US3128575A

US3128575A - Toy robot and actuating means therefor

Info

Publication number: US3128575A
Application number: US3176A
Authority: US
Inventors: Stanetzki Lothar
Original assignee: MARKES AND CO
Current assignee: MARKES AND CO
Priority date: 1959-02-02
Filing date: 1960-01-18
Publication date: 1964-04-14
Anticipated expiration: 1981-04-14
Also published as: DE1193846B; GB917067A

Description

April 14, 1964 L. STANETZKI 3,123,575

TOY ROBOT AND ACTUATING MEANS THEREFOR Filed Jan. 18, 1960 4 Sheet-Sheet 1 Y JnvenIor:

M M. mf

pri 1964 L. STANETZKI 3, ,575

TOYROBOT AND ACTUATING MEANS THEREFOR Filed Jan. 18, 1960 4 Sheets-Shee t 2 fig. 4

Jnven/or:

April 14, 1964 1.. STANETZKI 3,128,575

TOY ROBOT AND ACTUATING MEANS THEREFOR Filed Jan. 18, 1960 4 Sheets-Sheet s Jnvenfor:

6 W9. M 0m April 14, 1964 STANETZKI 3,1285575 TOY ROBOT AND ACTUATING MEANS THEREFOR 7 Filed Jan. 18, 1960 4 Sheets-Sheet 4 Fig.8

Jn van for:

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United States Patent 3,128,575 TOY ROBOT AND ACTUATING MEANS THEREFQR Lothar Stanetzki, Bonn, Germany, assignor to Markes 8:

Co., Kommanditgesellschaft, Ludenscheid, Westphalia,

Germany Filed Jan. 18, 196i), Ser. No. 3,176 Claims priority, application Germany Feb. 2, 1959 9 Claims. (Cl. 46-120) The present invention relates to automatons in general, and more particularly to a toy robot which is combined with means for imparting thereto movements in imitation of human beings, animals or machines. The invention also relates to an actuating system which is releasably connectable with different types of automatons and is adapted to select and to thereupon bring about a single, two or more movements either simultaneously or in any desired sequence and for any desired length of time.

Toy robots in imitation of human or animal beings are known. However, a serious drawback of many presently utilized toys of this general character is that all movements which the toys are capable of performing must occur in a predetermined sequence, i.e. that the player cannot change the sequence of movements as he wishes. Consequently, the player rapidly loses his interest in the plaything because he knows that, with the exception of starting or arresting the movement, he cannot influence the actions performed by the toy.

An important object of the present invention is to provide an improved toy automaton which is constructed and assembled in such a way that the movements which it is adapted to perform are independent of each other and may be initiated either simultaneously or in any desired sequence which depends only upon the users choice.

Another object of the invention is to provide a toy robot whose limbs, trunk and eventually certain other component parts may perform a series of movements which may be initiated by direct control or by remote control but always entirely at the will of the operator who is not only free to select the sequence of various movements but may also repeat the same movement or movements at any desired intervals and for any desired periods of time. v

A further object of the instant invention is to provide a novel attachment for a toy robot of the above outlined characteristics which may be detached from one automaton and utilized for selecting and imparting movements to one or more additional automatons, i.e. which may be used alternately with a series of movable toys.

A concomitant object of the invention is to provide a toy automaton which, in addition to being practical as a plaything, may be called upon to perform useful work, such as advertising and the like.

An additional object of the present invention is to provide a toy robot which may be actuated by mechanical, fluid, electric or acoustic means.

With the above objects in view, the invention resides in the provision of a toy automaton or advertising autom-- aton which, when assuming the form of a mechanical man, is capable of performing a series of movements, such as walking, lifting of arms, moving the arms toward and away from each other, bending the upper body portion, and eventually a number of other movements. The visible component parts of the automaton are movable by individual drives which are installed in the body of the automaton and which preferably assume the form of gear trains or electric motor means. Owing to the fact that each movement is brought about by a separate drive, the movements are not interdependent but may be carried out whenever and as long as the respective drive is in operaice tion. For example, when the invention is embodied in a mechanical man which can perform, say, four different types of movements, the four drives may comprise four parallel driving shafts whose motion-receiving ends are disposed on the periphery of a circle to be selectively rotatable by an actuating and controlling system which may be attached to the automaton and comprises a coupling assembly connectable with one, two or more aforementioned driving shafts and which is also operatively connected with a motion generating member, such as a hand crank or the like. Thus, when the user operates the motion generating member, the coupling assembly transmits rotation to the selected driving shaft or shafts in the toy automaton and brings about a selected movement or two or more movements. For example, the mechanical man may be caused to walk or to run after an object, to bend in forward direction while picking up the object with its upper limbs, to straighten the body while lifting the object with its upper limbs, to load the object onto a toy wagon or the like, and to thereupon push the wagon to a selected point. The player may change, repeat or prolong the various movements at will merely by retaining the coupling assembly in a selected position or by either rapidly or less frequently shifting the coupling assembly into operative engagement with one or more different driving shafts in the toy automaton. When the latters drives consist of electric motors, the movements may be initiated and their sequence controlled through one or more electric cables of desired length.

When the toy is actuated by a series of mechanical drives and by a mechanical control system, the latter preferably utilizes a two-component flexible shaft for connecting the coupling assembly with the motion generating member. The flexible shaft may comprise a core or inner component which causes rotation of a selected driving shaft in the automaton, and a tubular outer component whose rotary movements may be utilized for shifting the coupling assembly into operative engagement with one, two or more selected driving shafts in the automaton. Thus, the two components of a single flexible shaft are capable of selecting and causing any of a large number of movements which the toy automaton is called upon to perform. The coupling assembly may comprise a coupling member provided with one or more rotary sliders which are angularly displaceable by the outer component of the flexible shaft, and a series of axially movable shaft members, each corresponding to and each alignable with one driving shaft in the toy automaton to be shifted by the slider into operative engagement with the driving shafts, whereupon the core of the flexible shaft brings about rotation of the shaft members in the coupling assembly to rotate each driving shaft which is connected to the latter.

Certain other features of the invention reside in the provision of specific drives which are adapted to cause different movements of the toy automaton without being connected with each other; in a novel arrangement of various drives in the body of the toy automaton in such manner that the drives occupy very little space; and in the provision of simple and reliable means for alternately connecting the motion generating member with the one or other component part of the flexible shaft.

The novel features which are considered as characteristic for the invention are set forth in particular in the appended claims. The invention itself, however, both as to its construction and its method of operation, together with additional objects and advantages thereof, will be best understood from the following detailed description of a specific embodiment when read in connection with the accompanying drawings, in which:

FIG. 1 is a schematic side elevational view of a toy 29 robot embodying my invention and represented in the form of a mechanical man, the idle position of the toy robot being shown in full lines, the broken lines indicating the position of lower limbs and upper limbs during walking and in fully lifted position, respectively;

16. 2 illustrates the toy robot in the view of FIG. 1 but with the main body portion or trunk bent in forward direction, the position of the upper limbs in their uppermost position being indicated in broken lines;

FIG. 3 is a top plan view of the toy robot in the erect position of FIG. 1 with the upper limbs extended in forward direction, the position of each upper limb in both extreme lateral positions being indicated in broken lines;

FIG. 4 is a vertical section through the toy robot in the plane of its upper limbs in hanging or idle position With the head removed and certain of its component parts broken away, this illustration showing the drive mechanisms mounted within the main body portion of the automaton;

FIG. 5 is a vertical section through the toy robot and through one of its shoes in a plane at right angles tothe plane of the section shown in FIG. 4, further showing one form of means for selectively initiating movements of the toy device;

FIG. 6 is a vertical section through another controlling and motion imparting means for the drive mechanisms shown in FIGS. 4 and 5;

FIG. 7 is a front elevational view of a coupling assembly forming part of the controlling means shown in FIG. 6 as seen in the direction of arrow A; and

FIG. 8 is a top plan view of the coupling assembly as seen in the direction of arrow B in FIG. 6.

Referring now in greater detail to the drawings, and first to FIG. 1, the broken lines indicate two of the four movements which the toy automaton or robot in the form of a mechanical man R is adapted to perform. As is shown in full lines, when in idle position the toy R maintains its lower limbs LL in alignment with each other while the upper limbs UL hang along the sides of the main body portion or trunk T. The upper limbs are swingable all the way into their uppermost positions UL but may be arrested at any point between the positions UL, UL, if desired. Each lower limb is swingable between the forward and rearward extreme or end positions LL, LL, respectively. The drive mechanisms which actually move the limbs between and into the indicated positions will be described in greater detail in connection with FIGS. 4 and 5.

FIG. 2 shows the toy R in forwardly bent or inclined position in which the trunk assumes the position T. The upper limbs are shown in a new position UL" which is intermediate the uppermost position UL and the lowermost position UL indicated in FIG. 1. Thus, the limbs of the toy robot R are swingable in the erect as well as in the bent or forwardly inclined position of the main body portion T. The head H is shown rigidly connected to the part T.

FIG. 3 illustrates the automaton R in the erect position of FIG. 1 but with the upper limbs outstretched in forward direction, i.e., in the position UL". The mechanism is capable of moving each upper limb outwardly and inwardly from the position UL", that is, into the positions ULA and ULB, respectively. The movements into the positions ULA, ULB may also be performed when the trunk is in the forwardly inclined position T of FIG. 2.

The four movements indicated in FIGS. 1 to 3, i.e., lifting or lowering of upper limbs, walking, bending of the trunk, and moving of upper limbs inwardly toward and outwardly away from each other, can be performed in any desired sequence; this enables the toy automaton to execute a series of orders by direct or remote control in a manner rather closely resembling that of a human being.

Referring now to FIGS. 4 and 5, there are shown four drive mechanisms, installed in the shell I of trunk T,

4 which cause the trunk and the limbs to execute the movements indicated in FIGS. 1 to 3. The upper arms 28a, 28b forming part of the upper limbs UL are articulately fixed to the upper part of the shell 1 in a manner to be described in greater detail hereinafter. The lower part of the hollow member 1 receives a hollow bearing block 4 which is formed with or carries a pair of aligned external

horizontal journals

3a, 3b. The inner side of the shell 1 carries a pair of horizontally aligned

journal bearings

2a, 2b for receiving the ends of

journals

3a, 3b, respectively, whereby the shell 1 is pivotable about the common axis of

members

3a, 3b to permit movements of the trunk into and between the positions T, T shown in FIGS. 1 and 2. The

journals

3a, 3b pivotably support the sleeve-like upper ends 9a, 9b of link-shaped leg members 5a, 5b, respectively. The lower ends of leg members 5a, 5b are pivotally mounted on

horizontal pins

10a, 10b carried by the open-bottomed shoes 7a, 7b, respectively. The lower limbs LL further comprise a pair of link-shaped stabilizing

members

6a, 6b which are parallel with and adjacent to the leg members 5a, 5b, respectively. The upper ends of stabilizing

links

6a, 6b are articulately connected to the block 4 by means of horizontal pins 6c which are parallel with the

journals

3a, 3b. Only the pin 6c of stabilizing member 6a is shown in FIG. 5. Two additional horizontal pins 6d connect the lower ends of stabilizing

members

6a, 6b with the shoes 7a, 7b, respectively (only the pin 6d of stabilizing member 6a being shown in FIG. 5 of the drawings). The upper side of each shoe is formed with a suitable cutout 7c which permits free passage of

parts

5a, 6a or 5b, 6b even when the latter are caused to pivot about their pivot axles in the shoes.

The block 4, the shoes 7a, 7b and the link-shaped pairs of members 5a6a, Sb-6b form a parallelogram which is best shown in FIG. 5 and which insures that the block 4 maintains its upright position with respect to the plane of the ground 8 regardless of whether the members 5a 6a and 5b-6b are caused to pivot about their upper or lower pivot axles. Thus, the block 4 may be moved toward and away from the plane of the ground 8 but does not change its position with respect to the vertical plane passing through the common axis of

journals

3a, 3b. The block 4 takes up all static and dynamic forces when the leg members 5a, 5b are set in motion.

The Walking movements of leg members 5a, 5b are initiated by a first drive which includes a gear 11 whose horizontal driving shaft 11a is rotatably mounted in the rear wall of the shell 1 (see FIG. 5) and is formed with a non-circular, e.g. square, blind bore 11b whose pur-.

pose will be described hereinafter. The gear 1 1 meshes with a larger pinion 12 which is mounted on a horizontal worm shaft 13a rot-atably carried by the block 4. The worm 13 on the shaft 1.3a meshes with a worm wheel 14 whose horizontal shaft 14a is rotatably mounted in the block 4. The axis of the shaft 14a is perpendicular to the axis of shaft 13a. The ends of the shaft 14a carry a pair of cranks 15a, k which are displaced through degrees with respect to each other and support crank pins 16a, 16b, respectively. The pins 16a, 16b are slidably received in closed cam slots 17a, 17b formed in the leg members 5a, 5b below their respective sleeves 9a, 9b. When the gear 11 is rotated, it causes the pinion 12, the worm 13 and the worm wheel 14 to rotate the shaft 14a with the

pins

16a, 1% whereby the leg members 5a, 5b describe a pendulum movement about the

journals

3a, 3b, respectively, to move the lower limbs between the positions LL, LL" shown in FIG. 1. This movement closely resembles the walk of a human being. Each of shoe members 7a, 7b contains a front wheel (only the front wheel 19a in member 701 being shown in FIG. 5) and a

rear wheel

18a, 1%, respectively. These wheels are mounted on horizontal axles 19c and rest on the ground 8. Each of the

rear wheels

18a, 18b carries a coaxial ratchet (only the ratchet 20a of the wheel 18a is shown in FIG. 5) which, in cooperation with a resilient pawl (see the member 21a in FIG. prevents rotation of the respective rear wheel in reanward direction. Thus, the simulated walking movement of leg members 5a, 5b brings about an advance of the toy R in forward direction. As mentioned hereinbefore, the link pairs Sir-6a and 5b6b form parts of a parallelogram which prevents any tilting of the block 4, i.e., the latter is maintained in upright position even if the leg members 5a, 5b pivot about the

journals

3a, 3b, respectively, when the toy performs a movement in forward direction.

The bending and unbending movements of the trunk T between the positions T, T' (FIGS. 1 and 2) are brought about by a second drive which comprises a worm 22 mounted on the driving worm shaft 22a. The rear end of the driving shaft 22a is formed with a non-circular, e.g. square, blind bore 22b and is rotatably supported in an opening of the rear wall forming part of the shell 1. The broken-away forward end of horizontal driving shaft 22a extends into a non-represented bearing formed in the front wall of the member 1. The driving shaft 22a is parallel with the driving shaft 11a of the gear 11 and its worm 22 meshes with a worm wheel 23 mounted on a horizontal shaft 23a which latter is supported by a pair of bearing brackets 1b of the shell 1. The worm wheel 23 meshes with a toothed segment 24 formed along one side and adjacent the upper edge of the block 4. The center of curvature of the segment -24 coincides with the common axis of

journals

3a, 3b; therefore, whenever the driving shaft 22a is rotated, the worm 22 and worm wheel 23 will bring about a pivotal movement of the shell 1 about the

journals

3a, 3b. The direction of such movement depends upon the direction in which the driving shaft 22a rotates, i.e., clockwise or anti-clockwise. Thus, any rotary movements of worm wheel 23 will bring about inclination of the trunk T from the position of FIG. 1 toward and into the full-line position T of FIG. 2, or vice versa.

The upper part of the shell 1 houses two additional drives which impart symmetrical movements to the upper limbs UL. One of the drives comprises a horizontal arm shaft 25 which is of non-circular, e.g., rectangular, crosssectional contour (see FIG. 5) and carries a pair of axially shi-

ftable slide blocks

26a, 26b. Each of

members

26a, 26b is formed with a longitudinal bore slidably but non-rotatably receiving the arm shaft "25. The outer sides of

slide blocks

26a, 26b are of cylindrical contour. As can be observed in FIG. 4, the shell 1 is formed with a pair of horizontally aligned

circular cutouts

27a, 27b for rotatably receiving the

shiftable slide blocks

26a, 26b, respectively, i.e., the arm shaft 25 is rotatable in the shell 1. The upper arms 28a, 28b are formed with hollow spherical end portions 28a, 28b, respectively, having lateral cutouts for the passage of the ends of arm shaft 25 and of the outer end portions of

slide blocks

26a, 26b, respectively. The spherical upper ends 28a, 28b of members 28a, 28b carry pivot pins 29a, 2% which are swingably connected to the ends of the arm shaft 25, i.e., the upper arms 28a, 28b and the entire upper limbs UL are pivotable about the members 2%, 2% toward and away from each other between the positions ULA, ULB shown in FIG. 3. The axes of pins 29a, 2% normally are parallel with the axes of driving

shafts

11a and 22a.

The central portion of the arm shaft 25 is non-rotatably connected with a gear 30 which meshes with a worm 31 mounted on the driving worm shaft 31a, the latter being parallel with the driving

shafts

11a, 22a (see FIG. 5). The rear end of the driving shaft 31a is formed with a non-circular e.g. square, blind bore 31b and is mounted in the rear wall of the shell 1. The forward end of the horizontal driving member 31a is rotatably received in a bearing |1c formed at the inner side of the front wall forming part of the shell 1. When the driving shaft 31a is rotated, it causes rotation of the gear 30 and of the arm shaft 25 whereby the latter moves the upper limbs between the positions UL and UL shown in FIG. 1.

Simultaneous lateral movements of both upper limbs between the positions ULA, ULB of FIG. 3 may be brought about as follows: The outer ends of

slide blocks

26a, 26b are formed with

extensions

26a, 26b, respectively. These extensions have closed vertical slots 32a, 32b for the pins 33a, 33b, respectively. The pins 33a, 33b are mounted in the spherical end portions 28a, 28b of members 28a, 28b and are parallel with the pins 29a, 2912, respectively. When the upper limbs are parallel with each other, the pins 33a, 33b are received in the central portions of slots 32a, 3217, respectively. The distance between the

pins

29a, 29b and 33a, 33b is comparatively small, with the latter located below the pins 29a, 2% when the upper limbs UL hang along the sides of the main body portion or trunk T. When the

slide blocks

26a, 26b are moved outwardly and away from each other, i.e., away from the gear the

respective extensions

26a, 26b cause the pins 33a, 33b to pivot the upper limbs about the

pins

29a, 29b and into the positions ULA (FIG. 3). When the

slide blocks

26a, 26b move along the arm shaft 25 in a direction toward each other, the pins 33a, 33b pivot the upper limbs into the position ULB. Thus, the pins 33a, 33b act as eccentrics whenever the slide blocks 26a, 2612 are shifted toward or away from each other.

The uniformity of movements performed in mirror reverse by the upper limbs UL is brought about by a novel drive which includes a worm 34 mounted on a horizontal driving worm shaft 34a. The non-represented rear end of the driving shaft 34a is formed with a non-circular bore (similar to bores 11b, 22b and 31b) and is rotatably received in the rear wall of the shell 1. The latters forward or front wall is formed with a hearing In which receives the front end of the driving shaft 34a (see FIG. 5). The worm 34 meshes with an idler gear 35 whose smaller-diameter companion gear 35a meshes with a gear 36 mounted on a further worm shaft 37. The shaft 35b of

speed reducing gears

35, 35a is mounted in bearing brackets 1d forming part of or carried by the shell 1. Similar brackets 1e support the ends of the worm shaft 37. The latter carries a pair of worms 38a, 38b whose threads are inclined in opposing directions. The threads of worms 38a, 38b mesh with internal threads formed in the lower ends of two entraining members 39a, 3%, respectively. The slide blocks 26a, 26b are formed with reduced neck zones 2621 which extends into the recesses or spaces 39s between the bifurcated upper end portions of entraining

members

39a, 39b.

When the worm 34 is rotated by its driving shaft 34a, the

gears

35, 35a and 36 rotate the shaft 37 of Worms 38a, 38b whereby the entraining

members

39a, 39b are caused to move toward or away from each other, depending upon whether the driving shaft 34a is rotated in clockwise or anticlockwise direction. The members 39a, 3% entrain the

slide blocks

26a, 26b along the arm shaft 25 and bring about the afore-described movements of upper limbs between and into the position ULA, ULB. As will be readily understood by referring to FIGS. 4 and 5, the rotary movements of arm shaft 25 under the action of gear 30 and driving shaft 31a are independent of the shifting movements performed by the

blocks

26a, 26b under the action of the driving shaft 34a. Thus, the upper limbs may be moved toward and away from each other regardless of the momentary angular position of the arm shaft 25, or vice versa.

It will be noted that the various drives for imparting four different types of movements to the trunk and limbs of the toy automaton can be readily accommodated in the interior of the shell 1 in a space-saving manner. The axes of all four parts which actually initiate the movements, namely, the driving shaft 11a of gear 11 (walking), the driving shaft 22a of worm 22 (forward bending and return movements of the trunk T in upright position),

the driving shaft 31a of worm 31 (raising and lowering of the upper limbs UL), and the driving shaft 34a of worm 34 (movements of the upper limbs UL toward and away from each other), are parallel with each other and their rear ends are disposed on the periphery of a com mon circle C which is illustrated in broken lines in FIG. 4. The driving energy which brings about rotation of driving

shafts

11a, 22a, 31a and 34a may be delivered to these parts by a preferably detachable actuating and control system ACS which is illustrated in FIG. 6. The above-described arrangement of driving

shafts

11a, 22a, 31a and 34a facilitates convenient coupling of the system ACS with the shell 1 when the toy automaton is in actual use. The coupling or uncoupling of the system ACS with a selected drive mechanism in the shell 1 is brought about by non-circular ends or studs parallel shaft members which are extendable into the non-circular blind bores 11b, 22b, 31b and the non-circular bore of the driving shaft 34a.

The actuating and control system ACS comprises a handgrip member 40, a flexible motion-transmitting shaft 41, and a coupling assembly 42. For example, the length of flexible shaft 41 may be in the range of 3 feet or thereabouts. It will be noted that the median portion of this shaft is broken away in the view of FIG. 6.

The handgrip member 40 comprises means for generating mechanical driving energy and for transmitting such energy to the components of the flexible shaft 41. The hollow housing 40a of this handgrip member rotatably supports a rigid shaft 43 which is axially shiftable when finger pressure is applied against its button-shaped trunnion 47 which mounts one end of the member 43 in the housing 40a. A helical expansion spring 48 acts between the forward wall of the housing 40a and an annular collar 43a on the shaft 43 whereby the latter is constantly biased into the position of FIG. 6 in which the button or trunnion 47 projects rearwardly and from the housing 40a. The rigid shaft 43 carries a coaxial pinion 44 which meshes with a crown wheel 45 whose crank shaft 45a is perpendicular to the axis of shaft 43 and is rotatably mounted in the housing 40a of the handgrip member 40. The crank shaft 45a is rotatable by an external motion generating member of crank 46 which comprises a knob 46a.

Parts

44, 45 constitute a reducing gear train between the

shafts

43, 45a.

The rigid shaft 43 further rigidly supports a coaxial gear 49 which is normally in mesh with a gear 50; the latters cylindrical hub 50a is rotatably mounted in an internal bearing 40b of the housing 40a and is nonrotatably fixed to the rear end of a flexible cable-like core 52 constituting the inner component of the shaft 41. The tubular outer component 53 of flexible shaft 41 is connected with a gear 51 which is coaxial with the gear 50 and is formed With a sleeve 51a rotatably received in the bearing 400 of the housing 49a. The gear 51 meshes with the gear 49 of rigid shaft 43 when the latter is axially shifted against the bias of resilient means 48. It is advisable to manufacture the

components

52, 53 of flexible shaft 41 in such a way that they are free of torsional stresses.

The above described mechanism in the handgrip member 40 enables an operator to selectively transmit rotational energy generated by the crank 46 either to the gear 50 and hence to the inner component 52, or to the gear 51 and through the latter to the outer component 53 of the flexible shaft 41. Thus, by axially moving the shaft 43 upon application of finger pressure against the button 47, the user is in a position to rotate the outer component 53 whereas, when the shaft 43 is retracted under the bias of the constantly acting spring 48, a rotation of hand crank 46 will bring about rotation of the core 52. The rotating outer component 53 enables the user to select any of the four movements which the toy robot R should perform, While the inner component 52,

8: when rotated by the hand crank 46, brings about the desired movement.

The coupling assembly 42 comprises a circular boxshaped container 54 whose rear side (the right-hand side in FIG. 6) rotatably supports a coaxial coupling member 55 which is fixed to the forward end of and is rotatable by the outer component or tube 53 of flexible shaft 41. The coupling member 55 comprises a radial slider 56 which is constantly biased (the biasing means not shown) into frictional contact with the rear side of the box 54. When the tube 53 rotates the coupling member 55, the slider 56 circles along the periphery of a circle whose diameter equals the diameter of the circle C shown in FIG. 4.

The box 54 houses four

parallel shaft members

58a, 58b, 58c and 58d for the

gears

57a, 57b, 57c, and 57d, respectively. The ends of shaft members 58a-58d are disposed on the periphery of a common circle (see FIG. 7) whose diameter also equals the diameter of the circle C. The shaft members 58a-5Sd are constantly biased by springs 59a, 59b, 59c and 59d in a direction to move the rear ends of these members through suitable openings in the rear wall of the box 54; The forward ends of shaft members 58a-58d are of non-circular, i.e., square, cross-sectional contour and may be moved by the action of the slider 56 forwardly and beyond the front wall of the box 54.

The forward end of the inner component or core 52 of the flexible shaft 41 is coaxially connected with a driver gear 60 whose width is such that it remains in permanent mesh with the gears 57a-57d regardless of the latters axial position. Thus, when the core 52 rotates, the driver gear 60 will cause rotation of gears 57a-57d whereby the selected forward end of one of the shaft members 58a-58d transmits such rotary movement to the corresponding drive in the shell 1.

It will be noted that FIG. 6 illustrates the slider 56 in contact with the rear end 58a of the shaft member 58a whereby the latters non-circular forward end 58a" projects forwardly beyond the front plate of the coupling box 54; The forward end 58a" may enter the blind bore 31b of the driving shaft 31a and, through the worm wheel 30, brings about movements of the upper limbs into and between the positions UL and UL whenever the crank 46 rotates the inner component 52 of the flexible shaft 41. The operator may move any one of shaft members 58a58d into motion-transmitting engagement with a selected driving shaft in the shell 1. All that is necessary is to depress the button 47 whereby the gear 49 moves into mesh with the gear 51 and may rotate the tube 53. The rotation of tube 53 may be arrested when the slider 56 is moved into a position to engage and depress a selected shaft member in the box 54 whereupon, by releasing the button 47, the operator retains the selected one of shaft members 58a-58d in forwardly moved or motion-transmitting position. As is shown in FIG. 8, the slider 56 is preferably formed with a conical end portion which engages and depresses the slightly rounded rear ends of shaft members 5811-58d when the slider 56 circles along the rear end wall of the box 54. FIG. 6 shows the shaft member 580 in retracted position in which the rear end 580 projects into the path of the slider 56 and the noncircular forward end 580" is completely withdrawn into the box 54. Consequently, the rotation of gear 570 by the driver gear 60 cannot be transmitted to the driving shaft 11a in the shell 1. The shaft members 5%, 58d are used for transmitting rotary motion to the

driving shafts

34a, 22a, respectively. However, since the shaft members 58a-58d are equidistant from each other, each of these members may be utilized for transmitting rotation to any one of the driving

shafts

11a, 22a, 31a and 34a depending on the angular position of the box 54 with respect to the shell 1. The means for releasably connecting the box 54 with the rear wall of shell 1 is not shown in the drawings. For example,

such connection may comprise a plug-and-socket assembly of any known design as long as it insures axial alignment of shaft members 58a58b with the driving

shafts

11a, 22a, 31a and 34a. It will be readily understood that the coupling assembly 42 may selectively transmit motion to two, three, five or more driving shafts in the shell 1 as long as the ends of all such driving shafts are located on the periphery of a common circle C. The number of shaft members in the coupling box 54 is then reduced or increased accordingly.

The attachment ACS may operate the toy automaton R as follows:

In the first step, the operator selects a desired function which the toy should perform, eg the robot should lift and lower its upper limbs UL. The button or trunnion 47 is then depressed to connect the rigid shaft 43 with the tube 53 of the flexible shaft 41. By rotating the crank 46, the operator moves the slider 56 along the rear wall of the box 54 until the sliders head engages and depresses a selected shaft member in the box 54, i.e., the shaft member 58a. The forward end 58a" of this shaft member is expelled into the bore 31b of the driving shaft 31a whereupon the operator is free to release the button 47 as the arrested slider 56 maintains the shaft member 58a in the position of FIG. 6. It will be readily understood that a reducing gear drive may be provided between the rigid shaft 43 and tube 53 or between the tube 53 and coupling member 55 so that the latters speed is much less than the angular speed of the rigid shaft 43. Such reducing gear drive allows for very fine adjustments in the position of the slider 56. In addition, yieldable arresting or stop means, such as suitable leaf springs or the like, may be provided to releasably retain the slider 56 in engagement with a selected shaft member in the coupling box 54, if desired. Such yieldable stop means prevent unintentional disengagement of the slider 56 from a selected one of shaft members 58a58d when the toy is in actual use.

Having now operatively connected the driving shaft 31a with the shaft member 58a and hence with the driver gear 60, the operator rotates the crank 46 which latter then transmits rotation to the core 52 through the

parts

45a, 45, 44, 43, 49 and 50 in that order. The core 52 rotates the driver gear 60 and hence the gears 57a57d together with their shaft members 58a58d. The shaft member 58a imparts rotary motion to the driving shaft 31a which latter, through the Worm 31 and worm wheel 39, transmits rotation to the arm shaft 25. The rotating gears '7b57d are not connected with the driving

shafts

34a, 22a and 11a, and merely turn in the box 54. Depending upon the direction in which the crank 46 is rotated by an operator, the arm shaft 25 will either lift or lower the upper limbs UL. The rotation of driving

shafts

11a, 22a, 34a may be brought about in analogous manner, i.e., the operator again depresses the button 47 and moves the slider 56 into engagement with a selected shaft member in the coupling box 54 whereby the driver gear 60 is free to rotate the corresponding driving shaft in the shell 1 as soon as the button 47 is released.

In accordance with an important feature of this invention, the detachable actuating and control system ACS of FIG. 6 may be utilized for imparting movements to a number of toys different from the automaton shown in FIGS. 1 to 5. For example, the coupling assembly 42 may be releasably connected with a toy animal, a crane, a tank, or any other toy which is capable of performing a series of movements. In addition, it will be readily understood that the coupling member 55 may be equipped with two or more sliders corresponding to the part 56 so that the system ACS may simultaneously bring about two or more movements of the toy device which is momentarily connected therewith. Thus, if the system of FIG. 6 would utilize a second slider turned through 180 degrees with respect to the part 56, the shaft members 58a and 580 could be coupled with the driving shafts 31a,

11a at the same time so that the toy automaton R could walk and simultaneously lift and lower its upper limbs UL. Alternately, a pair of slidrs could simultaneously bring about bending of the trunk T and movements of upper limbs UL toward and away from each other. A number of other combined movements is possible merely by changing the angular position of one or more additional sliders.

According to a further feature of my invention, the drive mechanisms shown in FIGS. 4 and 5 may be replaced by electric drive means, such as suitable electric or fluid motors shown in FIG. 5, which may be mounted in the shell 1 and their operation controlled through one or more cables from a remote point. Moreover, the dimensions of the toy automaton may be increased sufficiently so that the device may be utilized as an advertising automaton in display windows of stores and like establishments. For example, by equipping it with a suitable electric or electro-acoustic actuating system, the advertising automaton could react to wireless oral instructions to distribute advertising literature, to answer questions and to perform a number of other functions. Two or more such functions may be performed simultaneously or in any desired sequence. Thus, in its broadest aspects, the invention contemplates the provision of a toy or an advertising automaton which houses suitable mechanical, hydraulic, pneumatic, electric or electro-acoustic drives and whose drives may be set in motion by direct or remote control, i.e., mechanically as shown in the drawings, by fluid impulses, by electric impulses through one or more cables, or by acoustic impulses, to bring about one, two or more movements either individually or in a selected sequence.

Without further analysis, the foregoing will so fully reveal the gist of the present invention that others can, by applying current knowledge, readily adapt it for various utilizations by retaining one or more of the features that, from the standpoint of prior art, fairly constitute essential characteristics of the generic and specific aspects of this invention and, therefore, such adaptations should and are intended to be comprehended within the meaning and range of equivalence of the following claims.

What is claimed as new and desired to be secured by Letters Patent is:

1. In an automaton, such as a toy robot, in combination, a main body portion including a shell having a front wall and a rear Wall; a block journalled in said shell; upper limbs articulately carried by said shell; lower limbs articulately connected to said block; first drive means operatively connected with said lower limbs for operating the same in such a way that the latter perform movements in imitation of the walk of a human being; second drive means operatively connected with said shell and with said block for pivoting the shell with respect to the block; third drive means for lifting and lowering the upper limbs with respect to said shell; fourth drive means for pivoting the upper limbs toward and away from each other, each of said drive means having a driving shaft rotatably mounted in said shell and each driving shaft having an exposed end rotatably mounted in the rear wall of said shell, the ends of said driving shafts having non-circular bore accessible from the outer side of said rear wall, all said driving shafts being parallel with each other and having their ends disposed on the periphery of a common circle; and control and actuating means releasably connectable with the rear wall of said shell and comprising means extendable into said bores for selectively initiating operation of the respective drive means.

2. In an automaton, such as a top robot, in combination, a main body portion including a shell having a front wall and a rear wall; a block journalled in said shell; upper limbs articulately carried by said shell; lower limbs articulately connected to said block; first drive means operatively connected with said lower limbs for operating the same in such a way that the latter perform movements in imitation of the walk of a human being; second drive means operatively connected with said shell and with said block for pivoting the shell with respect to the block; third drive means for lifting and lowering the upper limbs with respect to said shell; fourth drive means for pivoting the upper limbs toward and away from each other, each of said drive means comprising a driving shaft rotatably mounted in said shell and each driving shaft having an exposed end rotatably mounted in said rear wall, the ends of said driving shafts having non-circular bores accessible from the outer side of said rear Wall, all said driving shafts being parallel with each other and having their ends disposed on the periphery of a circle; and control and actuating means comprising a coupling assembly releasably connectable with said rear wall and including a plurality of parallel shaft members having non-circular ends each of which is shiftable into one of said bores, a flexible shaft having an inner and an outer component, means operatively connected with the outer component for shifting the ends of selected shaft members into the respective bores when the outer component rotates, means operatively connected with the inner component and with said shaft members for rotating the latter when the inner component rotates, rotary motion generating means, and means for alternately connecting said components with said rotary motion generating means whereby said motion generating means may be utilized for shifting the ends of selected shaft members into the bore of corresponding driving shafts and for thereupon rotating the driving shafts to thereby operate the respective drives.

3. In an automaton, such as a toy robot, in combination, a main body portion including a shell having a front wall and a rear wall; a block journalled in said shell; upper limbs articulately carried by said shell; lower limbs articulately connected to said block; first drive means operatively connected with said lower limbs for operating the same in such a manner that the latter perform movements in imitation of the walk of a human being; second drive means operatively connected with said shell and with said block for pivoting the shell with respect to the block; third drive means for lifting and lowering the upper limbs with respect to said shell; fourth drive means for pivoting the upper limbs toward and away from each other, each of said drive means having a driving shaft rotatably mounted in said shell and each driving shaft having an end rotatably mounted in said rear wall, the ends of said driving shafts having non-circular bores accessible from the outer side of said rear wall, all said driving shafts being parallel with each other and having their ends disposed on the periphery of a common circle; and control and actuating means comprising a coupling assembly releasably connectable with said rear wall and including a plurality of parallel shaft members having non-circular ends each of which is shiftable into a different one of said bores, gears mounted on said shaft members, a driver gear permanently meshing with each of said first men tioned gears, a flexible shaft having an inner component drivingly connected with said driver gear and a coaxial outer component, a coupling member connected with said outercomponent and adapted to consecutively shift said shaft members into the respective bores when the outer component rotates, rotary motion generating means, and means for alternately connecting said motion generating means with the components of said flexible shaft whereby the motion generating means may be utilized for shifting the non-circular ends of selected shaft members into the corresponding bores when connected with the outer component and for rotating the driving shafts engaged by the corresponding shaft members when connected with the inner component of said flexible shaft.

4. 'In an automaton, such as a toy robot, in combination, a main body portion including a shell having a front wall and a rear wall; a block journalled in said shell; upper limbs articulately carried by said shell; lower limbs articulately connected to said block; first drive means operatively connected with said lower limbs for operating the same in such a manner that the latter perform movements in imitation of the walk of a human being; second drive means operatively connected with said shell and with said block for pivoting the shell with respect to the block; third drive means for lifting and lowering the upper limbs with respect to said shell; fourth drive means for pivoting the upper limbs toward and away from each other, each of said drive means having a driving shaft rotatably mounted in said shell and each driving shaft having an end rotatably mounted in said rear wall, the ends of said driving shafts having non circular bores accessible from the outer side of said rear wall, all said driving shafts being parallel with each other and having their ends disposed on the periphery of a common circle; and control and actuating means comprising a coupling assembly releasably connectable with said rear wall and including a plurality of parallel shaft members having non-circular ends located on the periphery of a common circle whose diameter equals the diameter of said first mentioned circle whereby the non-circular end of each shaft member is movable into the bore of one of said driving shafts, gears mounted on said shaft members, a driver gear permanently meshing with each of said first mentioned gears, a flexible shaft having an inner component drivingly connected with said driver gear and a coaxial outer component, a coupling member connected with said outer component and adapted to consecutively shift said shaft members into the respective bores when the outer component rotates, rotary motion generating means, and means for alternately connecting said motion generating means with the components of said flexible shaft whereby the motion generating means may be utilized for shifting the non-circular ends of selected shaft members into the corresponding bores when connected with the outer component and for rotating the driving shafts engaged by the corresponding shaft members when connected with the inner component of said flexible shaft.

5. In an automaton, such as a toy robot, in combination, a main body portion including a shell having a front wall and a rear wall; a block journalled in said shell; upper limbs articulately carried by said shell; lower limbs articulately connected to said block; first drive means operatively connected with said lower limbs for operating the same in such a manner that the latter perform movements in imitation of the walk of a human being; second drive means operatively connected with said shell and with said block for pivoting the shell with respect to the block; third drive means for lifting and lowering the upper limbs with respect to said shell; fourth drive means for pivoting the upper limbs toward and away from each other, each of said drive means having a driving shaft rotatably mounted in said shell and each driving shaft having an end rotatably mounted in said rear wall, the ends of said driving shafts having noncircular bores accessible from the outer side of said rear wall, all said driving shafts being parallel with each other and having their ends disposed on the periphery of a common circle; and control and actuating means comprising a coupling assembly releasably connectable with said rear wall and including a plurality of parallel shaft members having non-circular ends, a container rotatably and axially shiftably mounting said shaft members in such manner that their ends are disposed on the periphery of a'circle with a diameter equal to the diameter of said first mentioned circle whereby the end of each shaft member is shiftable into the bore of one of said driving shafts, resilient means for constantly biasing said shaft members in such direction as to move their ends out of respective bores, a gear mounted on each shaft member, a driver gear rotatably mounted in said container and meshing 'with each of said first mentioned gears, a flexible shaft having an inner component drivingly connected with said driver gear and a coaxial outer component, a

coupling member connected with said outer component and adapted to consecutively shift said shaft members against the bias of said resilient means into the respective bores when the outer component rotates, rotary motion generating means and means for alternately connecting said motion generating means with the components of said flexible shaft whereby the motion generating means may be utilized for shifting the non-circular ends of selected shaft members into the corresponding bores when connected with the outer component and for rotating the driving shafts engaged by the corresponding shaft members when connected with the inner component of said flexible shaft.

6. In an automaton, such as a toy robot, in combination, a main body portion including a shell having a front wall and a rear wall; a block journalled in said shell; upper limbs articulately carried by said shell; lower limbs articulately connected to said block; first drive means operatively connected with said lower limbs for operating the same in such a manner that the latter perform movements in imitation of the walk of a human being; second drive means operatively connected with said shell and with said block for pivoting the shell with respect to the block; third drive means for lifting and lowering the upper limbs with respect to said shell; fourth drive means for pivoting the upper limbs toward and away from each other, each of said drive means having an end rotatably mounted in said rear wall, the ends of said driving shafts having non-circular bores accessible from the outer side of said rear wall, all said driving shafts being parallel with each other and having their ends disposed on the periphery of a common circle; and control and actuating means comprising a coupling assembly including a box-shaped container releasably connectable with the rear wall of said shell, four parallel shaft members rotatably and axially shiftably mounted in said container and each aligned with one of said driving shafts, each shaft member having a non-circular end projectable through said container and into the bore of the corresponding driving shaft and a second end, resilient means for constantly biasing each shaft member in a direction to move its non-circular end into and to expel its second end from said container, a gear mounted on each shaft member, a driver gear rotatably mounted in the container and permanently meshing with each of said first mentioned gears, a flexible cable having an inner component drivingly connected with said driver gear and a coaxial outer component, a coupling member connected to and rotatable with said outer component, said coupling member having at least one radial slider adapted to engage and depress the second ends of said shaft members against the bias of said resilient means when rotated by said outer component whereby to move the non-circular ends of selected shaft members into the bores of corresponding driving shafts, rotary motion generating means, and means for alternately connecting said motion generating means with the components of said flexible shaft whereby the motion generating means may be utilized for shifting the non-circular ends of selected shaft members into the corresponding bores when connected with the outer component and for rotating the driving shafts engaged by the corresponding shaft members when connected with the inner component of said flexible shaft.

7. In an automaton, such as a toy robot, in combination, a main body portion including a shell having a front wall and a rear wall; a block journalled in said shell; upper limbs articulately carried by said shell; lower limbs articulately connected to said block; first drive means operatively connected with said lower limbs for operating the same in such a manner that the latter perform movements in imitation of the Walk of a human being; second drive means operatively connected with said shell and with said block for pivoting the shell with respect to the block; third drive means for lifting and lowering the upper limbs with respect to said shell; fourth drive means for i4 pivoting the upper limbs toward and away from each other, each of said drive means having a driving shaft 10- tatably mounted in said shell and each driving shaft having an end rotatably mounted in said rear wall, the ends of said driving shafts having non-circular bores accessible from the outer side of said rear wall, all said driving shafts being parallel with each other and having their ends disposed on the periphery of a common circle; and control and actuating means comprising a coupling assembly releasably connectable with said rear wall and including a plurality of parallel shaft members having non-circular ends each of which is shiftable into a ditferent one of said bores, gears mounted on said shaft memmembers, a driver gear permanently meshing with each of said first mentioned gears, a flexible shaft having an inner component drivingly connected with said driver gear and a coaxial outer component, a coupling member connected with said outer component and adapted to consecutively shift said shaft members into the respective bores when the outer component rotates, rotary motion generating means comprising a hollow handgrip member rotatably mounting said flexible shaft, a crank shaft rotatably mounted in said handgrip member, and a crank for rotating the crank shaft, and means for alternatively connecting said motion generating means with the components of said flexible shaft whereby the motion generating means may be utilized for shifting the non-circular ends of selected shaft members into the corresponding bores when connected with the outer component and for rotating the driving shafts engaged by the corresponding shaft members when connected with the inner component of said flexible shaft, said connecting means comprising a rigid shaft rotatably and axially shiftably mounted in said handgrip member at right angles to said crank shaft, said rigid shaft having a button projectable from said handgrip member, resilient means for constantly biasing the rigid shaft in a direction to project the button from said handgrip member, a gear train drivingly connecting the crank shaft with said rigid shaft, a first and a second gear mounted on said rigid shaft, a first gear member connected with said inner component and meshing with the first gear on said rigid shaft when said button projects from the handgrip member, and a second gear member connected with said outer component and meshing with the second gear on said rigid shaft when the button is depressed by hand to axially shift the rigid shaft against the bias of said resilient means.

8. In an automaton, such as a toy robot, in combination, a block; a pair of lower limbs each comprising a shoe member, a leg member formed with a cam slot and articulately connected with said shoe member and said block, and a stabilizing member parallel with said leg member and articulately connected with said shoe member and said block; a crank shaft rotatably mounted in said block; a pair of diametrically opposed cranks fixed to the opposite ends of said shaft; a crank pin carried by each of said cranks and each extending into one of said slots; first drive means including gear means for rotating said shaft; a main body portion pivotally connected with said block; second drive means including gear means for pivoting said main body portion with respect to said block; a horizontal arm shaft rotatably mounted in said main body portion; a pair of upper limbs comprising upper arm members articulately connected to the opposite ends of said arm shaft in such a way that the arm members are rotatable with said arm shaft and are movable with respect thereto toward and away from each other; third drive means comprising gear means for rotating said arm shaft; a pair of block members non-rotatably mounted on and slidable in the longitudinal direction of said arm shaft; eccentric connections between said block members and said upper members; fourth drive means comprising gear means for shifting said block member to and fro on said arm shaft, each of said drive means adapted to operate independently of the other drive means; and control and actuating means connectable with each of said drive means for selectively initiating the operation of the same.

9. In an automaton, such as a toy robot, in combination, a block; a pair of lower limbs each articulately connected to said block; first drive means operatively connected with said lower limbs for operating the same in such a manner that the lower limbs perform movements in imitation of the walk of a human being; a main body portion comprising a shell having a rear wall and pivotally connected with said block; second drive means operatively connected with said block and with said main body portion for pivoting the latter with respect to said block; a pair of upper limbs articulately connected with said main body portion; third drive means for lifting and lowering said upper limbs with respect to said main body portion; fourth drive means for pivoting the upper limbs toward and away from each other, each of said drive means comprising a driving shaft having an end rotatably mounted in said rear wall, the ends of said driving shafts having noncircular bores accessible from the outer side of said rear wall, all said driving shafts being parallel with each other and having their ends disposed on the periphery of a common circle; and control and actuating means comprising a coupling assembly releasably connectable with said rear wall and including a plurality of parallel shaft members having non-circular ends each of which is shiftable into a different one of said bores, gears mounted on said shaft members, a driver gear permanently meshing with each of said first mentioned gears, a flexible shaft having an inner component drivingly connected with said driver gear and a coaxial outer component, a coupling member connected with said outer component and adapted to consecutively shift said shaft members into the respective bores when the outer component rotates, rotary motion generating means comprising a hollow handgrip member rotatably mounting said flexible shaft, a crank shaft rotatably mounted in said handgrip member, and a crank for rotating the crank shaft, and means for alternately connecting said motion generating means with the components of said flexible shaft whereby the motion generating means may be utilized for shifting the non-circular ends of selected shaft members into the corresponding bores when connected with the outer component and for rotating the driving shafts engaged by the corresponding shaft members when connected with the inner component of said flexible shaft, said connecting means comprising a rigid shaft rotatably and axially shiftably mounted in said handgrip member at right angles to said crank shaft, said rigid shaft having a button projectable from said handgrip member, resilient means for constantly biasing the rigid shaft in a direction to project the button from said handgrip member, a gear train diivingly connecting the crank shaft with said rigid shaft, a first and a second gear mounted on said rigid shaft, a first gear member connected with said inner component and meshing with the first gear on said rigid shaft when said button projects from the handgrip member, and a second gear member connected with said outer component and meshing with the second gear on said rigid shaft when the button is depressed by hand to axially shift the rigid shaft against the bias of said resilient means.

References Cited in the file of this patent UNITED STATES PATENTS 1,880,138 Hubl Sept. 27, 1932 2,147,215 Price Feb. 14, 1939 FOREIGN PATENTS 528,749 Italy June 15, 1955 1,024,861 Germany Feb. 20, 1958

Claims

1. IN AN AUTOMATON, SUCH AS A TOY ROBOT, IN COMBINATION, A MAIN BODY PORTION INCLUDING A SHELL HAVING A FRONT WALL AND A REAR WALL; A BLOCK JOURNALLED IN SAID SHELL; UPPER LIMBS ARTICULATELY CARRIED BY SAID SHELL; LOWER LIMBS ARTICULATELY CONNECTED TO SAID BLOCK; FIRST DRIVE MEANS OPERATIVELY CONNECTED WITH SAID LOWER LIMBS FOR OPERTING THE SAME IN SUCH A WAY THAT THE LATTER PERFORM MOVEMENTS IN IMITATION OF THE WALK OF A HUMAN BEING; SECOND DRIVE MEANS OPERATIVELY CONNECTED WITH SAID SHELL AND WITH SAID BLOCK FOR PIVOTING THE SHELL WITH RESPECT TO THE BLOCK; THIRD DRIVE MEANS FOR LIFTING AND LOWERING THE UPPER LIMBS WITH RESPECT TO SAID SHELL; FOURTH DRIVE MEANS FOR PIVOTING THE UPPER LIMBS TOWARD AND AWAY FROM EACH OTHER, EACH OF SAID DRIVE MEANS HAVING A DRIVING SHAFT ROTATABLY MOUNTED IN SAID SHELL AND EACH DRIVING SHAFT HAVING AN