JPH023577A - Multiple-foot walking machine - Google Patents

Abstract

PURPOSE:To facilitate the stair climbing and uneven ground running by composing plural telescopic legs provided to a walking machine of a first leg part slidable vertically to a main body fixing part and a second leg part slidable vertically to the first leg part comprising a wheel at its tip. CONSTITUTION:This multiple-foot walking machine is constructed providing plural telescopic legs 2 at both sides of a traveling machine body 1, and each telescopic leg 2 is composed of a main body fixing part 11, and a first and second leg parts 21, 31. The first leg part 21 is engaged with a roller 12 provided at the fixing part through rails 22 on both outer sides and slidable in the vertical direction, and in the second leg part 31, rollers 32 provided at its both outer sides are engaged with a guide groove 23 inside the first leg part 21 and slidable vertically to the first leg part 21, and a wheel 33 is provided at the lower end part. In each telescopic leg 2, when a motor 20 for telescopic motion is driven and sprockets 24, 25 are rotated, respective leg parts 21, 31 slide vertically through a chain 26.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a multi-legged walker having a plurality of telescoping legs and capable of climbing stairs and walking on uneven ground.

[Conventional technology]

A conventional multi-legged walking machine has a configuration as shown in FIGS. 12 and 13. This multi-legged walking machine has many telescopic legs 8.
1 is expanded and contracted, and the main body 80 is moved by utilizing its upper surface as a loading platform, etc., without inclining the main body 80 even on stairs or uneven ground. As shown in FIG. 13, the telescoping leg 81 is made of a multi-stage slidable cylinder 82, and the telescoping mechanism is a motor 84 driven by a worm gear 86 that drives a ball screw 87 connected to the distal end of the drive wheel 90. It is rotated and expanded and contracted. When running on flat ground, the drive motor 91 rotates the drive wheels 90, and the rudder motor 92 rotates the rotating shaft 93, respectively.

FIG. 14 is a diagram illustrating climbing up the stairs in this conventional example, and FIG. 14 (A) shows a state in which the telescoping leg 81a at the front in the direction of travel has climbed two stairs one step at a time.

Next, as shown in FIG. 8B, the motor of the forward/backward movement mechanism (not shown) provided in the main body 80 is driven to move the telescopic leg 81b forward, and the telescopic leg 81b is moved to the first step of the stairs. Place it in front of the tread. Thereafter, as shown in FIG. 14(c), the main body 80 is moved forward, the telescopic legs 81a are advanced to the depths of the tread, and then the whole thing is tli! [81a, b,
c by the height of the stairs, and then repeating steps (a) to (c) in Fig. 14 to extend the telescopic legs 81a along the stairs.
, b, and c, and move up and down the stairs using a back-and-forth movement mechanism.

In addition, there is also a telescopic mechanism that uses pressure fluid such as hydraulic pressure to expand and contract to move up and down.

[Problem to be solved by the invention]

However, the conventional example described above is
As shown in c), when the upper part of the telescopic legs, such as a ball screw, protrudes from the top surface of the main body while walking, it is not possible to make a wide loading platform.For this reason, joints are provided in the legs. Some legs can be extended and contracted, but if they are articulated, the range of movement of the legs will be large, and if this is applied to multiple legs, sufficient space must be left between the legs to avoid interference with other legs. Subject to restrictions such as not being allowed.

For this reason, it is possible to use telescopic legs,
When the telescopic legs are retracted, both ends must be shortened to the height of the main body, and when extended, they need to be able to extend to the extent that the main body can be kept horizontal while walking up the stairs.With conventional telescopic legs, it is necessary to use multiple actuators to create multiple stages. However, there is a problem in that the structure is complicated.

The present invention is an attempt to solve the above-mentioned problems, and it is possible to provide one drive source for each telescopic leg of a multi-legged walking machine, drive it only through a transmission means, and has an hour wheel configuration. To provide a multi-legged walking machine having legs that can extend and contract sufficiently for climbing and descending, and that allows climbing and descending stairs with the main body in a horizontal state.

[Means to solve the problem]

For this purpose, the multi-legged walking machine of the present invention is a multi-legged walking machine having a plurality of telescoping legs, and includes a main body attachment part, a first leg part that is vertically slidable with respect to the attachment part, and a first leg part that is slidable in the vertical direction with respect to the attachment part. The 211th part has a wheel at its tip that can be slid in the vertical direction, and a drive source that slides the first leg and the second leg, and the first leg and the 211th It is characterized by extending and contracting the legs by sliding the legs.

[Action and effect of the invention]

The multi-legged walking machine of the present invention drives one driving source, and slides the first leg part with respect to the attachment part and the second IO part with respect to the U1 part in the vertical direction via the transmission means. According to
The wheels provided on the second leg can be expanded and contracted sufficiently to go up and down stairs, and the main body can be kept horizontal while traveling on stairs or uneven ground. Also, the configuration is simple and the first and second
It can be extended and contracted by the sliding width of the It is possible.

In addition, if a leg swinging means is provided on at least 1 & 11 of the legs and the wheels are swung back and forth so as to touch the ground near the lifting leg, the center of gravity will not deviate from the support point and fall down. It is also possible to select the ground contact location according to the shape of the ground, allowing for smoother movement.

〔Example〕

Examples will be described below with reference to the drawings.

Fig. 1 is a perspective view of one embodiment of the present invention, Fig. 2 is a side view when the legs are extended, and Fig. 3 is a side view when the legs are retracted. 1 is the main body of the traveling machine, and 2 is the leg. , 11 is a mounting part, 12 is a roller, 14 is a connection part between the mounting part 11 and the chain, 20 is an extension motor, 21 is a first leg part, 22 is a rail, 23 is a guide groove, 24 and 25 are sprockets, 26 is a chain, 31
is the second leg, 32 is the roller, 33 is the wheel, 34 is the second
This is the connecting portion between the leg portion 31 and the chain 26.

The present invention generally relates to an attachment part 1 attached to a traveling machine main body l.
1, a first leg portion 21 and a second leg portion 31. 1st
The leg portions 21 engage with rollers 12 provided on the mounting portion 11 via rails 22 on both valve sides, and are capable of sliding up and down. The sprocket 24 is driven by the telescopic motor 20.
．． When the chain 25 is rotated in the direction of the arrow in Fig. 2, the chain 26
is connected to the attachment part 11 at the connection part 14 and to the second IIl11 part 31 at the connection part 34, so
The second leg part 31 also rises upward together with the first JIII part 21, as shown in FIG. 3, and lifts up the wheel 33. When the rotation of the telescoping motor 20 is reversed, the wheels 33 descend,
Leg 2 will be extended. .

4 and 5 are diagrams for explaining the sliding movement of the first leg portion 21, with FIG. 4 being a cross-sectional view and FIG. 5 being a front view. 1st
The leg portion 21 is attached to the mounting portion 1 by a rail 22 provided on the outer wall.
It moves up and down along the roller 12 provided in the second #1, and moves up and down along the guide groove 23 provided in the inner wall.
The roller 32 of the section 31 moves up and down, and can expand and contract within a large range determined by the sum of the vertical movement width of the first leg section 21 and the vertical movement width of the second leg section 31.

6 is a front sectional view of the 2111 part 31, and FIG. 7 is a side sectional view. In FIG. 4
4.45 is a bevel gear.

A drive motor (not shown) rotates the drive output shaft 41, and the rotation is transmitted to gear 43 - bevel gear 44 - bevel gear 45 - gear 46 - gear 47 - m-wheel 48 to rotationally drive wheel 33. drive. Furthermore, when the steering shaft 42 of the rudder motor (not shown) is rotated, the gear 49 is rotated, and the gear XX' and below in the drawing are rotated to change the direction of travel. .

FIG. 8 is a side view showing the above embodiment when going up and down stairs, and FIG. 9 is a partially cutaway view of the leg portion 2C in FIG. 8.

In the figure, reference numeral 15 denotes a swing shaft provided on the mounting portion 11, and as shown in FIG. 8, the leg portion 2b can be swung back and forth by a swing motor (not shown).

When driving on flat ground, the vehicle runs by driving the drive motor.

When climbing stairs, when it is detected that the front wheel 33a in the direction of travel has come into contact with the rising surface of the stairs, for example by detecting the reaction force of the drive motor, the telescopic motor 20 moves the leg 2a. The wheels 33a are retracted and raised along the rising surface of the stairs.

In this case, the main body 1 will be supported by the legs 2b and 20, so the swing shaft 15 of the middle leg 2b is rotated so that the center of gravity is between the legs 2b and 2C, and the wheel 33b is moved between the wheels 33b and 2a. Try to tilt it towards the side. This makes it possible to reliably prevent the main body from falling over. When the wheels 33a of the leg portions 2a reach the stair treads, the entire body moves forward along the shape of the stairs. The legs 2b and 2C are similarly raised along the rising surface of the stairs. When retracting the leg portion 2c, the leg portion 2b is swung rearward so that the center of gravity is between the leg portions 2a and 2 fat.

When going down stairs from flat ground, while supporting the main body with legs 2a and 20, raise the middle leg 2b slightly from the floor.
When the leg 2c in the traveling direction reaches the stairs and misses the tread, it is detected by detecting an increase in the load on the leg 2b, and the leg 2C is extended downward to descend. In this case as well, the leg portions 2b are swung back and forth in the same manner as in the case of raising, so that the center of gravity does not deviate from the support point. Thereafter, the legs 2b and 2a are successively lowered in the same manner.

In addition, in the above explanation, an example was explained in which only the middle leg 2b can swing back and forth, but all the legs may be able to swing back and forth, and in that case, when going up and down the stairs, When the legs 2 a + b, c are grounded on the tread, etc., it can be swung and advanced as necessary.

Note that the legs 2a, b.

When swinging C, extend it by the amount of tilt and keep main body 1 horizontal.

FIG. 10 shows a second embodiment of the present invention, in which 61 is a first pinion, 62 is a second pinion, 63 is a belt, 64 is a first rack, and 65 is a second rack. In this embodiment, the first pinion 6 provided on the first leg portion 21 is a telescopic motor.
1, and the rotation is transferred to the second pinion 62 by the belt 63.
be transmitted to.

The first pinion 61 engages with a first rack 64 provided on the mounting portion 11, and the second pinion 62 engages with a first rack 64 provided on the mounting portion 11.
Since it engages with the second rack 65 provided at I can do it.

FIG. 11(a) is a side view of the third embodiment of the present invention, and FIG. 11(b) is a sectional view of the main part, 71 is the first tooth provided on the mounting part 11, 72 is the first leg part 21 a first screw provided in 7;
3 is a second tooth provided on the second leg portion 31, and 74 is a second screw that engages with the first screw and the second tooth 73. When the first m is rotated by the telescopic motor, as shown in FIG. It also rotates. At the same time, the second screw 74 is attached to the second Illj portion 3I.
Since the second leg 31 is provided to engage with the second leg 31, the second leg 31 also rises, allowing the first and second legs 21.31 to extend and contract.

As described above, according to the present invention, the second I
By sliding the llj parts in the vertical direction, the wheels provided on the second leg part can be expanded and contracted enough to go up and down stairs, making it possible to run on stairs or on uneven ground while keeping the main body horizontal. can. In addition, the configuration is simple, and first and second, it can be extended and contracted by the sliding width of part 01, and it does not interfere with other legs, so there is no need to widen the distance between the legs, and the main body can be held horizontally. It is possible to walk, such as going up and down stairs, in this state.

In addition, if a leg swinging means is provided at least on the legs 1 and 2, and the wheels are swung back and forth so as to touch the ground near the lifting leg, the center of gravity will not deviate from the support point and fall down. It is also possible to select the ground contact location according to the shape of the ground, allowing for smoother movement.

[Brief explanation of the drawing]

Fig. 1 is a perspective view of one embodiment of the present invention, Fig. 2 is a side view when the leg is extended, Fig. 3 is a side view when the leg is retracted, and Fig. 4 shows the sliding movement of the 1X1 section. Main part sectional view for explanation, 5th
The figure is a front view of the first leg, and Figure 6 is the 21st leg! Fig. 7 is a side sectional view of the second leg portion, Fig. 8 is a side view showing how the embodiment of the present invention goes up and down stairs, and Fig. 9 is a part of the telescopic intestine in Fig. 8. A cutaway view, FIG. 10 is a side view of the second embodiment of the present invention, FIG. 11 (A) is a side view of the third embodiment of the present invention, and FIG. Fig. 12 is a perspective view of a conventional multi-legged walking machine, Fig. 13 is an enlarged cross-sectional view of the legs in Fig. 12,
FIGS. 14(a), 14(b), and 14(c) are diagrams for explaining the ascending and descending of the stairs in FIG. 12. DESCRIPTION OF SYMBOLS 1... Traveling machine main body, 2... Leg part, 11... Mounting part, 12... Roller, 14... Connection part, 20...
Telescopic motor, 21... First leg, 22... Rail, 23... Guide groove, 24.25... Sprocket, 26... Chain, 31... Second ya part, 32...
...Roller, 33...Wheel, 34...Connection part. Applicant Aisin AW Co., Ltd. Representative Patent Attorney Masanobu Hirukawa (4 others) Figure 1 Figure 10 Figure 11

Claims (5)

[Claims] (1) In a multi-legged walking machine having a plurality of telescoping legs, there is a main body attachment part and a first part that is slidable in the vertical direction with respect to the attachment part.
It consists of a leg, a second leg that has a wheel at its tip that can slide in the vertical direction with respect to the first leg, and a drive source that slides the first leg and the second leg. A multi-legged walking machine, characterized in that the first leg portion and the second leg portion are slid by one driving source to extend and contract the leg portions. (2) The multi-legged walking machine according to claim 1, wherein at least one set of the legs is provided with a leg swinging means, so that the legs can swing back and forth. (3) The first leg includes two upper and lower sprockets driven by the drive source, and a chain that is engaged with the sprockets and has a connecting portion that is connected to the mounting portion and the second leg, respectively. A multi-legged walking machine according to claim 1 or 2, further comprising a multi-legged walking machine. (4) The first leg is provided with two upper and lower pinions driven by the drive source, and the mounting portion and the second
The multi-legged walking machine according to claim 1 or 2, wherein the leg portion is provided with a rack that engages with one of the two pinions. (5) The mounting portion and the first leg are slidable via first teeth and a first screw, and the first leg and the second leg are rotatably driven by the first screw. The multilegged walking machine according to claim 1 or 2, wherein the multipedal walking machine is slidable via two screws and second teeth.