CA1289600C - Mechanical walking vehicle - Google Patents
Mechanical walking vehicleInfo
- Publication number
- CA1289600C CA1289600C CA000529303A CA529303A CA1289600C CA 1289600 C CA1289600 C CA 1289600C CA 000529303 A CA000529303 A CA 000529303A CA 529303 A CA529303 A CA 529303A CA 1289600 C CA1289600 C CA 1289600C
- Authority
- CA
- Canada
- Prior art keywords
- leg
- legs
- steering control
- chassis
- crank
- 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 - Lifetime
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/021—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members the ground engaging means being sequentially inflatable bags for peristaltic movement
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
ABSTRACT OF THE DISCLOSURE
A mechanical walking vehicle which may be costumed as an animal, and which may carry a rider, is disclosed. A chassis carries power and drive means connected to a pair of crank shafts. Each crank shaft has a crank at each end, each crank being connected to a leg. Each leg is also connected to the chassis by a sliding bearing so that rotation of the crank shafts causes all four legs to move in an up and down and to and fro manner, with diagonally opposed legs following identical paths of movement. Each leg has a ground engaging wheel with a self locking feature and steering means are provided which may be manually controlled by a rider or from remote by radio signals or the like.
A mechanical walking vehicle which may be costumed as an animal, and which may carry a rider, is disclosed. A chassis carries power and drive means connected to a pair of crank shafts. Each crank shaft has a crank at each end, each crank being connected to a leg. Each leg is also connected to the chassis by a sliding bearing so that rotation of the crank shafts causes all four legs to move in an up and down and to and fro manner, with diagonally opposed legs following identical paths of movement. Each leg has a ground engaging wheel with a self locking feature and steering means are provided which may be manually controlled by a rider or from remote by radio signals or the like.
Description
This invention is directed to a mechanical walking vehicle primarily designed for use as an amusement device. The vehicle has beerl designed so that if appropriately sized and powered it is capable of carrying a rider.
The vehicle which will be described herein is skeletal, so that the mechanical operation of the vehicle will be more readily understood. The invention includes, in addition, the provision of a skin adapted to cover the skeleton disclosed, so that the walking vehicle may represent any desired animal such as a horse, dog, or the like. The provision of such a skins, molded of any suitable material, or of soft fabric which may be draped over the supporting skeleton will be readily understood by those skilled in the art.
An object of the invention is to provide a mechanical walking vehicle which may be costumed to represent an animal, real or fictional, and which has four legs adapted to move the vehicle in a step-by-step manner. A further object of the invention is to provide mechanical means to steer the walking vehicle, through the medium of reins, if the vehicle is carrying a rider, and alternatively by remote control such as radio control or mechanical umbilical cord controls.
A principal object of the invention is to provide a mechanical walking vehicle comprising a chassis de~ining an elongate rectangle; a pair o~ legs mounted near the front and near the rear of said rectangle and adapted for simultaneous vertical and horizontal movement;
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~1 2~9~0 -la-each of said pairs of legs having a crank means to impart said movement there~o; drive means are provided and are adapted to rotate both of said crank means ' - : - , : .
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simultaneously; said crank means are synchronized to effect simultaneous vertical and horizontal movement of diagonally opposed legs, whereby a walking movement of said mechanical vehicle is effected under the urging of said drive means, and said front and said rear pairs of legs are mounted on support means on the chass:is adapted for selective horizontal pivotal movement to provide steering control during said walking movement.
In a broad aspect, the present invention relates to a mechanical walking vehicle comprising: a chassis defining an elongate rectangle; a pair of legs mounted near the front and near the rear of said chassis and adapted for simultaneous vertical and horizontal movement; each of said pairs of legs having a crank means to impart said movement thereto; drive means adapted to rotate both of said crank means simultaneously; said crank means being synchronized to effect simultaneous vertical and horizontal movement of diagonally opposed legs whereby a walking movement of said mechanical vehicle is effected under the urging of said drive means, and steering means associated with said front and said rear pairs of legs including front and rear leg support means pivotally joined to said chassis to permit steering of said vehicle during said walking movement by the simultaneous pivoting of said front and rear leg support means.
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- 2a -These and other objects of the invention will become apparent with reference to the following description. Reference will be made to the accompanying drawings in which:
Figure 1 is a side elevation of a mechanical walking vehicle according to the invention;
Figure 2 is a top plan of the mechanical walking vehicle;
Figure 3 i5 an end elevation;
Figure 4 is a detail, partly in section, of a leg attachment and crank arm assembly for use with the invention;
Figure 5 is a side elevation of a leg and wheel assembly for use with the invention, the assembly being shown in two positions; and Figures 6 and 7 are top plans of a steering mechanism for use with the invention.
Detailed reference will now be made to the drawings wherein ~ e reference numerals will identify like parts.
;~ Referring to Figures 1 and 2 a chassis indicated generally by the numeral 10 comprises elongate parallel horizontal frame members 14 and 14a, spaced apart by a plurality B
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of vertical frame mernbers 16, 18, 20. Horizontal frame members 14 and 14a include end vertical frame members 22, seen in broken lines in Figure l and more clearly in Figure 3.
Chassis lO supports a power source such as a storage battery 24, connected by cables not illustrated to a drive mo-tor 26. Drive motor 26 includes a V pulley 28 connected by V belt 30 to a speed reducing pulley 32 also having an axially connected drive pul.ley 34, so that further speed reduction is effected via second drive belt 36 connected to V pulley 38. Pulley 38 is mounted on vertical frame members 20, and its axle 40 dr.ives a cog wheel 42 fixed thereto between vertical frame members 20.
Referring now to Figures 3 and 4 a crank shaft 44 is mounted for rotation between vertical frame members 22 and has centrally affixed thereto a drive sprocket 46.
Referring again to Figure 1, frame members 16 and 20 each support adjustable idler sprocket wheels 48 and 50 respectively. A drive chain 52 passes part way round drive sprocket 42, around the rear portion of leg crank shaft sprocket 46, thence around the forward portion of front crank shaft sprocket (illustrated in phantom in Figure l), under idler cogs ..
48 and 50, thence continuing upwardly around the portion of drive sprocket 42. Drive chain 52, therefore is driven at the appropriate speed under the urging of drive motor 26 through the speed reducing pulleys 28, 32, 34 and 38, and then drive sprocket 42, as is believed evident.
Each leg is mounted to chassis lO for movement under the urging of crank shaft 44, so that each leg of the mechanical - . , ., . . . , - . : ..
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, vehicle follows a motion which can be generally described as simultaneously up and down and to and fro. The leg motion is achieved -through a mechanism most clearly illustrated in Figure 4 where an upper leg portion 54 is illustrated partly in section.
The upper leg portion 54 is splayed outwardly away from the chassis frame member 22 and includes a face plate 56, on both the front and rear thereof. Mounted within plates 56 is a vertical leg support member 58 having a bearing adapted to receive the end of crank 44a of crank shaft 44. Leg plate 58 also includes a vertical elongate opening 60, near its upper end, opening 60 being adapted to receive a slide block 62. Slide block 62 is pivotally mounted on a pivot pin 64 secured to vertical frame member 22 and projecting therebeyond, as illustrated. Opening 60 in leg plate 50 permits up and down movement thereof, under the urging of the rotation of crank 44a. The rotation of crank 44a will simultaneously cause the leg assembly to be pivoted on a slide block 62, so that to and fro motion occurs simultaneously with the up and down movement.
The lower portion of each leg will now be described, with specific reference to Figures 3 and 5. Leg 54 has a ground engaging wheel 66 rotatably fixed to leg 54 by a pair of pivot arms 68 and 70, pivotally mounted to a vertical bottom portion of leg 54 by a pivot pin 72. Each leg includes a stop block 76 at the lower rear corner thereoE, so that when each leg is in its rearmost position pivot arms 70 abut thereagainst, and prevent wheel 66 frorn encountering the bottom of a leg 54, wheel 66 thus being free to rotate.
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When leg 54 is in its forwardmost positionl however, as seen clearly in Figure 5, the forward top portion of wheel 66 makes contact with the bottom forward corner of leg 54l to cause a braking eEfect, that is, to prevent rotation of wheel 66.
A steering mechanism is illustrated most clearly in Figures 6 and 7, and includes a pair of left and right steering arms 80 and 82, respectively, pivotally attached at one end near the outer ends of upper horizontal leg frame member 22a, which in turn is centrally pivotally connected to the upper chassis frame rnember 14, at a4. A notched guide block 86 .is fixedly attached to chassis frame member 14, so that the inboard ends of steering arms 80 and 82 may be engaged in said notches, selectively, as will become clear hereinafter. Steering arms 80 and 82 are connected by a coil spring 88, so that the inboard ends of steering arms 90 and 82 are normally urged toward notched guide block 86. An L-shaped pi~ot block 90 is pivotally attached to chassis frame member 14 at 92, L-shaped pivot block 90 having its short end 90a directed to the right hand side of chassis member 14. A rein 94 is affixed to the forward end of pivot block 90, and passes through a pair o~ screw eyes 94a and 94b near each end of leg support frame member 22a. Manual tension on rein 94, to the right hand side thereof, will thus urge the forward end of L-shaped pivot block 90 toward the righ~, so as to displace the inboard end of steering a.rm 82 from a notch in notch plate 86, the tension of coil spring 88 simultaneously causing the inboard end of steering arm 82 to engage in a forward notch in notched steering block 86. The upper members 22a of each leg support Erame are interconnected by a diagonal steeriny control arm 96, .. . . . . ..................... . . . .
~, ~, , ' , pivotally attached to each of frame members 22a, at opposite ends thereof, and as seen most clearly in Figure 7, as the forward leg assembly is turned to the right under the urging of rein 94, the rear leg assembly will be correspondingly urged to the left, so as to achieve a controlled turning attitude. Thus, in Figure 6 the steering assembly is shown in a position to ef~ect a turn to the lef-t, while in Figure 7 the steering assembly is shown in a position to effect a turn to the right.
It will be observed that the crank shafts 22a are connected with each of legs 54 so that diagonally opposed legs will follow a simultaneous synchronous path, under the urging of crank shaft 44. Thus, in Figure 2 the right front and right rear legs are in the forwardmost position, while the left front and right rear legs are in the rearmost position. ~s drive motor 26 is actuated, and drive sprockets 46 beginning to rotate under tbe urging of drive chain 52, both the front and rear leg assemblies will begin an identical and synchronized motion. Each of the left front and right rear legs illustrated in Figure 2 will begin to move upwardly and forwardly following an arcuate path, while right front and left rear wheels 66 remain motionless and supported on the ground, with wheels ~6 being locked against the leading edge of leg 54. The chassis of the vehicle will undergo a slight twisting effect, as the left front and right rear legs are elevated and being to swing Eorward. For this reason bracing and diagonal members have been illustrated in the enclosed drawings, but it will be understood that with appropriate steel or plastic frame members the diagonal bracing can be eliminated.
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As the left front and right rear legs of Figure 2 pass through the vertical they will be momentarily parallel with the right front and left rear legs respectively, and will continue to advance on rotating wheels 661 as contact with the ground is made, until the legs are advanced to the point where wheels 66 become locked against the forward corner of legs 54, and the position of the respective legs illustrated in Figure 2 is reversed. Each revolution of the crank shaft causes each of its two associated legs to make one complete stride, and because there are two legs per crank shaft, each revolution of the crank shafts effects two strides.
In the event the mechanical vehicle described herein is to be controlled by remote, such as by an umbilical or radio control, a solenoid 100 may be provided (see Figure 6), to control L-shaped steering pivot block 90, that is, to cause pivoting of the block to effect right or left hand turns, in the ~-manner already described. Similarly, drive motor 26 may also be controlled by remote.
It will be evident that the chassis assembly steering arrangement and leg drive mechanisms disclosed herein may be modified, without departing from the scope or spirit of the invention disclosed. The foregoing is therefore by way of example only and should be limited only by the scope of the appended claims.
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The vehicle which will be described herein is skeletal, so that the mechanical operation of the vehicle will be more readily understood. The invention includes, in addition, the provision of a skin adapted to cover the skeleton disclosed, so that the walking vehicle may represent any desired animal such as a horse, dog, or the like. The provision of such a skins, molded of any suitable material, or of soft fabric which may be draped over the supporting skeleton will be readily understood by those skilled in the art.
An object of the invention is to provide a mechanical walking vehicle which may be costumed to represent an animal, real or fictional, and which has four legs adapted to move the vehicle in a step-by-step manner. A further object of the invention is to provide mechanical means to steer the walking vehicle, through the medium of reins, if the vehicle is carrying a rider, and alternatively by remote control such as radio control or mechanical umbilical cord controls.
A principal object of the invention is to provide a mechanical walking vehicle comprising a chassis de~ining an elongate rectangle; a pair o~ legs mounted near the front and near the rear of said rectangle and adapted for simultaneous vertical and horizontal movement;
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~1 2~9~0 -la-each of said pairs of legs having a crank means to impart said movement there~o; drive means are provided and are adapted to rotate both of said crank means ' - : - , : .
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simultaneously; said crank means are synchronized to effect simultaneous vertical and horizontal movement of diagonally opposed legs, whereby a walking movement of said mechanical vehicle is effected under the urging of said drive means, and said front and said rear pairs of legs are mounted on support means on the chass:is adapted for selective horizontal pivotal movement to provide steering control during said walking movement.
In a broad aspect, the present invention relates to a mechanical walking vehicle comprising: a chassis defining an elongate rectangle; a pair of legs mounted near the front and near the rear of said chassis and adapted for simultaneous vertical and horizontal movement; each of said pairs of legs having a crank means to impart said movement thereto; drive means adapted to rotate both of said crank means simultaneously; said crank means being synchronized to effect simultaneous vertical and horizontal movement of diagonally opposed legs whereby a walking movement of said mechanical vehicle is effected under the urging of said drive means, and steering means associated with said front and said rear pairs of legs including front and rear leg support means pivotally joined to said chassis to permit steering of said vehicle during said walking movement by the simultaneous pivoting of said front and rear leg support means.
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- 2a -These and other objects of the invention will become apparent with reference to the following description. Reference will be made to the accompanying drawings in which:
Figure 1 is a side elevation of a mechanical walking vehicle according to the invention;
Figure 2 is a top plan of the mechanical walking vehicle;
Figure 3 i5 an end elevation;
Figure 4 is a detail, partly in section, of a leg attachment and crank arm assembly for use with the invention;
Figure 5 is a side elevation of a leg and wheel assembly for use with the invention, the assembly being shown in two positions; and Figures 6 and 7 are top plans of a steering mechanism for use with the invention.
Detailed reference will now be made to the drawings wherein ~ e reference numerals will identify like parts.
;~ Referring to Figures 1 and 2 a chassis indicated generally by the numeral 10 comprises elongate parallel horizontal frame members 14 and 14a, spaced apart by a plurality B
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of vertical frame mernbers 16, 18, 20. Horizontal frame members 14 and 14a include end vertical frame members 22, seen in broken lines in Figure l and more clearly in Figure 3.
Chassis lO supports a power source such as a storage battery 24, connected by cables not illustrated to a drive mo-tor 26. Drive motor 26 includes a V pulley 28 connected by V belt 30 to a speed reducing pulley 32 also having an axially connected drive pul.ley 34, so that further speed reduction is effected via second drive belt 36 connected to V pulley 38. Pulley 38 is mounted on vertical frame members 20, and its axle 40 dr.ives a cog wheel 42 fixed thereto between vertical frame members 20.
Referring now to Figures 3 and 4 a crank shaft 44 is mounted for rotation between vertical frame members 22 and has centrally affixed thereto a drive sprocket 46.
Referring again to Figure 1, frame members 16 and 20 each support adjustable idler sprocket wheels 48 and 50 respectively. A drive chain 52 passes part way round drive sprocket 42, around the rear portion of leg crank shaft sprocket 46, thence around the forward portion of front crank shaft sprocket (illustrated in phantom in Figure l), under idler cogs ..
48 and 50, thence continuing upwardly around the portion of drive sprocket 42. Drive chain 52, therefore is driven at the appropriate speed under the urging of drive motor 26 through the speed reducing pulleys 28, 32, 34 and 38, and then drive sprocket 42, as is believed evident.
Each leg is mounted to chassis lO for movement under the urging of crank shaft 44, so that each leg of the mechanical - . , ., . . . , - . : ..
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, vehicle follows a motion which can be generally described as simultaneously up and down and to and fro. The leg motion is achieved -through a mechanism most clearly illustrated in Figure 4 where an upper leg portion 54 is illustrated partly in section.
The upper leg portion 54 is splayed outwardly away from the chassis frame member 22 and includes a face plate 56, on both the front and rear thereof. Mounted within plates 56 is a vertical leg support member 58 having a bearing adapted to receive the end of crank 44a of crank shaft 44. Leg plate 58 also includes a vertical elongate opening 60, near its upper end, opening 60 being adapted to receive a slide block 62. Slide block 62 is pivotally mounted on a pivot pin 64 secured to vertical frame member 22 and projecting therebeyond, as illustrated. Opening 60 in leg plate 50 permits up and down movement thereof, under the urging of the rotation of crank 44a. The rotation of crank 44a will simultaneously cause the leg assembly to be pivoted on a slide block 62, so that to and fro motion occurs simultaneously with the up and down movement.
The lower portion of each leg will now be described, with specific reference to Figures 3 and 5. Leg 54 has a ground engaging wheel 66 rotatably fixed to leg 54 by a pair of pivot arms 68 and 70, pivotally mounted to a vertical bottom portion of leg 54 by a pivot pin 72. Each leg includes a stop block 76 at the lower rear corner thereoE, so that when each leg is in its rearmost position pivot arms 70 abut thereagainst, and prevent wheel 66 frorn encountering the bottom of a leg 54, wheel 66 thus being free to rotate.
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When leg 54 is in its forwardmost positionl however, as seen clearly in Figure 5, the forward top portion of wheel 66 makes contact with the bottom forward corner of leg 54l to cause a braking eEfect, that is, to prevent rotation of wheel 66.
A steering mechanism is illustrated most clearly in Figures 6 and 7, and includes a pair of left and right steering arms 80 and 82, respectively, pivotally attached at one end near the outer ends of upper horizontal leg frame member 22a, which in turn is centrally pivotally connected to the upper chassis frame rnember 14, at a4. A notched guide block 86 .is fixedly attached to chassis frame member 14, so that the inboard ends of steering arms 80 and 82 may be engaged in said notches, selectively, as will become clear hereinafter. Steering arms 80 and 82 are connected by a coil spring 88, so that the inboard ends of steering arms 90 and 82 are normally urged toward notched guide block 86. An L-shaped pi~ot block 90 is pivotally attached to chassis frame member 14 at 92, L-shaped pivot block 90 having its short end 90a directed to the right hand side of chassis member 14. A rein 94 is affixed to the forward end of pivot block 90, and passes through a pair o~ screw eyes 94a and 94b near each end of leg support frame member 22a. Manual tension on rein 94, to the right hand side thereof, will thus urge the forward end of L-shaped pivot block 90 toward the righ~, so as to displace the inboard end of steering a.rm 82 from a notch in notch plate 86, the tension of coil spring 88 simultaneously causing the inboard end of steering arm 82 to engage in a forward notch in notched steering block 86. The upper members 22a of each leg support Erame are interconnected by a diagonal steeriny control arm 96, .. . . . . ..................... . . . .
~, ~, , ' , pivotally attached to each of frame members 22a, at opposite ends thereof, and as seen most clearly in Figure 7, as the forward leg assembly is turned to the right under the urging of rein 94, the rear leg assembly will be correspondingly urged to the left, so as to achieve a controlled turning attitude. Thus, in Figure 6 the steering assembly is shown in a position to ef~ect a turn to the lef-t, while in Figure 7 the steering assembly is shown in a position to effect a turn to the right.
It will be observed that the crank shafts 22a are connected with each of legs 54 so that diagonally opposed legs will follow a simultaneous synchronous path, under the urging of crank shaft 44. Thus, in Figure 2 the right front and right rear legs are in the forwardmost position, while the left front and right rear legs are in the rearmost position. ~s drive motor 26 is actuated, and drive sprockets 46 beginning to rotate under tbe urging of drive chain 52, both the front and rear leg assemblies will begin an identical and synchronized motion. Each of the left front and right rear legs illustrated in Figure 2 will begin to move upwardly and forwardly following an arcuate path, while right front and left rear wheels 66 remain motionless and supported on the ground, with wheels ~6 being locked against the leading edge of leg 54. The chassis of the vehicle will undergo a slight twisting effect, as the left front and right rear legs are elevated and being to swing Eorward. For this reason bracing and diagonal members have been illustrated in the enclosed drawings, but it will be understood that with appropriate steel or plastic frame members the diagonal bracing can be eliminated.
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As the left front and right rear legs of Figure 2 pass through the vertical they will be momentarily parallel with the right front and left rear legs respectively, and will continue to advance on rotating wheels 661 as contact with the ground is made, until the legs are advanced to the point where wheels 66 become locked against the forward corner of legs 54, and the position of the respective legs illustrated in Figure 2 is reversed. Each revolution of the crank shaft causes each of its two associated legs to make one complete stride, and because there are two legs per crank shaft, each revolution of the crank shafts effects two strides.
In the event the mechanical vehicle described herein is to be controlled by remote, such as by an umbilical or radio control, a solenoid 100 may be provided (see Figure 6), to control L-shaped steering pivot block 90, that is, to cause pivoting of the block to effect right or left hand turns, in the ~-manner already described. Similarly, drive motor 26 may also be controlled by remote.
It will be evident that the chassis assembly steering arrangement and leg drive mechanisms disclosed herein may be modified, without departing from the scope or spirit of the invention disclosed. The foregoing is therefore by way of example only and should be limited only by the scope of the appended claims.
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Claims (3)
1. A mechanical walking vehicle comprising:
a chassis defining an elongate rectangle;
a pair of legs mounted near the front and near the rear of said chassis and adapted for simultaneous vertical and horizontal movement;
each of said pairs of legs having a crank means to impart said movement thereto;
drive means adapted to rotate both of said crank means simultaneously;
said crank means being synchronized to effect simultaneous vertical and horizontal movement of diagonally opposed legs whereby a walking movement of said mechanical vehicle is effected under the urging of said drive means, and steering means associated with said front and said rear pairs of legs including front and rear leg support means pivotally joined to said chassis to permit steering of said vehicle during said walking movement by the simultaneous pivoting of said front and rear leg support means.
a chassis defining an elongate rectangle;
a pair of legs mounted near the front and near the rear of said chassis and adapted for simultaneous vertical and horizontal movement;
each of said pairs of legs having a crank means to impart said movement thereto;
drive means adapted to rotate both of said crank means simultaneously;
said crank means being synchronized to effect simultaneous vertical and horizontal movement of diagonally opposed legs whereby a walking movement of said mechanical vehicle is effected under the urging of said drive means, and steering means associated with said front and said rear pairs of legs including front and rear leg support means pivotally joined to said chassis to permit steering of said vehicle during said walking movement by the simultaneous pivoting of said front and rear leg support means.
2. A mechanical walking vehicle according to Claim 1, each of said legs having a ground engaging wheel rotatably mounted between a pair of arms pivotally affixed to each said leg, and a stop block on each said leg adjacent the rear of each of said arms to limit rearward pivotal movement thereof, with forward pivotal movement of said arms resulting in contact between each said wheel and each said leg, whereby each said wheel is free to rotate except when in its forwardmost position.
3. A mechanical walking vehicle according to Claim 1, said steering means comprising:
front and rear cross-bars extending transversely of said chassis and being centrally pivotally attached thereto, each cross-bar supporting a pair of said legs;
said front and rear cross-bars being interconnected by a diagonal rod;
said front cross-bar having a steering control arm pivotally attached near each end thereof and extending inwardly and rearwardly to abut a central, notched steering control block affixed to said chassis;
spring means urging the inner end of each steering control arm toward said notched steering control block and to be seated in one of the notches therein;
a block pivotally mounted on said chassis adjacent said notched steering control block and between said steering control arms;
steering control means connecting said block and said front cross-bar whereby when said steering control means are manually or mechanically urged to right or to left, said front cross-bar moves accordingly, and said block unseats one of said steering control arms from one of said notches until a desired degree of turn is reached when said spring means will cause said steering control arm to be seated in another notch so as to maintain such degree of turn;
said diagonal rod simultaneously turning said rear cross-bar to a complimentary degree of turn.
front and rear cross-bars extending transversely of said chassis and being centrally pivotally attached thereto, each cross-bar supporting a pair of said legs;
said front and rear cross-bars being interconnected by a diagonal rod;
said front cross-bar having a steering control arm pivotally attached near each end thereof and extending inwardly and rearwardly to abut a central, notched steering control block affixed to said chassis;
spring means urging the inner end of each steering control arm toward said notched steering control block and to be seated in one of the notches therein;
a block pivotally mounted on said chassis adjacent said notched steering control block and between said steering control arms;
steering control means connecting said block and said front cross-bar whereby when said steering control means are manually or mechanically urged to right or to left, said front cross-bar moves accordingly, and said block unseats one of said steering control arms from one of said notches until a desired degree of turn is reached when said spring means will cause said steering control arm to be seated in another notch so as to maintain such degree of turn;
said diagonal rod simultaneously turning said rear cross-bar to a complimentary degree of turn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA000529303A CA1289600C (en) | 1987-02-09 | 1987-02-09 | Mechanical walking vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA000529303A CA1289600C (en) | 1987-02-09 | 1987-02-09 | Mechanical walking vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1289600C true CA1289600C (en) | 1991-09-24 |
Family
ID=4134936
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000529303A Expired - Lifetime CA1289600C (en) | 1987-02-09 | 1987-02-09 | Mechanical walking vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA1289600C (en) |
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| CN105383582A (en) * | 2015-12-14 | 2016-03-09 | 中国人民解放军装甲兵工程学院 | Swinging arm type unmanned four-wheel driving platform |
| CN106892016A (en) * | 2017-02-15 | 2017-06-27 | 华南理工大学 | A kind of waist structure for turning to for being applied to quadruped robot |
| CN107117225A (en) * | 2017-05-07 | 2017-09-01 | 钟建筑 | A kind of four-footed wheeled mobile robot |
| CN107472395A (en) * | 2017-09-19 | 2017-12-15 | 泸县玉流机械制造有限责任公司 | Four-footed machinery beast |
| CN110104087A (en) * | 2019-05-24 | 2019-08-09 | 深圳市行者机器人技术有限公司 | A kind of novel wheel foot moving mechanism |
| CN111114666A (en) * | 2019-12-27 | 2020-05-08 | 广东省智能制造研究所 | All-dimensional gait switching method and system of parallel wheel-foot robot |
| CN111232083A (en) * | 2020-02-25 | 2020-06-05 | 哈尔滨商业大学 | Robot ground |
| CN111845998A (en) * | 2020-07-15 | 2020-10-30 | 中原动力智能机器人有限公司 | Robot moving platform |
| CN112141234A (en) * | 2020-08-28 | 2020-12-29 | 诸暨市蓝了电子科技有限公司 | Foot swinging of multi-foot wheeled robot and multi-foot wheeled robot |
| CN112519914A (en) * | 2020-12-08 | 2021-03-19 | 河海大学常州校区 | Wheel-leg robot for field detection |
| CN113335412A (en) * | 2021-05-12 | 2021-09-03 | 上海工程技术大学 | Gorilla bionic walking robot |
| CN114275070A (en) * | 2021-12-23 | 2022-04-05 | 仲继锋 | Walking type farmland moving platform robot |
| CN115416778A (en) * | 2022-08-31 | 2022-12-02 | 清华大学 | Wheel-foot type leg structure and wheel-foot type robot |
| CN116985933A (en) * | 2023-09-27 | 2023-11-03 | 深圳市其域创新科技有限公司 | Robot and leg structure thereof |
-
1987
- 1987-02-09 CA CA000529303A patent/CA1289600C/en not_active Expired - Lifetime
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| CN102107686A (en) * | 2011-01-12 | 2011-06-29 | 天津工业大学 | Novel multifunctional structure variable detection robot |
| CN103786806A (en) * | 2014-01-20 | 2014-05-14 | 北京航空航天大学 | Multifunctional leg-and-wheel combination robot and multi-movement-mode intelligent switching method thereof |
| CN103786806B (en) * | 2014-01-20 | 2016-02-03 | 北京航空航天大学 | A kind of multi-functional leg wheel composite machine people and multi-locomotion mode intelligent switch method thereof |
| CN105383582A (en) * | 2015-12-14 | 2016-03-09 | 中国人民解放军装甲兵工程学院 | Swinging arm type unmanned four-wheel driving platform |
| CN105383582B (en) * | 2015-12-14 | 2018-06-01 | 中国人民解放军装甲兵工程学院 | The unmanned 4 wheel driven platform of swing arm |
| CN106892016A (en) * | 2017-02-15 | 2017-06-27 | 华南理工大学 | A kind of waist structure for turning to for being applied to quadruped robot |
| CN107117225A (en) * | 2017-05-07 | 2017-09-01 | 钟建筑 | A kind of four-footed wheeled mobile robot |
| CN107117225B (en) * | 2017-05-07 | 2018-07-17 | 荆门市炬峰机械设备制造有限公司 | A kind of four-footed wheeled mobile robot |
| CN107472395A (en) * | 2017-09-19 | 2017-12-15 | 泸县玉流机械制造有限责任公司 | Four-footed machinery beast |
| CN110104087A (en) * | 2019-05-24 | 2019-08-09 | 深圳市行者机器人技术有限公司 | A kind of novel wheel foot moving mechanism |
| CN111114666A (en) * | 2019-12-27 | 2020-05-08 | 广东省智能制造研究所 | All-dimensional gait switching method and system of parallel wheel-foot robot |
| CN111232083A (en) * | 2020-02-25 | 2020-06-05 | 哈尔滨商业大学 | Robot ground |
| CN111232083B (en) * | 2020-02-25 | 2020-09-22 | 哈尔滨商业大学 | Robot ground |
| CN111845998A (en) * | 2020-07-15 | 2020-10-30 | 中原动力智能机器人有限公司 | Robot moving platform |
| CN112141234A (en) * | 2020-08-28 | 2020-12-29 | 诸暨市蓝了电子科技有限公司 | Foot swinging of multi-foot wheeled robot and multi-foot wheeled robot |
| CN112519914A (en) * | 2020-12-08 | 2021-03-19 | 河海大学常州校区 | Wheel-leg robot for field detection |
| CN113335412A (en) * | 2021-05-12 | 2021-09-03 | 上海工程技术大学 | Gorilla bionic walking robot |
| CN114275070A (en) * | 2021-12-23 | 2022-04-05 | 仲继锋 | Walking type farmland moving platform robot |
| CN115416778A (en) * | 2022-08-31 | 2022-12-02 | 清华大学 | Wheel-foot type leg structure and wheel-foot type robot |
| CN115416778B (en) * | 2022-08-31 | 2023-10-31 | 清华大学 | Wheel foot type leg structure and wheel foot type robot |
| CN116985933A (en) * | 2023-09-27 | 2023-11-03 | 深圳市其域创新科技有限公司 | Robot and leg structure thereof |
| CN116985933B (en) * | 2023-09-27 | 2024-01-12 | 深圳市其域创新科技有限公司 | Robot |
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