JPS6347672B2 - - Google Patents
Info
- Publication number
- JPS6347672B2 JPS6347672B2 JP57073347A JP7334782A JPS6347672B2 JP S6347672 B2 JPS6347672 B2 JP S6347672B2 JP 57073347 A JP57073347 A JP 57073347A JP 7334782 A JP7334782 A JP 7334782A JP S6347672 B2 JPS6347672 B2 JP S6347672B2
- Authority
- JP
- Japan
- Prior art keywords
- traveling
- arms
- joint
- joints
- leg members
- 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.)
- Expired
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Handcart (AREA)
Description
【発明の詳細な説明】 本発明は走行装置の改良に関するものである。[Detailed description of the invention] The present invention relates to an improvement in a traveling device.
本件出願人がすでに提案した走行装置（特願昭
55―173109号明細書を参照されたい）を第１図
，，により説明すると、１が装置本体、
２，３が同装置本体１の左右下部に取付けた２個
の走行車輪で、同各走行車輪２，３は装置本体１
内に設けた減速機付モータ（図示せず）により独
立に回転される。また４〜７が上記装置本体１の
前後左右の上部に取付けた４個の関節で、同各関
節４〜７はそれぞれの内部に上記走行車輪２，３
の軸線に平行な回転軸（図示せず）を有し、また
その付近には関節４〜７それぞれの第１アーム８
を同回転軸を中心に正逆方向に選択的に回転させ
る回転駆動装置（図示せず）がある。また９〜１
２が上記各第１アーム８の他端に取付けた４個の
関節で、同各関節９〜１２はそれぞれの内部に上
記走行車輪２，３の軸線に平行な回転軸（図示せ
ず）を有し、またその付近に関節４，７それぞれ
の第１アーム８と関節９〜１２それぞれの第２ア
ーム１３のいづれか一方を同回転軸を中心に正逆
方向に選択的に回転させる回転駆動装置（図示せ
ず）がある。また１４が上記各第２アーム１３の
他端に取付けた４個のローラで、同各ローラ１４
は上記走行車輪２，３の軸線に平行な回転軸を有
し、同各回転軸はその付近にある回転駆動装置
（図示せず）により独立に回転される。また１５
が同各ローラ１４内に出没可能に設けた球状コロ
である。なお走行車輪２，３はそれぞれの回転速
度を変えて回転すると、操向を行なうことができ
るが、このとき、各球状コロ１５を突出させる
と、操向が円滑に行なわれる。また１６が床面
で、４本の第１、第２アーム８，１３を第１図
のようにＭ字状に屈曲させて、走行車輪２，３と
４個のローラ１４とを着床させる一方、これらの
走行車輪２，３及び各ローラ１４を回転させて、
或いは４本の第１アーム８を第１図の状態から
関節９〜１２を中心に上方に回転させて、４個の
ローラ１４のみを着床させる（装置本体１及び走
行車輪２，３を持上げる）一方、各ローラ１４を
回転させ、或いは４本の第１アーム８を第１図
の状態から関節４〜７を中心に下方に回転させる
とともに４本の第２アーム１３を関節９〜１２を
中心に前後方向に伸長させる（走行装置の高さを
低くする）一方、走行車輪２，３及び各ローラ１
４を回転させて、走行するように、また４本の第
１、第２アーム８，１３を交互に屈伸させて、障
害物を乗り越えたり、階段を昇降するようになつ
ている。 The traveling device already proposed by the applicant (patent application
55-173109) with reference to FIG. 1, 1 is the main body of the device,
2 and 3 are two running wheels attached to the left and right lower parts of the device main body 1;
It is independently rotated by a motor with a reducer (not shown) provided inside. In addition, 4 to 7 are four joints attached to the upper part of the front, rear, left, and right sides of the device main body 1.
The first arm 8 of each of the joints 4 to 7 is located near the axis of rotation (not shown).
There is a rotation drive device (not shown) that selectively rotates the rotary shaft in forward and reverse directions around the same rotation axis. Also 9-1
Reference numeral 2 denotes four joints attached to the other end of each of the first arms 8, and each of the joints 9 to 12 has a rotating shaft (not shown) parallel to the axes of the traveling wheels 2 and 3 inside each joint. A rotary drive device that selectively rotates one of the first arms 8 of each of the joints 4 and 7 and the second arm 13 of each of the joints 9 to 12 in forward and reverse directions about the same rotation axis. (not shown). Further, reference numeral 14 denotes four rollers attached to the other end of each of the second arms 13, and each of the rollers 14
has rotating shafts parallel to the axes of the traveling wheels 2 and 3, and each of the rotating shafts is independently rotated by a rotation drive device (not shown) located nearby. Also 15
are spherical rollers provided in each roller 14 so as to be retractable. Note that steering can be performed by rotating the traveling wheels 2 and 3 at different rotational speeds, but at this time, if each spherical roller 15 is projected, steering can be performed smoothly. Further, 16 is a floor surface, and the four first and second arms 8, 13 are bent in an M shape as shown in FIG. 1, and the running wheels 2, 3 and four rollers 14 are placed on the floor. On the other hand, by rotating these running wheels 2, 3 and each roller 14,
Alternatively, the four first arms 8 are rotated upward from the state shown in FIG. On the other hand, each roller 14 is rotated, or the four first arms 8 are rotated downward around joints 4 to 7 from the state shown in FIG. (to lower the height of the traveling device), while the traveling wheels 2, 3 and each roller 1
4 is rotated to run, and the four first and second arms 8, 13 are alternately bent and extended to overcome obstacles or go up and down stairs.
前記走行装置では、障害物を乗り越えたり、階
段を昇降するとき、或いは凹凸面を走行すると
き、４本の第１、第２アーム８，１３を交互に屈
伸させなければならないので、走行速度が遅い
し、操作が複雑になるという問題があつた。 In the traveling device, when overcoming obstacles, going up and down stairs, or traveling on uneven surfaces, the four first and second arms 8 and 13 must be alternately bent and extended, so the traveling speed is reduced. The problem was that it was slow and complicated to operate.
本発明は前記の問題点に対処するもので、装置
本体の前後左右に関節を介して取付けた各第１ア
ームと同各第１アームに関節を介して取付けた第
２アームとよりなる４本の脚部材が同各関節を中
心に揺動して走行する走行装置において、前記各
脚部材の関節に揺動用回転駆動装置を設け、前記
各第２アームにそれを取囲むように走行用クロー
ラ機構を設けたことを特徴とする走行装置、及び
装置本体の前後左右に関節を介して取付けた各第
１アームと同各第１アームに関節を介して取付け
た第２アームとよりなる４本の脚部材が同各関節
を中心に揺動して走行する走行装置において、前
記各脚部材の関節に揺動用回転駆動装置を設け、
前記各第２アームにそれを取囲むように走行用ク
ローラ機構を設け、前記装置本体の左右下部に走
行用クローラ機構を設けたことを特徴とする走行
装置に係り、その目的とする処は、障害物を乗り
越えたり、階段を昇降するとき、或いは凹凸面を
走行するとき、走行速度を早めることができる。
そのときの操作を簡単にできる。さらに安定した
状態で走行できる改良された走行装置を供する点
にある。 The present invention addresses the above-mentioned problems, and consists of four first arms attached via joints to the front, rear, left and right sides of the main body of the device, and second arms attached to each of the first arms via joints. In the traveling device in which the leg members swing and travel around the respective joints, a swing rotation drive device is provided at the joint of each of the leg members, and a traveling crawler is provided in each of the second arms so as to surround it. A traveling device characterized by being provided with a mechanism, and four arms each consisting of a first arm attached via a joint to the front, rear, left and right sides of the device body, and a second arm attached to each of the first arms via a joint. In the traveling device in which the leg members of the leg members swing around the respective joints and run, a swing rotation drive device is provided at the joints of the respective leg members,
The traveling device is characterized in that each of the second arms is provided with a traveling crawler mechanism so as to surround it, and the traveling crawler mechanism is provided at the left and right lower portions of the device main body, and the purpose thereof is to: The running speed can be increased when overcoming obstacles, going up and down stairs, or running on uneven surfaces.
You can easily operate it at that time. Another object of the present invention is to provide an improved traveling device that can travel in a more stable state.
次に本発明の走行装置を第２図乃至第５図に示
す一実施例により説明すると、１〜１３が第１図
と同じ部分、１７が走行用クローラ機構、１８が
関節用ギヤードモータ（揺動用回転駆動装置）、
１９がクローラ用ギヤードモータ、２０が走行車
輪用ギヤードモータ、２１がチエーン、２２がチ
エーン２１の突起、２３がチエーン２１のピン、
２４がチエーン２１の反対側の突起、２５がニー
ドルベアリング、２６がピン、２７が止め輪、２
８がフレーム、２９，３０がアタツチメント、３
１，３１′が上記突起２４に噛合するスプロケツ
ト、３２が溝、３３が固定ボルト、３４が減速
機、３５がフレーム仕切部、１３ａが第２補助ア
ームで、上記走行用クローラ機構１７の駆動部
は、ギヤードモータ１９と減速機３４とスプロケ
ツト３１とで構成され、力の作用する受圧部は、
フレーム２８及びアタツチメント２９，３０とこ
れに取付けたニードルベアリング２５とで構成さ
れ、駆動力伝達部は、突起２２，２４を有するチ
エーン２１とこれに噛合するスプロケツト３１，
３１′とで構成されている。またニードルベアリ
ング２５のフレーム２８及びアタツチメント２
９，３０への取付けは、ピン２６と止め輪２７と
で行ない、ニードルベアリング２５の左右方向へ
の移動規制は、フレーム２８及びアタツチメント
２９，３０に設けた仕切部３５により行なう。な
おフレーム２８は、関節９，１０〜１２に固定さ
れる。またアタツチメント２９，３０は、第２ア
ーム１３および第２補助アーム１３ａにボルト３
３により固定される。 Next, the traveling device of the present invention will be explained with reference to an embodiment shown in FIGS. 2 to 5. 1 to 13 are the same parts as in FIG. 1, 17 is a crawler mechanism for traveling, and 18 is a geared motor for joints rotary drive device),
19 is a geared motor for the crawler, 20 is a geared motor for traveling wheels, 21 is a chain, 22 is a protrusion of the chain 21, 23 is a pin of the chain 21,
24 is a protrusion on the opposite side of the chain 21, 25 is a needle bearing, 26 is a pin, 27 is a retaining ring, 2
8 is the frame, 29 and 30 are attachments, 3
1 and 31' are sprockets that mesh with the protrusions 24, 32 are grooves, 33 are fixing bolts, 34 are speed reducers, 35 are frame partitions, 13a are second auxiliary arms, and the drive unit for the crawler mechanism 17 for traveling. is composed of a geared motor 19, a reducer 34, and a sprocket 31, and the pressure receiving part on which force acts is:
The driving force transmission section is composed of a frame 28, attachments 29 and 30, and a needle bearing 25 attached thereto, and a driving force transmission section includes a chain 21 having protrusions 22 and 24, a sprocket 31 that meshes with the chain 21, and a sprocket 31 that meshes with the chain 21.
31'. Also, the frame 28 and attachment 2 of the needle bearing 25
The needle bearing 25 is attached to the needle bearings 9 and 30 using a pin 26 and a retaining ring 27, and movement of the needle bearing 25 in the left-right direction is restricted by a partition 35 provided on the frame 28 and the attachments 29 and 30. Note that the frame 28 is fixed to the joints 9, 10-12. In addition, the attachments 29 and 30 are attached to the second arm 13 and the second auxiliary arm 13a with bolts 3.
Fixed by 3.
次に前記走行装置の作用を説明する。 Next, the operation of the traveling device will be explained.
第４図はゆるやかな凹凸面を矢印Ｘ方向に走行
する走行状態を、第５図は斜度のゆるやかな階段
を矢印Ｘ方向に登坂する走行状態を、それぞれ示
している。第４図のときには、まず前片脚を段に
かけ（ａ参照）、次いで残りの前片脚も段にかけ
（ｂ参照）、次いで各クローラ機構１７を矢印Ａの
前進方向に駆動して、歩進し（b′参照）、次いで
後両脚を段の高さ以上に上げて、前進を続ける。
また第５図のときには、４本の第１、第２アーム
８，１３を第１図ＩのようにＭ字状に屈曲させた
状態で段段の手前まで走行し（ａ参照）、次いで
前両脚を前方に、後両脚を後方に、それぞれ伸ば
し、次いで各クローラ機構１７を矢印Ａの前進方
向に駆動して、階段を登る（ｂ，ｃ参照）。 FIG. 4 shows a running state in which the vehicle travels in the direction of arrow X on a gently uneven surface, and FIG. 5 shows a traveling state in which the vehicle climbs a slope with a gentle slope in the direction of arrow X. In the case of Fig. 4, first one front leg is placed on the step (see a), then the remaining front leg is also placed on the step (see b), and then each crawler mechanism 17 is driven in the forward direction of arrow A to make the step. (see b'), then raise the rear legs above the height of the step and continue moving forward.
In addition, in the case of Fig. 5, the four first and second arms 8, 13 are bent in an M-shape as shown in Fig. extend forward and both rear legs backward, and then drive each crawler mechanism 17 in the forward direction of arrow A to climb the stairs (see b and c).
また第６図，，は、第２，３図の走行用
車輪２，３を同第２，３図の走行用クローラ機構
１７と実質的に同一の走行用クローラ機構３６，
３６に替えた他の実施例で、この場合には２０が
クローラ用ギヤードモータになる。 Moreover, FIGS. 6 and 6 show that the running wheels 2 and 3 of FIGS. 2 and 3 are replaced by a running crawler mechanism 36 that is substantially the same as the running crawler mechanism 17 of FIGS.
In another embodiment, 36 is replaced with 20, in which case 20 is a crawler geared motor.
本発明の走行装置は前記のように構成されてお
り、クローラ機構が第４，５図のように接地する
ので、障害物を乗り越えたり、階段を昇降すると
き、或いは凹凸面を走行するとき、走行速度を早
めることができる。また２アーム、２関節の各脚
部材を第４，５図のように操作するだけでよく
て、走行時の操作を簡単にできる。また床面、階
段等に接するのがクローラ機構である。しかも各
脚部材が２アーム、２関節方式で、第２図の姿
勢をとることができ、重心位置を低く保持でき
て、不整地等を安定した状態で走行できる。また
各脚部材が上記のように２アーム、２関節方式で
あり、クローラ機構を使用した走行の外に、アー
ムの途中を折り曲げて行う歩行、ほふく等の脚動
作が可能で、この点からも不整地等を安定した状
態で移動できる効果がある。 The traveling device of the present invention is configured as described above, and since the crawler mechanism touches the ground as shown in FIGS. 4 and 5, when climbing over obstacles, going up and down stairs, or traveling on uneven surfaces, You can increase your running speed. In addition, it is only necessary to operate each of the two-arm, two-joint leg members as shown in FIGS. 4 and 5, making operation during running easier. Also, the crawler mechanism is in contact with the floor, stairs, etc. In addition, each leg member has two arms and two joints, so it can take the posture shown in FIG. 2, and the center of gravity can be kept low, allowing the vehicle to run stably on uneven ground. In addition, each leg member has two arms and two joints as described above, and in addition to running using the crawler mechanism, it is possible to bend the arm in the middle to perform leg movements such as walking and crouching. It has the effect of allowing you to move stably over uneven ground.
以上本発明を実施例について説明したが、勿論
本発明はこのような実施例にだけ局限されるもの
ではなく、本発明の精神を逸脱しない範囲内で
種々の設計の改変を施しうるものである。 Although the present invention has been described above with reference to embodiments, it goes without saying that the present invention is not limited to such embodiments, and that various design modifications can be made without departing from the spirit of the present invention. .
第１図は本件出願人がすでに提案した走行装
置を示す側面図、第１図はその正面図、第１図
はその平面図、第２図は本発明に係る走行装
置の一実施例を示す側面図、第２図はその正面
図、第３図は走行用クローラ機構の正面図、第
３図はその側面図、第３図はその平面図、第
４，５図はその作用説明図、第６図は本発明に
係る走行装置の他の実施例を示す側面図、第６図
はその正面図、第６図はその底面図である。
１…装置本体、８，１３…４本の脚部材、８…
第１アーム、１３…第２アーム、４〜７及び９〜
１２…関節、１７，３６…走行用クローラ機構、
１８…揺動用回転駆動装置。
FIG. 1 is a side view showing a traveling device already proposed by the applicant, FIG. 1 is a front view thereof, FIG. 1 is a plan view thereof, and FIG. 2 is an embodiment of the traveling device according to the present invention. 2 is a front view thereof, 3 is a front view of the traveling crawler mechanism, 3 is a side view thereof, 3 is a plan view thereof, 4 and 5 are explanatory diagrams of its operation, FIG. 6 is a side view showing another embodiment of the traveling device according to the present invention, FIG. 6 is a front view thereof, and FIG. 6 is a bottom view thereof. 1...Device main body, 8, 13...4 leg members, 8...
First arm, 13...Second arm, 4-7 and 9-
12... Joint, 17, 36... Traveling crawler mechanism,
18...Rotation drive device for swinging.
Claims (1)
各第１アームと同各第１アームに関節を介して取
付けた第２アームとよりなる４本の脚部材が同各
関節を中心に揺動して走行する走行装置におい
て、前記各脚部材の関節に揺動用回転駆動装置を
設け、前記各第２アームにそれを取囲むように走
行用クローラ機構を設けたことを特徴とする走行
装置。 ２ 装置本体の前後左右に関節を介して取付けた
各第１アームと同各第１アームに関節を介して取
付けた第２アームとよりなる４本の脚部材が同各
関節を中心に揺動して走行する走行装置におい
て、前記各脚部材の関節に揺動用回転駆動装置を
設け、前記各第２アームにそれを取囲むように走
行用クローラ機構を設け、前記装置本体の左右下
部に走行用クローラ機構を設けたことを特徴とす
る走行装置。[Scope of Claims] 1. Four leg members each consisting of first arms attached via joints to the front, rear, left and right sides of the device body, and second arms attached to each of the first arms via joints. In the traveling device that travels by swinging around a joint, a rocking rotary drive device is provided at the joint of each of the leg members, and a traveling crawler mechanism is provided in each of the second arms so as to surround it. Features a traveling device. 2 Four leg members, each consisting of a first arm attached via a joint to the front, rear, left and right sides of the device body, and a second arm attached to each first arm via a joint, swing around the respective joint. In the traveling device, a rocking rotary drive device is provided at the joint of each of the leg members, a traveling crawler mechanism is provided in each of the second arms so as to surround it, and the traveling device is provided at the left and right lower portions of the device main body. A traveling device characterized by being provided with a crawler mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57073347A JPS58191673A (en) | 1982-05-04 | 1982-05-04 | Running device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57073347A JPS58191673A (en) | 1982-05-04 | 1982-05-04 | Running device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS58191673A JPS58191673A (en) | 1983-11-08 |
| JPS6347672B2 true JPS6347672B2 (en) | 1988-09-22 |
Family
ID=13515528
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57073347A Granted JPS58191673A (en) | 1982-05-04 | 1982-05-04 | Running device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS58191673A (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4566707A (en) * | 1981-11-05 | 1986-01-28 | Nitzberg Leonard R | Wheel chair |
| US4977971A (en) * | 1989-05-17 | 1990-12-18 | University Of Florida | Hybrid robotic vehicle |
| US6263989B1 (en) * | 1998-03-27 | 2001-07-24 | Irobot Corporation | Robotic platform |
| JP4635259B2 (en) | 2006-03-10 | 2011-02-23 | 独立行政法人産業技術総合研究所 | Crawler robot |
| US8185241B2 (en) | 2006-11-13 | 2012-05-22 | Raytheon Company | Tracked robotic crawler having a moveable arm |
| TW201339034A (en) * | 2012-03-30 | 2013-10-01 | Rui-Ren Zhou | Stair climbing mechanism of moving vehicle |
| JP6344668B2 (en) * | 2015-02-10 | 2018-06-20 | 国立研究開発法人宇宙航空研究開発機構 | Rough terrain vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56138071A (en) * | 1980-03-29 | 1981-10-28 | Toshiba Corp | Mobile monitoring equipment |
-
1982
- 1982-05-04 JP JP57073347A patent/JPS58191673A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS58191673A (en) | 1983-11-08 |
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