Patent Publication Number: US-6991511-B2

Title: Expression-varying device

Description:
The present application claims priority to Japanese Patent Application Tokugan 2000-52423, entitled “Action-Performing Toy,” filed Feb. 28, 2000, the disclosure of which is incorporated herein by reference in its entirety. 
   TECHNICAL FIELD OF THE INVENTION 
   The invention relates to an expression-varying device which is installed in dolls and animal toys, etc., and which can produce various expressions by movement of eyes and eyebrows. 
   BACKGROUND OF THE INVENTION 
   In the past, movement of the eyes has been used to produce varying expressions in dolls and animal toys, etc. Various types of eye driving devices have been proposed and used in practical applications. A common type of driving device is a device in which eyeball bodies are shaft-supported so that the eyeball bodies can pivot upward and downward. In this device, weight members are installed on the back surfaces of the eyeball bodies, so that when the doll is stood upright, the pupils of the eyeball bodies appear at the front, thus expressing a state in which the eyes are open. When the doll is placed on its back, the eyeball bodies pivot so that the pupils are hidden, thus expressing a sleeping state. 
   Since the eye movements are simple in the case of the above-mentioned driving device, the variations in expressions are also simple and various expressions cannot be exhibited. 
   There is therefore a need to provide an expression-varying device that makes it possible to show various expressions easily. 
   SUMMARY OF THE INVENTION 
   The shortcomings of prior devices are overcome by the disclosed expression-varying device which includes a supporting member that supports two eyeball bodies so that the eyeball bodies are free to pivot. The device also includes a connecting member that connects the two eyeball bodies, and that supports the eyeball bodies so that the eyeball bodies can pivot in synchronization in a side to side or left to right direction. The device includes a drive, or swinging mechanism, that causes the connecting member to swing upward and downward and to the left and right. The swinging mechanism includes a disk in which a recessed groove is formed in a side surface of the disk and runs in a circumferential direction. The depth of the groove and distance of the groove from the center of the disk vary according to relative positions on the disk. 
   The swinging mechanism includes an arm member with a rear end that is supported so that the arm member is free to pivot, and a tip end that engages with the connecting member. The swinging mechanism includes a motor that causes the disk to rotate. An engaging pin, or shaft, that engages with the recessed groove of the disk is formed on and protrudes from and to the side of the arm member. The arm member is driven by a driving member so that the tip end of the engaging shaft constantly contacts the interior of the recessed groove. The tip end of the arm member is caused to swing upward and downward and to the left and right in linkage with the recessed groove of the disk. Accordingly, the connecting member is caused to swing upward and downward and to the left and right, thus causing the two eyeball bodies to pivot so that various expressions are displayed. 
   In one embodiment, the expression-varying device includes eyebrow bodies that can pivot upward and downward and that are mounted on the front surface of the doll, animal, etc. The device includes cranks on coupling or drive shafts to which the eyebrow bodies are coupled. The device also includes cams connected to a shaft which cause the cranks to swing. Accordingly, the pivoting movements of the eyebrow bodies are linked to the movements of the eyeball bodies. 
   In another embodiment, the expression-varying device includes a first detection device that detects the home position of the disk, a second detection device that detects the rotational position of the disk, and a controller that determines the position of the disk from the first detection device and second detection device. The controller also performs rotational control of the motor based on the detection results from the two detection devices. The rotational position of the disk can be recognized and the motor can be rotated or stopped accordingly. 
   The controller controls the forward and reverse rotation of the motor so that the desired rotational position of the rotating disk is reached from the current rotational position of the rotating disk in the shortest possible time. Thus, when the eyeball bodies are pivoted to a desired pivoting position from the current pivoting position, it is possible to quickly vary expressions by pivoting the eyeball bodies in the shortest possible time. 

   
     BRIEF DESCRIPTION OF THE DRAWINGS 
       FIG. 1  is a front view of a doll equipped with an expression-varying device. 
       FIG. 2  is an exploded perspective view of the expression-varying device incorporated in the doll of FIG.  1 . 
     FIGS.  3 ( a ) and ( b ) are cross-sectional views of the expression-varying device of FIG.  2 . 
     FIGS.  4 ( a ) and ( b ) are plan views of the expression-varying device of FIG.  2 . 
       FIG. 5  is an exploded perspective view illustrating the relationship of the eyeball bodies and connecting member. 
     FIGS.  6 ( a ) and ( b ) are front views showing the operation of the eyebrow bodies. 
       FIG. 7  illustrates a timetable showing the relationship between the detection devices and the expressions generated by the expression-varying device. 
       FIG. 8  is a block diagram illustrating some components of the expression-varying device. 
       FIG. 9  is a table illustrating the relationships between the various positions of the disk. 
       FIG. 10  is a flow chart that illustrates the operation of the expression-varying device in accordance with the invention. 
   

   DETAILED DESCRIPTION OF THE INVENTION 
   An embodiment of the invention is discussed in detail below. While specific implementations are discussed, it should be understood that this is done for illustration purposes only. A person skilled in the relevant art will recognize that other components and configurations may be used without parting from the spirit and scope of the invention. 
   A feature of the invention is that the eyeball bodies pivot in synchronization upward and downward and to the left and right (i.e. multiple degrees of freedom axes). As a result, a more abundant selection of facial expressions can be shown than is possible in the case of an eyeball body driving mechanism that simply opens and closes the eyes. 
   Another feature of the invention is that eyebrow bodies can be caused to move in addition to the pivoting of the eyeball bodies. Facial expressions that cannot be expressed by the eyes alone can be generated more effectively and realistically. 
   Another feature of the invention is that the position of the disk can be recognized by two detection devices, and desired expressions can be arbitrarily generated using these two detection devices. In cases where the device of the invention is incorporated into a doll, etc., that outputs a voice, facial expressions suited to the voice that is output can easily be generated. 
   Another feature of the invention is that a change to desired expressions can be accomplished in a short time, so that the expression of unintended expressions can be minimized. The resulting movement of the eyes can be made more natural. 
     FIG. 1  shows a doll toy that uses the expression-varying device A of the invention.  FIG. 2  is an exploded perspective view of an embodiment of the expression-varying device A. In the illustrated embodiment shown in  FIG. 2 , the expression-varying device A is constructed so that movement is imparted to various facial elements of a toy. Two eyeball bodies  7 ,  7  supported by a supporting member, or part,  6  are caused to pivot upward and downward and to the left and right by a drive, or swinging mechanism, B which uses a motor  5  as a driving source. Eyebrow bodies  8 ,  8  disposed on the front surface of the supporting part  6  are caused to pivot upwardly and downwardly by the drive B. The expression-varying device A is installed in the head part of a toy body  1  such as a doll, animal, robot, etc. 
   The swinging mechanism B includes a motor  5 , a disk  14  and an arm member  16 . A pinion gear  12  is installed on the rotating or drive shaft  11  of the motor  5 , which is fastened to a frame  10 . The pinion gear  12  engages with a flat gear  13  that is mounted on shaft  12   a  as illustrated in FIG.  2 . The disk  14  is formed coaxially with the flat gear  13  as an integral unit with the flat gear  13 . A single recessed groove  15  is formed in the inside surface of the disk  14 . Groove  15  runs in the circumferential direction. 
   As is shown in FIG.  3 ( a ), the recessed groove  15  is formed along a meandering path so that the distance L of the groove  15  from the center of the disk  14  varies from position to position. The recessed groove  15  is formed so that the depth D of the recessed groove  15  continuously varies according to the position (see FIG.  7 ). 
   In the illustrated embodiment, the arm member  16  is disposed on the inside of disk  14 . An engaging hole  17  is formed in the vertical direction in the rear end of the arm member  16 . A supporting shaft  21  protrudes upward from the upper end of a hemispherical base  20  that protrudes from the upper surface of the frame  10 . The supporting shaft  21  passes through the engaging hole  17 , and the arm member  16  is arranged so that the tip end portion of the arm member  16  can swing upwardly and downwardly and to the left and right about the supporting shaft  21 . 
   A C-shaped gripping part  18  is formed on the tip end of the arm member  16 . A connecting member  25  that connects the eyeball bodies  7  is gripped by gripping part  18  so that the connecting member  25  can pivot. 
   An engaging pin, or shaft,  22  is formed on the arm member  16 . The engaging shaft  22  protrudes from the side portion of the arm member  16  toward the disk  14 . The tip end of the engaging shaft  22  is inserted into the recessed groove  15  formed in the disk  14 . The arm member  16  is constantly driven toward the disk  14  by a spring  23 , so that the tip end of the engaging shaft  22  is constantly in contact with the inner surface of the recessed groove  15 . 
   Accordingly, when the disk  14  rotates, the engaging shaft  22 , whose tip end is inserted into the recessed groove  15 , is caused to move upward and downward by the side walls of the recessed groove  15  as shown in FIGS.  3 ( a ) and  3 ( b ). As a result, the arm member  16  swings upwardly and downwardly about the supporting shaft  21 . 
   Since the engaging shaft  22  is driven by the spring  23  so that the tip end of the engaging shaft  22  is constantly in contact with the inner surface of the recessed groove  15 , the arm member  16  is caused to pivot to the right against the spring  23  as shown in FIG.  4 ( a ) where the recessed groove  15  is shallow, and is pulled by the spring  23  and caused to pivot to the left about the supporting shaft  21  as shown in FIG.  4 ( b ) where the recessed groove  15  is deep. Accordingly, the arm member  16  swings to the left and right about the supporting shaft  21 . As a result, the arm member  16  swings upward and downward and to the left and right in conformity with the shape of the recessed groove  15 . 
   In the illustrated embodiment, the connecting member  25  that connects the two eyeball bodies  7 ,  7  is gripped by the gripping part  18  located at the tip end of the arm member  16  so that the connecting member  25  can pivot. The connecting member  25  is a member that is substantially C-shaped when viewed in a plan view. The center of the connecting member  25  is formed as a cylindrical neck part  25 . Neck part  25   a  is gripped by the gripping part  18  so that the connecting member  25  can be caused to pivot upward and downward about the gripping part  18 . 
   As shown in FIGS.  4 ( a ) and  4 ( b ), both ends of the connecting member  25  protrude forward. Engaging shafts  26  are formed to protrude upward and downward from the protruding parts of the connecting member  25 . These engaging shafts  26  are loosely engaged with engaging holes  27  formed in the eyeball bodies  7  to enable the eyeball bodies  7  to pivot to the left and right about the engaging shafts  26 . 
   As shown in  FIG. 5 , the eyeball bodies  7  are split into two parts, i.e., upper and lower parts, and engaging holes  27  are formed in the split surfaces  7   a . After the engaging shafts  26  of the connecting member  25  are inserted into the engaging holes  27 , the joining surfaces  7   b  of the eyeball bodies  7  can be fastened together by an appropriate method such as bonding, etc. 
   In the illustrated embodiment, the eyeball bodies  7 ,  7  are supported so that they are free to pivot by a supporting part  6 . As illustrated in FIG.  4 ( a ), supporting part  6  includes two supporting plates  6   a  and  6   b . Circular opening parts  30 , each of which have a diameter that is slightly smaller than the diameter of the eyeball bodies  7 , are respectively formed in the supporting plates  6   a  and  6   b . The two supporting plates  6   a  and  6   b  are fastened to the frame  10  by screws  32  via tubular members  31 . The length of the tubular members  31  is selected so that the eyeball bodies  7 ,  7  have space to pivot and are not fixed in place by the two supporting plates  6   a  and  6   b.    
   In the illustrated embodiment, two eyebrow bodies  8 ,  8  are pivotally disposed on the upper portion of the front surface of supporting plate  6   b . The eyebrow bodies  8 ,  8  are screw-fastened to the tip ends of coupling, or drive, shafts  35  that pass through the two supporting plates  6   a  and  6   b . Cranks  36  which are substantially fan-shaped are formed on the rear ends of the drive shafts  35 . Engaging shafts  37  are formed on the back surfaces of these cranks  36  so that the engaging shafts  37  protrude rearwardly. 
   A spring  39  is attached to protruding hooks  38 ,  38  formed on the upper ends of the cranks  36 ,  36  so that the cranks  36 ,  36  both pivot outwardly. As illustrated in FIGS.  6 ( a ) and  6 ( b ), the engaging shafts  37  engage with circular plate-form cams  40  and  41  which are disposed at a specified spacing on both sides of the disk  14 , and which are installed coaxially on the shaft with the disk  14 . Wave-form surfaces  40   a  and  41   a  with projections and indentations are formed facing inwardly on the circumferential edges of the cams  40  and  41 . The cranks  36 ,  36  are driven by spring  39  so that the engaging shafts  37 ,  37  are pressed against the cams  40  and  41 . When the cams  40  and  41  rotate, the engaging shafts  37 ,  37  swing to the left and right along the surfaces  40   a  and  41   a , so that the drive shafts  35 ,  35  pivot, thus causing the eyebrow bodies  8 ,  8  to pivot upward and downward as shown in FIGS.  6 ( a ) and  6 ( b ). 
   In the illustrated embodiment, a rotational position indicating part  42  is formed on the circumferential surface of the disk  14 . As illustrated in FIGS.  3 ( a ) and  3 ( b ), the rotational position indicating part  42  includes seven recesses  42   a  through  42   g  formed at equal intervals in the circumferential surface of the disk  14 . A second detection device which detects the rotational position indicating part  42  is installed on the frame  10 . In this embodiment, the second detection device includes a leaf switch SW 2 . The system is arranged so that the recesses  42   a  through  42   g  can be detected as a result of the leaf switch SW 2  being switched OFF. The ON/OFF state of this leaf switch SW 2  can be recognized by the controller  45 , which is described later. 
   In the illustrated embodiment, the rotational position indicating part  42  includes recesses, and the second detection device includes a leaf switch SW 2 . However, it can be appreciated that it would be possible to embed magnets at specified intervals in the circumferential surface the disk, and the presence or absence of these magnets could be detected by a leaf switch. Alternatively, reflective plates could be installed at specified intervals on the circumferential surface of a rotating disk, and the presence or absence of these reflective plates could be detected by a photo-sensor. 
   In the illustrated embodiment, a projection  13   a  is formed on the outside surface of the flat gear  13 , and a first detection device that detects projection  13   a  is installed on the frame  10  (see FIGS.  4 ( a ) and  4 ( b )). In this embodiment, the first detection device is a leaf switch SW 1 . Leaf switch SW 1  is switched ON when it detects the projection  13   a . When the leaf switch SW 1  is switched ON, the controller  45  can recognize that the rotational position of the disk  14  is the home position. 
   In the invention, when the rotational position of the disk  14  is in the home position, the arm member  16  is pivoted upward to the maximum limit as shown in FIG.  3 ( a ) so that the eyeball bodies  7  are pivoted downward to the maximum limit, thus expressing a state in which the eyes are closed. 
   As shown in  FIG. 7 , the rotational position of the disk  14  when the motor  5  rotates so that the first detection device SW 1  is switched ON and the second detection device SW 2  detects the recess  42   a  is designated as the home position (POS 1 ). The expression at POS 1  represents a sleeping expression. Using the home position as a standard, the distance L of the recessed groove  15  of the disk  14  from the center of the disk  14 , the depth of the groove D, and the heights Hl and Hr of the cam surfaces  40   a  and  41   a  of the cams  40  and  41  are set relative to the recesses  42   a  through  42   g  so that multiple different expressions can be produced. 
   For example, as shown in  FIG. 7 , the second rotational position (POS 2 ) produces an expression of half-opened eyes, the third rotational position (POS 3 ) produces a sad expression, the fourth rotational position (POS 4 ) produces an inquisitive expression, the fifth rotational position (POS 5 ) produces a joyous expression, the sixth rotational position (POS 6 ) produces an angry expression, and the seventh rotational position (POS 7 ) produces a determined expression. 
     FIG. 8  shows a block diagram of some components of the system. Controller  45  controls the rotation of the motor  5  in accordance with a control program stored in the memory and based on the detection results obtained by the two leaf switches SW 1  and SW 2 . 
   When the power supply is switched ON, controller  45  causes the motor  5  to rotate. When it is determined that the rotational position of the disk  14  has reached the home position as a result of the leaf switch SW 1  being switched ON, the motor  5  is stopped. When the rotational position of the disk  14  is in the home position, the distance of the recessed groove  15  from the center is at a minimum, and the depth of the recessed groove  15  is at an intermediate value. As a result, the pupils of the eyes are positioned downward and the eyeball bodies  7 ,  7  are pivoted to face forward, thus producing or expressing a state in which the eyes are closed (sleeping). In this case, the attachment position of the leaf switch SW 2  is set so that the recess  42   a  (POS 1 ) of the disk  14  is detected. The controller  45  recognizes the home position as a result of the leaf switch SWI being switched ON, and recognizes the rotational position of the disk  14  by counting the number of times that the leaf switch SW 2  is switched OFF. 
   A position table Th is formed in the memory of the system. The position table Th defines the current rotational position of the disk  14 , and also defines how far and in which direction (forward or reverse) the disk  14  must be rotated in order to stop the disk  14  in a given rotational position. 
     FIG. 9  shows an embodiment of the position table Th. In this example, the position table Th indicates when the current rotational position (current POS) is the second position (POS 2 ) and the desired (destination) position is the fifth position (POS 5 ), the motor  5  should be rotated in the forward direction (F direction) until the counter CT has counted the switching OFF of the leaf switch SW 2  three times. Similarly, if the desired position is the first position (POS 1 ), the motor should be rotated in the reverse direction (B direction) until the counter CT has counted the switching OFF of the leaf switch SW 2  once. 
   Next, the operation of the expression-varying device in accordance with the invention will be described with reference to the flow chart shown in FIG.  10 . 
   When the power supply switch  46  is switched ON, the motor  5  is caused to rotate (step STI). When the leaf switch SWI is switched ON (step ST 2 ), it is determined that the disk  14  is positioned in the home position. Accordingly, a flag is set in POS 1  of a flag register FR, the motor  5  is stopped (step ST 3 ), and a start command is awaited (step ST 4 ). 
   After a start command is received, the direction of rotation is determined and the amount of rotation is set in the counter CT with reference to the position table Th based on the current position and the destination position of the start command (step ST 5 ). If the rotation is a forward rotation, the processing proceeds to the routine following step ST 7 . If the rotation is a reverse rotation, the processing proceeds to the routine following step ST 11 . 
   As illustrated in  FIG. 10 , steps ST 8 , ST 9 , and ST 10  correspond to steps ST 12 , ST 13 , and ST 14 , respectively. At steps ST 8  and ST 12 , the switching OFF of the leaf switch SW 2  is awaited, and when this switch is switched OFF, the counter CT performs a countdown as shown in steps ST 9  and ST 13 . When the counter value reaches zero (steps ST 10  and ST 13 ), it is determined that the rotational position of the disk  14  has reaches the desired destination position. Accordingly, the operation proceeds to step ST 15 , and the motor  5  is stopped. A flag is set in the current position in the flag register FR, and the processing returns to step ST 4  and waits for the next start command. 
   Thus, the rotational position of the disk  14  when the first detection device (leaf switch SW 1 ) is switched ON is taken as the home position. With this home position as a standard, the current rotational position is read from the flag register FR, and the direction and amount of rotation of the motor  5  are controlled with reference to the position table Tb based on the current position and destination position (rotational positions). Accordingly, the disk  14  can always be rotated to the desired rotational position in the shortest possible time, so that expressions can be rapidly varied. 
   The recessed groove  15  and the cams  40  and  41  are formed so that the positions of the eyeball bodies  7  and eyebrow bodies  8  correspond to rotational positions of the rotating disk. As a result, the pivoting positions of the eyeball bodies  7  and pivoting positions of the eyebrow bodies  8  can be determined from the rotational position of the disk  14  and the controller  45  can show any desired expression by designating a particular rotational position of the disk  14 . 
   While the invention has been described in detail and with reference to specific embodiments thereof, it will be apparent to one skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope thereof. Thus, it is intended that the invention covers the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.