Patent Publication Number: US-11020679-B1

Title: Rotating flipping and grasping movements in mechanical toys

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims priority from U.S. Provisional Patent Application No. 62/771,976 filed Nov. 27, 2018 which is hereby incorporated by reference. 
    
    
     STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH 
     Not Applicable. 
     APPENDIX 
     Not Applicable. 
     BACKGROUND OF THE INVENTION 
     Field of the Invention 
     The present invention relates to toy robots, and more particularly to entertaining robotic toy doll that provides locomotion and manipulation with a single mechanism. The toy robot has movable and programmable appendages, such as the doll&#39;s arms, or appendages about its head or body, including electromechanical toys coordinating the positioning and movement of specific body parts. The toy apparatus may also interact with accessory items to enhance play value. 
     Related Art 
     Similar to most fields, the toy industry is always striving for the next best thing. Ideas and products need to be fresh and inventive, displaying added features and abilities over their predecessors. Many kinds of toys exist and are designed for the amusement of children and adults alike. With movable toy dolls are known including dolls having various moveable features operated by a processor. For example, U.S. Patent Application Publication number 2006/0270312, entitled Interactive Animated Characters and listing Maddocks, Rodriquez, Ford and Hall as inventors, purports to disclose an interactive animated toy character that uses a processor, a motor, a control shaft, and multiple cams and cam followers to move eyes, eye lids, mouth, brow, ears, plume, chest and feet of the character, which is illustrated as a furry doll marketed under the brand FURBY®. The cams are provided with precise predetermined shapes, which are coordinated by the processor&#39;s programming. In this manner the character may be provided with multiple different predetermined physical and emotional expressions, including those responsive to input from a child. The input may be in the form of holding the toy, and/or petting and tickling the toy. For example, the child is able to pet the toy&#39;s tummy, rub its back or rock it and embedded sensors communicate these motions to the processor. Further means are known in the art for creating the illusion of animation in the faces of toy characters in order to provide an enriched user experience for the user, including LED light eyes or face illumination of animation facial illusion with lights are positioned relative to a screen. 
     In addition to the Application Publication of the previous paragraph, relevant disclosures may exist in earlier patents identified in the Application Publication, including U.S. Pat. Nos. 6,149,490; 6,497,607; 6,514,117; 6,537,128; and 6,544,098 all of which concern the FURBY® toy identified above. 
     U.S. Pat. No. 6,736,693 to Lund et al. for “Rolling and standing toy doll” issued May 18, 2004 is directed to a doll that includes a pair legs pivotally attached to a torso. A pair of motor mechanisms are separately attached to each leg for pivoting the legs forwards and backwards in accordance to a set of pre-programmed positions that moves the doll from a first orientation to a second orientation. Likewise U.S. Pat. No. 7,270,590 to Marine et al. for “Assisted walking dolls and joint assemblies for use with same” issued Sep. 18, 2007 discloses movements such as rolling the doll from its front side to its backside and vice versa, as well as moving the doll to a standing position and walking the doll while it is standing. Self-righting and self-tipping toy vehicles are also known in the art. One common concept of the prior art has been to provide an arm which either pivots or rotates to engage the supporting surface and effect either righting, or tipping, of the vehicle. For example, the U.S. patents to Westberg U.S. Pat. No. 1,846,823, Shinohara U.S. Pat. No. 4,363,187, Fisher U.S. Pat. No. 4,449,323, Nagano U.S. Pat. No. 4,666,420 and Kamikawa U.S. Pat. No. 4,894,042 disclose such devices. Toy wheeled vehicles are well-known. One class of known toy vehicles includes chassis or chassis/body combinations that are or have linkages permitting parts of the chassis or chassis/body combination to flex and allow the vehicle to change its configuration. The prior art, for example U.S. Pat. Nos. 4,597,744; 4,626,223 and 4,813,906, discloses vehicles comprised of multiple links capable of pivoting with respect to one another. U.S. Pat. No. 4,671,779 discloses a motorized running toy wherein multiple linkages forming a flexible tail-like structure may be collapsed about a drum-like main portion of the toy having a central axis or extended axially from the drum-like portion of the toy having the central axis. U.S. Pat. No. 6,773,327, issued to an assignee of Felice and Maddocks in 2004 for an Apparatus for Actuating a Toy, purports to describe a toy with movable limbs structured with a flexible strip and two elongated cords, one to each side of the strip, where both cords are connected to two arms of a motor. When the motor rotates in one direction and then the other direction compound movements of the limbs are achieved. Further known prior art includes manually activated appendages which contract in a grasping manner as disclosed in U.S. Pat. No. 5,378,188 entitled “Tendon and Spring for Toy Actuation” to Clark et al., issued Jan. 3, 1995. The &#39;188 patent incorporates a doll, capable of a free-standing position. When the doll&#39;s torso is compressed, the upper appendages curl inward and the lower appendages rise upwards, removing the dolls free-standing ability. By releasing the doll, the upper and lower appendages are motivated to their original positions. U.S. Pat. No. 5,297,443 to Wentz for “Flexible positioning appendage” issued Mar. 29, 1994 relates to flexible appendages e.g. for use as a controllable robot arm, toy or the like having flexibly coupled segments. 
     Various other known apparatus and configurations exist but do not facilitate a mechanical platform, system or methods of electromechanical toy robots with programmed appendages entertaining robotic toy doll with coordinated movements. Significantly it is unknown to coordinate the positioning and movement of specific body parts for rotating, flipping and grasping movements therewith manipulated by the user. 
     It would be desirable to provide electromechanical toy robots with appendages and coordinated movements thereof for rotating, flipping and/or grasping movements in toys. 
     SUMMARY OF THE INVENTION 
     The present invention addresses shortcomings of the prior art to provide electromechanical toy robots with programmed appendages to coordinate the positioning and movement of specific body parts for rotating, flipping and grasping movements with the toy manipulated by the user. The appendages connected to opposite sides of a motive body or head assembly including grasping members and support structures for rotating and/or turning actions about a central body portion including grasping appendages. As disclosed, the toy may also interact with the user or accessory items to enhance play value. 
     Briefly summarized, the present invention relates to toys having structures that coordinate the positioning and movement of specific body parts appendage or limb controlled motion (via the arm/ear hybrid limbs) for rotating, flipping and grasping movements with programmable systems, methods, and devices within toy structures, including the mechanism&#39;s ability to turn, move directionally, and roll the character, as well as grab objects, without the assistance of a traditional walking mechanism or wheels. 
     The present invention is a mechanical toy device that provides locomotion and manipulation with one mechanism. The mechanical toy device comprises a body and at least two extensions, wherein the at least two extensions are opposed to each other and wherein the body has an interior, a front, a back, a top, a bottom, two sides and a bisecting plane between the two sides. The front, top and back are approximately continuously curved to facilitate rolling and the bottom is approximately flat to facilitate sitting upright. Located on two sides are attachment points for the two extensions, one on each side, and wherein the two opposing extensions attachment points form a horizontal axis when the mechanical toy is sitting upright. The two opposing extensions each have a proximate end located at the attachment point and a distal end, and the distance from proximate end to the distal end of the two opposing extensions is greater than the distance from the attachment point to the bottom, top or sides of the body. Housed in the interior of the body is a first reversible drive motor having a first drive shaft and a second reversible drive motor having a second drive shaft. The first reversible drive motor is rotatably attached to the two opposing extensions causing the at least two extensions to rotate along the horizontal axis 360 degrees. The torque of the first reversible drive motor is sufficient to roll the body when the first reversible drive motor is activated and at least one extension is not pivoting to provide locomotion of the mechanical toy device. The second reversible drive motor is coupled to the proximate ends of the two opposing extensions and provides a bilateral motion and a unilateral motion. The bilateral motion moves two of the at least two opposing extensions and the unilateral motion moves one of the at least two opposing extensions. Both the bilateral and the unilateral motion have a first portion and a second portion. The first portion pivots the at least one extension at the attachment point about a perpendicular axis which perpendicular to the horizontal axis and wherein the pivot is approximate 90 degrees from the side. The second portion causes the extension or extensions to curve toward the bisecting plane. The first reversible drive motor and the second reversible drive motor provide motion that effects manipulation. Electronically attached to the first reversible drive motor and the second reversible drive motor is a programmable microprocessor programmed to drive the first reversible drive motor and the second reversible drive motor to provide locomotion and manipulation. 
     Further areas of applicability of the present invention will become apparent from the detailed description provided hereinafter. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a front perspective of the mechanical toy device. 
         FIG. 2  is a side perspective of the mechanical toy device. 
         FIG. 3  is an iso view of an embodiment of the mechanical toy device showing the rotation of the first reversible drive motor. 
         FIG. 4  is an iso view of an embodiment of the mechanical toy device showing the pivoting of the second reversible drive motor. 
         FIG. 5  is a front view of an embodiment of the eyes of the mechanical toy device. 
         FIG. 6  is a flowchart for Home State. 
         FIG. 7  is a flowchart for Wake Up with illustrations. 
         FIG. 8  is a flowchart for Dance (YMCA) with illustrations. 
         FIG. 9  is a flowchart for Ball Catch/Throw with illustrations. 
         FIG. 10  is a flowchart for Spin with illustrations. 
         FIG. 11  is a flowchart for Back Flip with illustrations. 
         FIG. 12  is a flowchart for Front Flip with illustrations. 
         FIG. 13  is a flowchart for the Action Button with eight actions. 
         FIG. 14  is a flowchart for Action 1—Hug with illustrations. 
         FIG. 15  is a flowchart for Action 2—Blow Kiss with illustrations. 
         FIG. 16  is a flowchart for Action 3—Peek A Boo with illustrations. 
         FIG. 17  is a flowchart for Action 4—Drum Solo with illustrations. 
         FIG. 18  is a flowchart for Action 5—Clapping with illustrations. 
         FIG. 19  is a flowchart for Action 6—Yawn with illustrations. 
         FIG. 20  is a flowchart for Action 7—Sleeping with illustrations. 
         FIG. 21  is a flowchart for Action 8—Angry with illustrations. 
     
    
    
     The present invention will become more fully understood from the detailed description and the accompanying drawings, wherein:  FIGS. 1 and 2  disclose the basic structure of the mechanical toy device.  FIGS. 3 and 4  illustrate an embodiment of the two motor configured mechanical toy device that provides both locomotion and manipulation in one mechanism. This configuration is used as a toy figure such as a toy animal incorporating structures that coordinate the positioning and movement of specific body parts for rotating, flipping and grasping movements with programmable systems, methods, and devices within toy structures. With reference to  FIGS. 6 through 21 , Actions are illustrated in the flow charts of  FIGS. 6 through 12 , with Actions Button cycles illustrated starting with flow charts of  FIGS. 13 through 21 . 
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     The following description is provided to enable those skilled in the art to make and use the described embodiments set forth in the best mode contemplated for carrying out the invention. Various modifications, equivalents, variations, and alternatives, however, will remain readily apparent to those skilled in the art. Any and all such modifications, variations, equivalents, and alternatives are intended to fall within the spirit and scope of the present invention. Likewise, a reasonably broad scope for claimed or covered subject matter is intended. Among other things, for example, subject matter may be embodied as methods, devices, components, or systems. The following detailed description is, therefore, not intended to be taken in a limiting sense. Other apparatus, methods, features and advantages will be, or will become, apparent to one with skill in the art upon examination of the following figures and detailed description. It is intended that all such additional structures, methods, features and advantages are within the scope of the inventions. Nothing in this section should be taken as a limitation on the claims. Further aspects and advantages are discussed below. 
     The following description is provided to enable those skilled in the art to make and use the described embodiments set forth in the best mode contemplated for carrying out the invention. Various modifications, equivalents, variations, and alternatives, however, will remain readily apparent to those skilled in the art. Any and all such modifications, variations, equivalents, and alternatives are intended to fall within the spirit and scope of the present invention. 
     Referring to  FIGS. 1 and 2 , the mechanical toy device  10  has a body  30  and at least two extensions  20  wherein the at least two extensions are placed on opposite sides of the body  30 . The body  30  has an interior  32 , a front  34 , a back  38 , a top  40 , a bottom  42 , two sides  44  and a bisecting plane between the two sides  36 . The front, top and back are approximately continuously curved to facilitate rolling and the bottom  42  has an approximately flat portion  46  to facilitate sitting upright. Located on two sides  44  are attachment points  48  for the two extensions, one on each side. The two opposing extensions attachment points form a horizontal axis  50  when the mechanical toy is sitting upright. The two opposing extensions  20  each have a proximate end  52  located at the attachment point and a distal end  54 , and the distance from proximate end to the distal end of the two opposing extensions is greater than the distance from the attachment point to the bottom of the body. 
     Housed in the interior  32  of the body is a first reversible drive motor  60  having a first drive shaft  61  and a second reversible drive motor  62  having a second drive shaft  63 . The first reversible drive motor is rotatably attached to the two opposing extensions causing the at least two extensions to rotate along the horizontal axis 360 degrees. The second reversible drive motor is coupled to the proximate ends of the two opposing extensions and provides a bilateral motion and a unilateral motion. The bilateral motion moves two of the at least two opposing extensions and the unilateral motion moves one of the at least two opposing extensions. Both the bilateral and the unilateral motion have a first portion and a second portion. The first portion pivots the at least one extension at the attachment point about a perpendicular axis  64  which is perpendicular to the horizontal axis and wherein the pivot is approximate 90 degrees from the side. The second portion causes the extension or extensions to curve toward the bisecting plane. Electronically attached to the first reversible drive motor and the second reversible drive motor is a programmable microprocessor (not shown) programmed to start, stop, control the direction and speed of the first reversible drive motor and the second reversible drive motor. 
     The preferred embodiment of the invention is a two drive motor design. In a preferred embodiment, the first reversible drive motor  60  is embodied in  FIG. 3 . The first reversible drive motor rotation motion can be tracked using a potentiometer or PCB wiper system. As shown in  FIG. 3 , the reversible drive motor creates a reversible rotation in the at least two extensions that is indicated by curved arrows. 
     In a preferred embodiment, the second reversible drive motor  62  is embodied in  FIG. 4 . It uses a cam system to operate a first portion and a second portion; 
     wherein the first portion pivots the at least one extension at the attachment point  48  about a perpendicular axis  64  which is perpendicular to the horizontal axis  50 . The extension is pivoted about 90 degrees. Referring to  FIG. 4 , the extension pivots from position A to position B. In a preferred embodiment a gear drives the pivot point to move from position A to position B. No tension is applied to the second portion motion, as it is desirable that the at least two extensions to stay straight between position A and B. The second portion causes the extension to curve toward the bisecting plane, or from position B to position C. To actuate the movement, the pivot point gear stops turning, and tension is put on the ribbon actuator to bend and wrap the at least two extensions to position C. One half of the cam moves and bends only one extension. The other half of the cam moves and both extensions bend simultaneously. The cam wheel position can be tracked using a potentiometer or PCB wiper system. 
     As is known to those skilled in the art, additional drive motors can be used to provide additional movement options, such as the independent pivot movement of each extension by the addition of a third drive motor. A fourth drive motor to drive the independent rotation of each extension. 
     The torque of the first reversible drive motor is sufficient to be able to roll the body at its given weight distribution and body design. This provides locomotion to the mechanical toy device, so that when the first reversible drive motor is activated and at least one extension is not pivoting, the body rolls and provides locomotion. When only one extension is not pivoting, the mechanical toy device moves in a circular motion. When two or more extensions are not pivoting, the mechanical device can move either forward or reverse. 
     In a preferred embodiment, the mechanical toy device further takes into account the Center of Gravity (COG), accommodating its shape according to weight, dimensions and form factor. To this end, the flat bottom  46  of the body  30  is provided as shown, as being such that it can keep the body upright in a stable position. Generally, its COG is centered from front to back and left to right and slightly lower than center top to bottom, with the first and second drive motors being sufficient to flip the body wherein positioning of each of its components configured including batteries as physically centered therein to achieve rolling and novel movements. In a preferred embodiment, the at least two extensions are designed and positioned generally close to the body center of rotation, the housing rolls well and the product is aesthetically pleasing by having its extensions meet the head at a point higher than the center of rotation, while operating with the positioning of the rotating extensions accordingly. 
     In a preferred embodiment, the extensions  20  are activated by means of a ribbon threaded through and attached to the distal end  54  of the extension and the second reversible drive motor. When tension is applied to the ribbons the extensions bend and animation is produced accordingly. As the child interacts with the toy, it will respond with sound effects and motions including coordinating the positioning and movement of the referenced body parts. In a preferred embodiment, as illustrated in  FIG. 5 , an interactive, animatronic toy is provided with emotive, animated eyes. 
     Further interaction is facilitated through a combination of capacitive sensors, microphone, jiggle switch, and accelerometer inputs, allowing the toy to respond to prompts from user with personality-intense reactions emoted via eye animations, voice, body, movement via ears, and interaction with accessory ball. 
     Additional illuminated facial features may be designed as desired with light or colors that may be used for varying faces, mouth and eyes illumination generating an illusion of animation. A specifically shaped opaque object may be used with translucent surfaces and LEDs, where the eyes themselves are lit up and the rest of the face is dark by selectively lighting internal cavities to change the perceived shape of the eye to cause animation. The batteries are provided internally for powering can be replaceable or provided as rechargeable. 
     The eyes can function is a variety of ways. They can wink (only closing one eye). They can show confusion (one eye in angry state—⅔ open—and one eye in sad state—⅓ open). 
     It is to be understood that the embodiments of the invention herein described are merely illustrative of the application of the principles of the invention. From the foregoing, it can be seen that there has been provided a detailed description with various features, and while a particular embodiment of the present invention has been shown and described in detail, it will be obvious to those skilled in the art that changes and modifications may be made without departing from the invention in its broader aspects. Therefore, the aim is to cover all such changes and modifications as fall within the true spirit and scope of the invention. The matters set forth in the foregoing description and accompanying drawings are offered by way of illustrations only and not as limitations. The actual scope of the invention is to be defined by the subsequent claims when viewed in their proper perspective based on the prior art