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US20150352454A1 - Spring arming/disarming mechanism and jumping toy including the latter - Google Patents

Spring arming/disarming mechanism and jumping toy including the latter Download PDF

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Publication number
US20150352454A1
US20150352454A1 US14/706,775 US201514706775A US2015352454A1 US 20150352454 A1 US20150352454 A1 US 20150352454A1 US 201514706775 A US201514706775 A US 201514706775A US 2015352454 A1 US2015352454 A1 US 2015352454A1
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US
United States
Prior art keywords
sliding part
arm
toy
carriage
cam surface
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US14/706,775
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English (en)
Inventor
Thomas Barse
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Parrot Drones SAS
Original Assignee
Parrot SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Parrot SA filed Critical Parrot SA
Publication of US20150352454A1 publication Critical patent/US20150352454A1/en
Assigned to PARROT DRONES reassignment PARROT DRONES ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: PARROT
Abandoned legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
    • A63H17/26—Details; Accessories
    • A63H17/262—Chassis; Wheel mountings; Wheels; Axles; Suspensions; Fitting body portions to chassis
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H11/00—Self-movable toy figures
    • A63H11/06—Jumping toys
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H11/00—Self-movable toy figures
    • A63H11/08—Toys performing somersaults
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
    • A63H17/006—Missile-launching means on toy vehicles
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H29/00—Drive mechanisms for toys in general
    • A63H29/22—Electric drives
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H33/00—Other toys
    • A63H33/005—Motorised rolling toys

Definitions

  • the invention relates to a mechanism for arming/disarming a sliding part, in particular for a rolling and jumping toy including a pair of wheels arranged on either side of a body of the toy, of the type described for example in the JP 2011/41696 A (Barse), and also relates to such a toy including such a mechanism.
  • the above-mentioned document describes a remote-controlled rolling and jumping object mounted on two independent wheels each driven by an individual motor, which allows the toy to move forward, to move rearward, to take a jumping position, etc.
  • the toy body includes a frame connected to the wheels and a sliding element guided on slides, with a spring interposed between the frame and the sliding element.
  • a motor displaces the sliding element closer to the frame, which as for effect to progressively compress the spring and hence accumulate therein an elastic potential energy.
  • the unit is kept in this position by a locking system, which may be liberated to abruptly release the spring and to throw the toy above the ground by transformation of the potential energy of the spring into kinetic energy, the impact of the sliding part against the ground producing, by reaction, the desired leaping effect.
  • the jumping height may be adjusted by a variable compression of the spring, allowing to deliver a more or less significant energy at the time of the jump.
  • An object of the invention is generally to propose a particularly simple and reliable arming/disarming mechanism to vary the energy provided to a sliding part by a spring.
  • the invention further aims, without having to modify the base structure, to allow varying the energy provided by this mechanism and hence the energy, and as the case may be the direction, of a leap, by choosing for example between a high jump (for example to make the toy jump onto a table from the ground), or a long jump (for example to pass an obstacle, the toy ending its travel on the ground).
  • a high jump for example to make the toy jump onto a table from the ground
  • a long jump for example to pass an obstacle, the toy ending its travel on the ground.
  • Another object of the invention is to allow such a toy to perform shootings with different powers.
  • a mechanism for arming and disarming a sliding part, in particular for a jumping and/or shooting toy comprising, in a manner known per se from the above-mentioned JP 2011/41696 A:
  • the control means are adapted to control the motor means:
  • this mechanism further comprises:
  • control means are adapted to selectively control the motor means:
  • elastic means has to be understood within a wide meaning, and not limited to spring means (as in the example of the description detailed hereinafter), where the elastic function is obtained by deformation of a flexible material.
  • This term must be understood as also covering means adapted, in other forms, to store energy and to release the latter, for example in a magnetic form by bringing together two magnets having the same pole until they meet each other, to release the energy at the unlocking according to the same principle as in the case of a spring.
  • the invention proposes a rolling and jumping toy resting on the ground, of the general type disclosed by the above-mentioned JP 2011/41696 A, including:
  • control means comprise a mechanism has defined hereinabove, the base of said mechanism being integral with the carriage.
  • FIG. 1 is a perspective view of the toy according to the invention, showing the various elements that, combined together, constitute the structure thereof.
  • FIGS. 2 a and 2 b are side views illustrating the toy of the invention, in its default position, but according to two different inclinations, respectively.
  • FIGS. 3 a to 3 d are side views illustrating the toy in the default position, in the inverted pendulum position, in the shooting position and in the object grasping position, respectively.
  • FIGS. 4 a to 4 d are similar to FIGS. 3 a to 3 d , in perspective views.
  • FIG. 5 illustrates in a profile view a mechanism for arming/disarming a sliding part allowing in particular to propel the toy with different forces.
  • FIG. 6 is a face view of the mechanism of FIG. 5 .
  • FIGS. 7 a to 7 e are side views of the toy, illustrating different attitudes of the latter during the contraction then the force releasing by the mechanism according to two different force settings.
  • FIGS. 8 a to 8 h are face views of the mechanism, illustrating the different phases thereof during an arming/disarming with a first setting.
  • FIGS. 9 a to 9 k are face views of the mechanism, illustrating the different phases thereof during an arming/disarming with a second setting.
  • the reference 10 generally denotes the toy according to the invention, which comprises a carriage 12 supported by two wheels 14 .
  • the wheels 14 are mounted on the carriage 12 so as to pivot about a common axis D, and they are driven independently by individual electric motors (not shown), piloted by suitable circuits allowing the toy, according to the direction and speed of rotation of the wheels, to progress along a straight line, to move rearward, to turn about itself or to turn along a curve, etc., such different moves being advantageously controlled by the toy by means of a suitable remote-control.
  • the carriage 12 extends following a main direction ⁇ , perpendicular to the pivot axis D of the wheels, and it supports a sliding part 16 movable in translation parallel to the axis A under the effect of a suitable motor, piloted by the toy control circuits.
  • This sliding part comprises for example two parallel rods 18 guided by respective cylinders 20 integral with the carriage 12 , with interposition between the rods 18 and the cylinders 20 of one or several springs (not visible in the figures) serving as energy storage means, with compression of the spring when the sliding part 16 is moved closer to the carriage 12 , and conversely returning to the sliding part 16 of the energy stored by these springs when the sliding part 16 is released towards an extend position of the carriage/sliding part unit.
  • the end of the latter protrudes beyond the circumference of the wheels 14 and can hence come into contact with the ground.
  • the carriage 12 is integral with the body 22 of the toy, which is itself provided with a protuberance 24 protruding beyond the diameter of the wheels 22 .
  • the distal end 26 of this protuberance 24 has, according to a characteristic of the invention, a surface 28 directed towards the rear of the toy (i.e. towards the left with the convention of FIGS. 1 and 2 ), on the same side as the extension of the sliding part 16 .
  • This surface 28 constitutes a first jaw or cheek of a clamping device that will be described hereinafter, in particular with reference to FIG. 3 d.
  • the protuberance 24 also carries at its distal end 26 a bearing element such as a ridge 30 that may form a first pad of contact with the ground in a configuration that will be explained hereinafter, in particular with reference to FIGS. 3 c and 3 d.
  • a bearing element such as a ridge 30 that may form a first pad of contact with the ground in a configuration that will be explained hereinafter, in particular with reference to FIGS. 3 c and 3 d.
  • the distal end 32 of the sliding part 16 which protrudes beyond the diameter of the wheels 22 , is provided with an element 34 forming the second jaw, arranged substantially opposite the surface 28 forming the first jaw.
  • this element 34 has been illustrated as a removable bow, but this particular form is given only by way of non-limitative example.
  • the distal end 32 of the sliding part 16 also comprises an element 36 such as a surface or a ridge directed towards the ground in the configuration of FIGS. 1 and 2 , and which forms a second contact pad, liable to form a ground-bearing point for the toy, in the position illustrated in FIGS. 1 and 2 .
  • an element 36 such as a surface or a ridge directed towards the ground in the configuration of FIGS. 1 and 2 , and which forms a second contact pad, liable to form a ground-bearing point for the toy, in the position illustrated in FIGS. 1 and 2 .
  • the toy may also be provided with one or several optical devices 38 ( FIG. 4 a ), such as a camera or a light, whose optical axis ⁇ forms a fixed angle with respect to the main direction ⁇ of the carriage and of the toy body integral with this carriage.
  • This device allows, for example, when the toy rolls, to light the front of the toy and/or to pick-up a video image of the site of operation, viewed from the toy.
  • FIGS. 2 a and 2 b (as well as FIG. 3 a , similar to FIG. 2 a ) illustrate a so-called “default” position among several positions that the toy is liable to take, the other positions being described hereinafter with reference to FIGS. 3 b to 3 d.
  • the toy rests on the ground 42 through three bearing points: the two contact points 44 of the wheels 14 , and the second contact pad 36 at the distal end of the sliding part 16 .
  • the sliding part 16 forms a telescopic unit with the carriage 12 , and it can hence move in translation between an extended position 40 ( FIG. 2 a ) and a retracted position 40 ′ ( FIG. 2 b ) under the action of a motor specifically piloted to ensure this translation.
  • the displacement of the sliding part 16 produces a displacement of the ground-bearing point of the second pad 36 , and correlatively a modification of the inclination of the carriage axis A, and thus the inclination of the toy and of the different elements that are linked thereto: it is in particular possible to adjust that way the orientation on site of the axis ⁇ of the camera 38 , the azimuth orientation resulting from the rotation of the toy about itself when the two wheels 14 are driven in opposite directions.
  • the default position 40 or 40 ′ is that in which the toy is ready to jump (jumper position), by abrupt spring-back of the springs mounted between the sliding part and the carriage and that will have been previously compressed.
  • FIGS. 3 a to 3 d illustrate the different positions that the toy of the invention can take.
  • FIGS. 3 a and 4 a correspond to the “default” position that has just been described with reference to FIGS. 2 a and 2 b.
  • FIGS. 3 b and 4 b illustrate another, so-called “inverted pendulum” position 48 , where the protuberance 24 of the toy body is directed upward, as the distal end 32 of the sliding part 16 .
  • the inverted pendulum position 48 may be reached from the position 40 by rotation of the toy body (arrow 50 ), this rotation resulting from a command of abrupt rearward acceleration: by inertia, the wheels almost not move and this is hence the body 22 that pivots about the axis D.
  • the centre of gravity of the toy is located above the axis D, so that the position is naturally instable and can be maintained only by a control of the wheel-piloting motors by feedback of the signal delivered for example by an orientation sensor or an inertial sensor incorporated in the toy body.
  • This position 48 may be an intermediate position, waiting for the selection of an action or the switching to another position (such as the positions illustrated in FIGS. 3 c and 3 d ), or a full-fledged playing position, with possibility of rolling, rotation, etc., still with a feedback-control from the inertial sensor to maintain the toy body in equilibrium in the illustrated position, during these sequences of displacement.
  • FIGS. 3 c and 4 c illustrate another, so-called “shooting” or “kicker”, position of the toy.
  • This position 52 is obtained from the default position 40 or the inverted pendulum position 48 by pivoting the body (arrow 54 ) in the same way as to reach the position 48 , i.e. by an abrupt command of rear acceleration causing, by inertia, the toy body to pivot about the axis D, the wheels almost not moving.
  • This position is a naturally stable position, because the toy rests on the ground through three bearing points, i.e. the two contact points 44 of the wheels 14 and the first pad 30 of the protuberance 24 integral with the toy body and the carriage, which pad has come into contact with the ground at the end of the rotation 54 .
  • the protruding portion or protuberance 24 of the toy body could be omitted, the third bearing point being then consisted by the protruding distal end of the sliding part 16 , or by the stirrup forming the second jaw 34 , if such a stirrup is mounted at the end of the sliding part.
  • the second pad 36 and the second jaw 34 are placed opposite to each other, which allows to orient them towards an object (symbolized by the cube 56 ) which may serve as a projectile when the energy of the springs is abruptly released after these latter have been compressed by translation of the sliding part 16 from its extended position to its retracted position.
  • the release of the springs and the abrupt return of the sliding part to the extended position have for effect to transmit the energy of the springs to the object 56 via the second pad 36 and/or the second jaws 34 (arrows 58 ).
  • FIGS. 3 d and 4 d still illustrate another possible, so-called “grasping” or “grabber'”, position of the toy.
  • This position 60 is generally the same as the shooting position 52 , to the only difference that the sliding part 16 is now in its extended position instead of being in its retracted position, and that there will be no use of the abrupt release of energy.
  • the variable stroke of the sliding part (during the compression of the springs) is used to grasp an object (symbolized by the cylinder 62 ), this action resulting from the progressive translation of the second jaw 34 towards the first jaw 28 (arrow 64 ), here to move the sliding part 16 from its extended position towards its retracted position.
  • the clamping remains moderated, the energy developed by the motor for the translation of the sliding part 16 being essentially absorbed by the springs.
  • the second jaw 34 it is also possible to provide as the second jaw 34 a flexible bow, whose elasticity will allow to avoid any excessive compression of the object 62 .
  • the gasped object will then be able to be displaced, put at another place (by releasing the clamping by a reverse move of the sliding part 16 ), etc.
  • This position ( 52 or 62 ) must be considered simply as a particular position allowing interactions that are similar to or different from the default position, and as a position in which the toy rests in stable equilibrium on the two wheels with the distal end of the sliding part directed towards the ground, with the second jaw movable in a controlled manner parallel to the ground, further from or closer to the first jaw.
  • This mechanism wholly denoted by the reference 100 , comprises at one end a sliding part 116 having at its free end a pad 116 a and on which are rigidly secured two rods 118 slidingly received in two cylinders 120 integral with a base 102 of the mechanism, itself integral with the carriage.
  • Two springs 122 are placed about the two rods 118 and their respective cylinders 120 , respectively, by bearing at one end on a shoulder 116 b formed on the sliding part 116 coaxially to the rod 118 , at the root of the latter, and at the opposite end, on a shoulder 104 formed at the cylinder 120 , at the opposite of the orifice thereof through which the respective rod 118 is engaged.
  • These springs have for object to store energy, with compression of the springs when the sliding part 116 is displaced closer to the base 102 of the carriage, and reversely returning to the sliding part 116 the energy stored by theses springs when said sliding part 116 is released toward an extended position.
  • an arm 130 is articulated about an axis 132 on the sliding part 116 in the region of one of its ends, and includes a finger 134 in the region of its opposite end and a snug 136 in an intermediate region, for purposes that will be explained hereinafter.
  • the arm 130 can pivot in a plane parallel to the plane of sliding of the sliding part 116 about the axis 132 .
  • a generally disk-shaped rotary part 140 is pivotally mounted on the base 102 , about an axis 142 parallel to the pivot axis 132 of the arm 130 .
  • This rotary part defines a lower cam surface 144 adapted to cooperate with the finger 134 , which is applied against said cam surface under the effect produced by the springs 122 , while keeping captive the sliding part 116 .
  • the part 140 is driven by suitable motor means, preferably a stepping motor (not shown).
  • the motor is driven in one direction or in the other in response to a control unit piloting this motor.
  • the invention may be implemented with a simple “brush” electrical motor operating in direct current, hence with a very simple piloting logic, this single and simple motor being however sufficient to perform all the operations required for the charging, locking and releasing of the stored energy.
  • the cam surface 144 comprises several areas, as will now be described in detail with reference to FIG. 6 and referring to the angular position of the rotary part 140 and to the distance of the finger 134 , pressing on the cam surface, with respect to the centre of rotation O of the part 140 , defined by its axis 142 .
  • a first area 144 a is an area whose distance to the axis 142 reduces progressively, when the rotary part 140 rotates in the clockwise direction in FIG. 6 , between a point A of maximum distance with respect to the centre O and a point B. It hence forms a traction area for the sliding part, against the force of the springs 122 , when the part rotates in this direction.
  • the cam surface forms a generally semi-circular notch 144 b, into which the finger 134 is adapted to come, as will be described in detail hereinafter.
  • the cam surface 144 forms a second generally semi-circular notch 144 c, generally centred on the point O, to receive the screw 142 .
  • the following area 144 d is a slightly bulged area, generally oriented radially going further from the point O, up to a point E forming another ridge. Between the points E and F is defined a segment 144 e that progressively goes further from the point O as the rotation goes by, the point F forming a bent and a convexity with the following area 144 f where the proximity with the periphery of the rotary part is more marked, up to a point G.
  • the points G and H define a cradle 144 g for the finger 134 , the point H being at the same radial distance from the point O as the point A.
  • the area 144 h is hence a circular sector centred on the point O.
  • the shape of the cam surface 144 as shown precisely on FIG. 6 is to be considered as belonging to the present invention.
  • the mechanism 100 further comprises a ratchet 150 mounted on the base 102 so as to pivot about an axis 152 parallel to the axis 132 and to the axis 142 , this tappet comprising a catch 154 adapted to cooperate with the snug 136 integral with the arm 130 , and being stressed in rotation in the clockwise direction in FIG. 6 by a spring, for example an helical or spiral spring, whose point of catching on the ratchet is denoted by the reference 156 .
  • a spring for example an helical or spiral spring
  • the ratchet also comprises a working surface 158 adapted to act on the fugitive switch 160 , the two terminals of which are connected, in a manner that is not shown, to the control unit.
  • the arm is provided with two generally flat and spaced-apart portions 130 a, 130 b (see FIG. 5 ), and the snug 136 extends transversally between these two portions, whereas the ratchet 150 is made as a part whose thickness is lower than the distance between the two portions 130 a, 130 b so as to be able to partially enter into the space defined between said two portions and to cooperate therein with the snug 136 .
  • FIGS. 7 a to 7 e show the different attitudes of the toy when the sliding part 116 is in an extended state, then in a contracted state, then abruptly released under the action of the springs 122 to the jumping position.
  • FIG. 7 a illustrates the situation in which the sliding part 116 is extended at the maximum, the toy resting stably on the ground by means of its two wheels 22 and of the pad 116 a of the sliding part, with an angle between the sliding axis A and the ground of the order of 25 to 40°.
  • the sliding part 116 being progressively contracted as will be seen hereinafter, the equilibrium position of the toy is progressively modified to pass to an intermediate position illustrated in FIG. 7 b , or to a position as illustrated in FIG. 7 c , where the angle between the axis A and the ground is maximum and for example of the order of 80 to 85°.
  • FIGS. 7 d and 7 e illustrate the initial phase of a jump of the toy in a direction that it is generally that of the axis A, this jump being caused by the abrupt releasing, as will be seen hereinafter, of the energy accumulated by the springs 122 of the moving mechanism 100 .
  • FIG. 7 d illustrates an almost vertical jump from the position illustrated in FIG. 7 c
  • FIG. 7 e illustrates a longer jump, performed from the position illustrated in FIG. 7 d.
  • FIGS. 8 a to 8 h The first case is illustrated in FIGS. 8 a to 8 h , whereas the second case is illustrated in FIGS. 9 a to 9 k . It will be noted that on these figures, many reference signs, as seen in FIG. 6 , have been omitted so as not to over-load these figures, whose scale is smaller than that of FIG. 6 .
  • the arm 130 has been shown as a partially cut-away view, so as to well show the ratchet 150 and the different positions thereof.
  • the position of the rotary part 140 corresponds to that of FIG. 6 , the finger 134 of the arm 130 being located at the level of point A of the cam surface 144 .
  • the rotary part 140 being driven in the clockwise direction in the figures, the finger is progressively attracted by the area 144 a of the cam surface towards the centre O ( FIG. 8 b ), up to reach the notch 144 b located between the points B and C ( FIG. 8 c ). During this move, potential energy is accumulated in the springs 122 .
  • the notch 144 b is not able to hold the finger 134 of the arm 130 , and under the effect of the traction exerted by the springs 120 , the finger is ejected from the notch 144 b, released by passing the C constituting a release area, by abruptly stressing the arm towards the right ( FIG. 8 g ).
  • the areas 144 c, 144 d, 144 e and 144 f of the came surface constitute a low profile area allowing not to obstruct the above-mentioned releasing.
  • FIGS. 9 a to 9 c correspond to FIGS. 8 a to 8 c , the positions of the different elements being the same.
  • This closure is detected by the control unit of the electric motor, and, in response to it, the rotation of the rotary part 140 is firstly continued over a small angular extent up to the position of FIG. 9 e , to ensure that the snug 136 gets fully over the catch 154 , as illustrated in this figure.
  • the choice between a control of the mechanism according to FIGS. 8 a - 8 h (jump close to the vertical) or according to FIGS. 9 a - 9 k (longer jump) is performed by receiving corresponding instructions emitted by a remote control device.
  • a full rotation of the rotary part is performed, the rotation of the cam profile being stopped when the inertial unit detects a shock corresponding to the lift-off of the toy.
  • the rotary part is firstly driven in the clockwise direction then, after detection of the closing of the switch 160 , this rotation is continued over a short angular extent then inverted to come back to the original position.
  • the present invention is not limited in any way to the embodiment described and shown, but the one skilled in the art will be able to make many variants and modifications.

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US14/706,775 2014-06-04 2015-05-07 Spring arming/disarming mechanism and jumping toy including the latter Abandoned US20150352454A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1455066 2014-06-04
FR1455066A FR3021875B1 (fr) 2014-06-04 2014-06-04 Mecanisme d'armement/desarmement a ressort et jouet sauteur l'incorporant

Publications (1)

Publication Number Publication Date
US20150352454A1 true US20150352454A1 (en) 2015-12-10

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US14/706,775 Abandoned US20150352454A1 (en) 2014-06-04 2015-05-07 Spring arming/disarming mechanism and jumping toy including the latter

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US (1) US20150352454A1 (fr)
EP (1) EP2952236B1 (fr)
JP (1) JP2015229113A (fr)
CN (1) CN105126358A (fr)
FR (1) FR3021875B1 (fr)

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CN108404426A (zh) * 2018-03-28 2018-08-17 上海工程技术大学 一种s路径无碳小车
US10058999B2 (en) * 2016-10-12 2018-08-28 Lunghwa University Of Science And Technology Wheeled jumping robot
CN109204846A (zh) * 2018-09-07 2019-01-15 北京空间技术研制试验中心 转轴座机构
US10246256B1 (en) * 2017-11-21 2019-04-02 Amazon Technologies, Inc. Parallel axis, rotary conveyance mechanism
EP4302849A4 (fr) * 2021-03-02 2024-07-17 Sony Group Corporation Mécanisme d'extension/rétraction de ressort, robot et dispositif électronique

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FR3031044A1 (fr) 2014-12-29 2016-07-01 Parrot Robot roulant et sauteur a capacite accrue de franchissement d'obstacle
CN110126933B (zh) * 2019-04-10 2021-12-14 南京航空航天大学 一种弹簧储能式跳跃机构
CN110496402A (zh) * 2019-09-02 2019-11-26 林国桁 一种弹射玩具车

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US10058999B2 (en) * 2016-10-12 2018-08-28 Lunghwa University Of Science And Technology Wheeled jumping robot
US10246256B1 (en) * 2017-11-21 2019-04-02 Amazon Technologies, Inc. Parallel axis, rotary conveyance mechanism
CN108404426A (zh) * 2018-03-28 2018-08-17 上海工程技术大学 一种s路径无碳小车
CN109204846A (zh) * 2018-09-07 2019-01-15 北京空间技术研制试验中心 转轴座机构
EP4302849A4 (fr) * 2021-03-02 2024-07-17 Sony Group Corporation Mécanisme d'extension/rétraction de ressort, robot et dispositif électronique
US12422027B2 (en) 2021-03-02 2025-09-23 Sony Group Corporation Spring expansion/compression mechanism, robot, and electronic device

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JP2015229113A (ja) 2015-12-21
EP2952236A1 (fr) 2015-12-09
EP2952236B1 (fr) 2016-10-05
CN105126358A (zh) 2015-12-09
FR3021875A1 (fr) 2015-12-11
FR3021875B1 (fr) 2016-06-24

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