end, a rear end, side surfaces and a base plate. A fan opening is formed through the base plate. A motorized fan is mounted to draw air through the fan opening from the surrounding area. This creates a low pressure condition under the base. A drive wheel is used to propel the assembly. A linkage element is coupled to the drive wheel. At least one extraneous element is provided that protrudes outwardly away from the chassis as a cantilever. The extraneous elements are articulated by movements of the linkage element when the drive wheel rotates, or the chassis moves. Appendages may be mounted on a flexible member to allow for the illusion of climbing.
摘要翻译： 抽吸玩具总成及其操作方法。 抽吸玩具组件具有底盘。 底盘具有前端，后端，侧面和底板。 通过基板形成风扇开口。 安装有电动风扇，以通过周围区域的风扇开口吸入空气。 这在底部产生低压条件。 驱动轮用于推动组件。 联动元件联接到驱动轮。 提供至少一个外来元件，其作为悬臂从外壳向外突出。 当驱动轮旋转或机架移动时，外来元件通过联动元件的运动来铰接。 附件可以安装在柔性构件上以允许攀登的错觉。
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公开(公告)号：US20100216370A1
公开(公告)日：2010-08-26
申请号：US12700838
申请日：2010-02-05
申请人： Michael G. Hoeting
发明人： Michael G. Hoeting
IPC分类号： A63H13/00
摘要： A motorized doll includes an upper body portion and a lower body portion. The upper body portion may include a torso and a pair of arms. The lower body portion may include a pelvis connected to the torso at a universal joint, a pair of legs, and a pair of feet rotatable with respect to the legs. The doll is actuated to walk by a torso motor which drives the torso to tilt and rotate about the universal joint, which causes the doll to shift from foot to foot and repeatedly rotate forwards in a realistic walking motion. The doll includes a shoulder motor for rotating the pair of arms and a pelvis motor for driving the legs between a standing position and one of a crawling position or sitting position depending on the position of the pair of arms when the doll is tipped forward.
摘要翻译： 电动娃娃包括上身部和下身部。 上身部分可以包括躯干和一对臂。 下身部分可以包括在万向接头处连接到躯干的骨盆，一对腿和相对于腿可旋转的一对脚。 该玩偶由一个躯干电机驱动，以驱动躯干以围绕万向接头倾斜和旋转，这使得玩偶从脚向脚移动并以现实的步行动作反复地向前旋转。 娃娃包括用于使一对手臂旋转的肩部电机和用于当玩偶向前倾斜时根据一对手臂的位置，在站立位置和爬行位置或坐姿位置之间驱动腿部的骨盆马达。
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公开(公告)号：US06500044B1
公开(公告)日：2002-12-31
申请号：US10160013
申请日：2002-06-04
申请人： Tadashi Sasuga , Shigeru Kanauchi
发明人： Tadashi Sasuga , Shigeru Kanauchi
IPC分类号： A63H1100
CPC分类号： A63H11/18
摘要： A running toy capable of running stably regardless of a state of a floor, a road or the like. The running toy comprises: right and left leg parts provided so as to rotate forward and backward on a first horizontal axis; right and left rotating members provided so as to rotate on a second horizontal axis; a motor for driving the rotating members, wherein the leg parts engage with the rotating members at eccentric positions respectively, phases at the eccentric positions are different from each other, and the leg parts rotate forward and backward according as the rotating members rotate; and right and left grips provided at soles of the leg parts respectively, so as to be projected from and retracted in the soles respectively, and so as to be projected from the soles when the leg parts rotate from forward positions to backward positions respectively.
摘要翻译： 无论地板，道路等的状态如何，能够稳定地运行的跑步玩具。 跑步玩具包括：右腿部分和左腿部分，其设置成在第一水平轴线上向前和向后旋转; 右旋转构件和左旋转构件设置成在第二水平轴线上旋转; 用于驱动旋转构件的马达，其中腿部分别在偏心位置处与旋转构件接合，偏心位置处的相位彼此不同，并且腿部部件根据旋转构件旋转而向前和向后旋转; 以及分别设置在脚部的鞋底处的左右手柄，以分别从脚底突出并收缩，并且当腿部部件分别从前进位置向后方位置旋转时从脚底突出。
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公开(公告)号：US06478652B1
公开(公告)日：2002-11-12
申请号：US09700503
申请日：2001-02-12
IPC分类号： A63H700
CPC分类号： B62D57/032 , A63H11/18 , B25J9/1075
摘要： A two-legged body includes at least two legs, and oscillation element and connecting element for the mutual coupling of the legs and the oscillation element, wherein the legs are pivotable in relation to the connecting element and during operation undergo a reciprocating angular displacement in relation to the connecting element, depending on the oscillation element. The oscillation element includes at least two springs for the generation of antagonistic forces, which springs each are coupled at one side with a leg, and together with the mass present in the body they are able to form a vibrating mass-spring system. The spring stiffness of at least one spring is adjustable.
摘要翻译： 双腿主体包括至少两个腿部，以及用于腿和振动元件的相互联接的振动元件和连接元件，其中腿可相对于连接元件枢转，并且在操作期间经历相对于往复角度位移 根据振动元件到连接元件。 振动元件包括至少两个用于产生对抗力的弹簧，这些弹簧各自在一侧与腿连接，并且与身体中存在的质量一起形成振动质量弹簧系统。 至少一个弹簧的弹簧刚度是可调节的。
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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。
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公开(公告)号：US4467555A
公开(公告)日：1984-08-28
申请号：US348863
申请日：1982-02-16
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。
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