JP2001224866A - Walker - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a walker having a simple structure, manufactured at low cost, and smoothly changing the walking direction while walking. SOLUTION: This walker 1 is provided with rotating elements 11-13 rotated by a drive 10 in the left/right of the device body 2. Legs 70, 70 are rotationally and slidably attached to insertion holes 51-53 formed in eccentric positions of the rotating elements 11-13, and the rear end is rotationally attached to a moving member 75. When the moving member 75 is moved, the rotation radius of the moved leg 70 becomes larger so that the walking width of the leg 70 is widened so as to curvedly advance.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a walking device capable of freely changing a walking direction.

[0002]

2. Description of the Related Art Conventionally, a walking device such as a dog toy or an insect toy has legs provided on both sides of a body so as to be swingable, and a driving device provided in the body swings each leg to provide a walking surface. I was walking on top. This conventional walking device can only go straight when the left and right legs are swung by one drive device to walk. In addition, in order to be able to change the walking direction, a driving device is provided on each of the left side and the right side,
The left and right legs were swinging independently.

[0003]

In order to be able to change the walking direction, the conventional walking device must be provided with a driving device on each of the left and right sides, so that the structure is complicated and the cost is low. There was a problem that it could not be manufactured. Also, when actually changing the walking direction, one of the driving devices is stopped so that one leg does not swing, and only the other leg is rocked. In this case, the direction of walking of one leg is reversed with the direction of walking of the other leg. There was a problem that it could not be changed. Therefore, it was extremely difficult to make the user walk, for example, drawing a figure eight.

The present invention has been made in view of the above problems, and has a simple structure and can be manufactured at low cost.
It is an object of the present invention to provide a walking device having a novel structure that can change the direction of the walking direction smoothly while walking.

[0005]

According to a first aspect of the present invention, there is provided a walking device including the following means. (B) It has a device main body provided with a drive device. (B) At least two rotators that are rotated by a driving device are provided on the left and right sides of the device main body. (C) An insertion hole is formed at an eccentric position of the rotating body. (D) The apparatus main body is provided with a movable member that can move in the left-right direction. (E) The leg is rotatably and slidably attached to the insertion hole of the rotating body. (H) The leg has a tip that contacts the walking surface and a rear end that is rotatably attached to the moving member.

A walking device according to a second aspect of the present invention has the following means in addition to the above means in order to achieve the above object. (A) A spherical connecting member is attached to the rear end of the leg. (B) The moving member is formed with a spherical recess for rotatably mounting the spherical connecting member. (C) A guide protrusion is formed on one of the spherical connecting member and the spherical concave portion, and a guide groove for slidably guiding the guide protrusion is formed on the other of the spherical connecting member and the spherical concave portion. Be configured so that it does not rotate around the heart.

According to a third aspect of the present invention, in order to achieve the above object, a moving device for moving a moving member in a left-right direction is provided in the main body of the device.

A walking device according to a fourth aspect of the present invention has the following means in addition to the above means in order to achieve the above object. (A) The apparatus body has a bottom wall and side walls provided on the left and right of the bottom wall. (B) At least two rotators are provided on the left and right side walls, respectively.
Being provided one by one.

According to a fifth aspect of the present invention, there is provided a walking device having two driving devices, one driving device for rotating a rotating body on one side wall and the other driving device for achieving the above object. The rotating body of the other side wall is configured to rotate.

According to a sixth aspect of the present invention, in order to achieve the above object, the rotating body is a gear.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIGS. FIG. 1 is an overall perspective view of a walking device according to the present invention. FIG. 2 is an exploded perspective view of FIG. 1 with a part omitted. FIG. 3 is an exploded perspective view of a main part of FIG. FIG. 4 is a cross-sectional side view of FIG. FIG. 5 is a plan view in which a part of FIG. 1 is sectioned. FIG. 6 is a plan view in which a part of FIG. 1 is omitted. FIG. 7 is a front sectional view of FIG. FIG. 8 is a front sectional view for explaining the operation of FIG.
FIG. 9 is a perspective view of a main part.

The walking device 1 has a device main body 2 provided with driving devices 10 and 10. At least two rotators 11 to 13 that are rotated by the driving devices 10 are provided on the left and right sides of the apparatus main body 2. That is, the device body 2
Are the bottom wall 3 and the side walls 15, 1 provided on the left and right of the bottom wall 3.
5 is provided. The rotating body 1 is provided on the left and right side walls 15 and 15.
At least two each of 1 to 13 are provided.

More specifically, as shown in FIG.
The side wall 15 includes a frame 17 having a substantially U-shaped cross section in which a housing recess 16 is formed, and a lid 18 attached to the frame 17 with a screw or the like so as to cover the housing recess 16. At the lower end of the frame 17, rectangular engaging projections 19 are provided at predetermined intervals. On the left and right sides of the bottom wall 3, rectangular engaging holes 8 for engaging the engaging projections 19 on the side wall 15 are formed.

The side wall 15 is positioned by engaging its engaging projections 19 with the engaging holes 8 of the bottom wall 3 and fixed to the bottom wall 3 by fastening means such as screws. Have been. The side walls 15 fixed to both sides of the bottom wall 3,
Numeral 15 is attached such that the driving device 10 is on the inside, and the driving devices 10 and 10 are located before and after the bottom wall 3.

In the recess 16, a driving gear 21, a first rotating gear 22 meshing with the driving gear 21, a first auxiliary gear 23 meshing with the first rotating gear 22, and a first auxiliary gear 23 A second rotating gear 25 meshing with the second rotating gear 25, a second auxiliary gear 26 meshing with the second rotating gear 25, and a third rotating gear 27 meshing with the second auxiliary gear 26 are rotatably provided. .

The drive gear 21 is attached to an output shaft 20 of the drive device 10 such as a drive motor fixedly attached to the frame 17. The first rotating gear 22 includes the rotating body 1
1 and teeth 31 formed on the peripheral surface of the rotating body 11. The first rotating gear 22 has the outer surface of the rotating body 11 rotatably supported by a first outer bearing hole 41 formed in the lid 18, and the inner surface of the rotating body 11 formed in the frame 17. The first inner bearing hole 42 rotatably supports and is rotatably mounted in the side wall 15.

The second rotating gear 25 also includes the rotating body 12 and teeth 32 formed on the peripheral surface of the rotating body 12. The second rotating gear 25 has the outer surface of the rotating body 12 rotatably supported by a second outer bearing hole 43 formed in the lid 18, and the inner surface of the rotating body 12 formed in the frame 17. The second inner bearing hole 44 is rotatably supported by the
It is rotatably mounted inside.

The third rotary gear 27 includes the rotary body 13 and teeth 33 formed on the peripheral surface of the rotary body 13. The third rotating gear 27 has the outer surface of the rotating body 13 rotatably supported by a third outer bearing hole 45 formed in the lid 18, and the inner surface of the rotating body 13 formed in the frame 17. The third inner bearing hole 46 is rotatably supported by the
It is rotatably mounted inside.

The first auxiliary gear 23 is attached to a support shaft 47. The support shaft 47 has a first bearing hole 35 formed in the lid 18 and a second bearing hole formed in the frame 17. 36, it is rotatably supported by and mounted inside the side wall 15 so as to be rotatable. The second auxiliary gear 26 is also attached to the support shaft 49, and the third support gear 49
Bearing hole 37 and fourth bearing hole 38 formed in frame 17.
And is rotatably mounted in the side wall 15.

Insertion holes 51 to 53 are formed at eccentric positions of the rotating bodies 11 to 13. The insertion holes 51 to 53 are formed so that the leg 70 can swing.
That is, the insertion holes 51 to 53 are formed with fulcrums 54 to 56 projecting in a substantially central portion at the center thereof, and the fulcrums 54 to 56 support the legs 70. are doing. Thus, the insertion holes 51 to 51 of the rotating bodies 11 to 13
The legs 53 are rotatably and slidably attached to the legs 53.

The leg portion 70 is formed of a synthetic resin, wire, or the like, and is formed by being bent in a substantially upward and downward direction. The leg 70 has a front end grounded to the walking surface G and a rear end rotatably attached to the moving member 75. Leg 70
A rubber cap 71 is attached to the tip of the for preventing slippage. A spherical connecting member 72 is attached to the rear end of the leg 70. Guide protrusions 73, 73 are formed above and below the spherical connecting member 72.

The apparatus main body 2 is provided with a moving member 75 that can move in the left-right direction. The apparatus main body 2 is provided with a moving device 60 that moves the moving member 75 in the left-right direction. The moving device 60 includes a drive motor 61, a drive gear 62 attached to a drive shaft 64 of the drive motor 61,
A pair of intermediate gears 6 meshing on both sides of the drive gear 62
3, 63, a pair of final gears 65, 65 meshing with the pair of intermediate gears 63, 63, rotating plates 67, 67 integral with the final gears 65, 65, and engagement protruding from the rotating plates 67, 67. It consists of shafts 69,69.

The drive motor 61 is fixedly attached to the center of the lower surface 5b of the step 5 having a substantially U-shaped cross section formed substantially at the center of the bottom wall 3. The drive shaft 64 of the drive motor 61 is
A drive gear 62 is mounted on the upper surface 5a of the step 5 so as to protrude therefrom. The pair of intermediate gears 63, 63 and the pair of final gears 65, 65 are rotatably mounted on the upper surface 5a of the step 5. The rotating plate 67 is attached to a fixed shaft 68 for fixing the final gear 65, and an engagement shaft 69 is provided at an eccentric position of the fixed shaft 68.

The moving member 75 is formed in a rectangular shape, and is composed of an upper half body 76 and a lower half body 77 that are divided into two parts. The upper half body 76 and the lower half body 77 are integrally formed by fastening means such as screws. It is constructed and assembled. Moving member 75
Are formed on both sides thereof so as to rotatably mount the spherical connecting members 72. The openings 80 of the spherical recesses 79 are formed so as not to hinder the rotation of the leg 70.

A guide groove 81 for slidably guiding the guide projections 73, 73 of the spherical connecting member 72 is formed in the spherical concave portion 79 of the moving member 75 in a vertical direction, and the leg 70 rotates about the axis. Not attached. In addition,
A guide projection 73 is formed on one of the spherical connecting member 72 and the spherical concave portion 79.
A guide groove 81 for slidably guiding the guide projection 73 to the other end
May be formed so that the leg 70 does not rotate around the axis.

The engaging holes 8 for engaging with the engaging shafts 69, 69 of the rotating plates 67, 67 are formed on both sides of the center of the lower surface of the moving member 75.
2,82 are provided. The engagement hole 82 is formed in a long hole shape in the longitudinal direction.

The moving member 75 is guided by a pair of guide plates 85 so as to be movable only in the left-right direction.
That is, the pair of guide plates 85, 85 are fixed to the upper surface 5a of the step portion 5 so as to be substantially perpendicular to the side walls 15, 15, and the guide grooves 86, 86 are formed on the inner surface. I have. The movable member 75 is slidably guided by the guide grooves 86, 86 in the front and rear directions of the lower half body 77, and is movable in the left-right direction.

The walking device 1 has the above configuration, and the position of the insertion hole 51 of the first rotary gear 22 and the position of the insertion hole 53 of the third rotary gear 27 are the same. The position of the insertion hole 52 is opposite to the position of the insertion hole 51 of the first rotary gear 22, and the first rotary gear 22 is mounted in the side wall 15. The first
Of the insertion hole 51 of the rotary gear 22 and the second rotary gear 2
5 and the position of the insertion hole 5 of the third rotary gear 27.
The position of 3 can be easily changed by changing the meshing position of the teeth 31, 32, 33.

The positions of the through holes of the gears facing the left and right side walls 15, 15 can be easily adjusted by driving one of the driving devices 10. In the present embodiment, by driving one of the driving devices 10, the positions of the insertion holes of the facing gears of the side walls 15, 15 attached to the left and right are reversed.

That is, the insertion hole 5 of the first rotary gear 22 on the right side
1 and the position of the insertion hole 53 of the third rotating gear 27 on the left side are reversed, and the insertion hole 52 of the second rotating gear 25 on the right side is reversed.
And the position of the insertion hole 52 of the second rotation gear 25 on the left side are reversed, and the position of the insertion hole 53 of the third rotation gear 27 on the right side and the position of the insertion hole 51 of the first rotation gear 22 on the left side. The opposite.

The front drive unit 10 and the rear drive unit 10
Are simultaneously driven in different directions. When the front driving device 10 is driven forward, the first rotating gear 2 is driven via the driving gear 21.
2 rotates in reverse. When the first rotating gear 22 rotates in the reverse direction,
The second rotating gear 25 rotates in the reverse direction via the first auxiliary gear 23. When the second rotating gear 25 rotates in the reverse direction, the third rotating gear 27 rotates in the reverse direction via the second auxiliary gear 26.

Similarly, when the rear driving device 10 is reversely driven, the first rotating gear 22 rotates forward via the driving gear 21. When the first rotary gear 22 rotates forward, the second rotary gear 25 rotates forward via the first auxiliary gear 23. When the second rotary gear 25 rotates forward, the second auxiliary gear 26
, The third rotating gear 27 rotates forward.

Since the side walls 15, 15 are mounted in opposite directions to each other, the opposing first rotary gear 2
2, the third rotating gear 27 on the left, the second rotating gear 25 on the right and the second rotating gear 25 on the left, and the third rotating gear 27 on the right and the first rotating gear 22 on the left are in the same direction. To rotate.

When the first rotating gear 22 rotates, the rotating body 11 rotates, and the insertion hole 51 rotates about the rotation center of the rotating body 11. Therefore, the leg 70 attached to the insertion hole 51 also rotates about the rotation center of the rotating body 11. The spherical connecting member 72 of the leg 70 is
Because it is rotatably attached to the spherical recess 79 of
The tip of the leg 70 rotates, and the rubber cap 71 moves to the walking surface G.
Touch the ground and walk. Guide projection 7 of spherical connecting member 72
Since 3, 73 are slidably guided in the guide groove 81 of the spherical concave portion 79, the leg 70 does not rotate around the axis, and the bending direction of the leg 70 always faces downward.

Second rotating gear 25, third rotating gear 27
Also rotate, the rotating bodies 12 and 13 also rotate, and the insertion holes 5
2 and 53 rotate around the rotation centers of the rotating bodies 12 and 13. Therefore, the legs 70, 70 attached to the insertion holes 52, 53 also rotate about the rotation centers of the rotating bodies 11, 12 as described above.

The position of the insertion hole 51 of the first rotary gear 31 and the position of the insertion hole 53 of the third rotary gear 27 are the same,
The position of the insertion hole 52 of the second rotation gear 25 is opposite to the position of the insertion hole 51 of the first rotation gear 31, and the position of the insertion hole 51 of the first rotation gear 22 on the right side and the third position on the left side. The position of the insertion hole 53 of the rotary gear 27 is opposite, the position of the insertion hole 52 of the second rotary gear 25 on the right side is opposite to the position of the insertion hole 52 of the second rotary gear 25 on the left side, The position of the insertion hole 53 of the third rotary gear 27 and the position of the insertion hole 51 of the left first rotary gear 22 are opposite.

Therefore, the leg 70 serving as the right front leg, the leg 70 serving as the right rear leg, and the leg 70 serving as the middle leg on the left are simultaneously grounded. The left rear leg 70 and the right middle leg 70 are simultaneously separated from the walking surface G. The left front leg 70, the left rear leg 70, and the right middle leg 70
Is grounded, the leg 70 serving as the right front leg, the leg 70 serving as the right rear leg, and the leg 70 serving as the middle leg on the left side form the walking surface G.
Move away from

When the front driving device 10 is driven forward and the rear driving device 10 is driven reversely, the walking toy 1 rotates the three legs alternately in the same direction as described above to walk forward. When the front drive device 10 is reversely driven and the rear drive device 10 is normally driven, the three legs can be alternately reversely rotated in the same direction to walk backward.

The walking toy 1 is provided with a front driving device 10.
Is driven forward (reverse) and the rear drive device 10 is also driven forward (reverse), the right leg 70... And the left leg 70.
Have different rotation directions, and can be quickly reversed at that position. Further, it is not necessary to drive the two driving devices 10 at the same time, and if one driving device 10 is driven, only one of the legs 70... Rotates, so that the direction can be freely changed.

As described above, the position of the insertion hole 51 of the first rotary gear 22, the position of the insertion hole 52 of the second rotary gear 25, and the position of the insertion hole 53 of the third rotary gear 27
By changing the meshing position of 1, 32, 33,
Since it can be easily changed, it is not limited to the walking form of the above embodiment, and the walking form can be freely changed.

Since the walking device 1 walks with the tips of the legs 70... Rotating in the vertical direction, it can move rhythmically while moving up and down. You can get over it.

When the moving member 75 is located substantially at the center, the walking device 1 has a rotation diameter r at the tip of the left and right legs 70.
Because 1 and r2 are the same, go straight. In this straight state,
When the drive motor 61 of the moving device 60 is driven, the drive shaft 6
4. A pair of engaging shafts 69, 69 are rotated via a driving gear 62, a pair of intermediate gears 63, 63, a pair of final gears 65, 65, and a pair of rotating plates 67, 67, and the moving member 75 is moved right and left. Move in the direction.

When the moving member 75 moves to the left as shown in FIG. 8, the spherical connecting members 72... Approach the left rotating plates 11, 12, and 13, so that the tip of the left leg 70 rotates. The diameter R1 increases, and the spherical connecting members 72...
Are separated from the right rotating plates 11, 12, 13 and the rotation diameter R2 at the tip of the right leg 70 is reduced, so that the walking width of the left leg 70 is smaller than that of the right leg 70. It becomes larger than the walking width, and the device body 2 leans greatly to the right and walks while turning to the right.

Conversely, when the moving member 75 moves to the right,
Since the rotating diameter of the tip of the right leg 70 is large and the rotating diameter of the tip of the left leg 70 is small, the walking width of the right leg 70 is the walking of the left leg 70. It becomes larger than the width, and the device main body 2 leans largely to the left and walks while turning to the left.

The walking device 1 can accommodate a circuit board provided with a control circuit for controlling the driving devices 10, 10 and the moving device 60. Further, a receiving circuit can be incorporated in the circuit board, and the driving of the driving devices 10, 10 and the moving device 60 can be controlled by an external controller.

In the above embodiment, the driving device 1
0, 10 and one drive unit 10 rotates the rotating bodies 11 to 13 of one side wall 15 and the other drive unit 1
Although 0 is configured to rotate the rotating bodies 11 to 13 of the other side wall 15, it is needless to say that one driving device may be used. Further, the power source is not limited to the drive motor, and various types such as a mainspring and a flywheel can be employed. In addition, a cover in the form of an insect can be attached to the walking device 1.

In the above embodiment, as shown in FIG. 9, a spherical connecting member 72 is provided at the rear end of the leg 70 in order to rotatably attach the rear end of the leg 70 to the moving member 75. However, as shown in FIG. 10, it is a matter of course that a substantially cross-shaped connecting member 90 may be used.

That is, a pair of bearing walls 88, 89 are formed on both side surfaces of the moving member 75, and the pair of bearing walls 88, 8 are formed.
9, the longitudinal axis 91 of the connecting member 90 is rotatably connected. A substantially U-shaped bearing member 93 is attached to the rear end of the leg 70,
The two side walls of the bearing member 93 are connected to the horizontal shaft 92 of the connecting member 90.
Rotatably connected to. By doing so, the leg 70
Does not rotate around the axis, the front end always faces downward, the rear end is rotatably attached to the moving member 75, and rotates in the horizontal direction by the longitudinal axis 91 of the connecting member 90. Thus, the connecting member 90 can be turned up and down by a horizontal axis 92.

[0049]

As described above, in the walking device according to the first aspect, when the rotating body is rotated by the driving device,
The tip of the leg rotates in the vertical direction and rotates, and the front and rear legs alternately touch the walking surface and walk, so the device body moves up and down, like a real animal, insect It has the effect that it can move rhythmically and can easily get over even if there are irregularities in the direction of travel.

Further, in the walking device according to the first aspect, the rear end of the leg is rotatably mounted on the movable member capable of moving in the left-right direction, so that the turning radius of the tip of the leg on the side closer to the movable member is provided. And the walking width is widened, and the turning radius of the tip of the leg on the side where the moving member is away is small, so that the walking width is narrow. There is an effect that it can be made to fade.

Further, since the position of the insertion hole of the rotating body can be freely changed, the rhythm of the legs contacting the ground can be changed, the walking form can be changed, and the movement of the entire walking device cannot be predicted. There is an effect that can be made.

In addition to the above-mentioned effects, the walking device according to the second aspect is configured so that the leg does not rotate in the direction around the axis, so that the tip of the leg always faces downward, and the leg always moves. There is an effect that the tip of the is grounded to the walking surface.

In the walking device according to the third aspect, in addition to the above-described effects, the moving device for moving the moving member in the left-right direction is provided in the device main body. When the mobile device is driven by the external controller, the walking direction of the device main body can be changed.

In the walking device according to the fourth aspect, in addition to the above effects, the legs are attached to the rotating bodies on the left and right side walls.
There is an effect that a space is formed between the side walls, and the moving device can be incorporated using the space.

According to a fifth aspect of the present invention, when the two driving devices are simultaneously driven to rotate the rotating body on one side wall and the rotating body on the other side wall in the same direction, the walking apparatus walks forward. When it is rotated in the opposite direction in the same direction, it walks backward. In addition, when both the driving devices are simultaneously driven to rotate the rotating body on one side wall and the rotating body on the other side wall in different directions, the rotating body is quickly reversed at that position. Furthermore, when one of the driving devices is driven to rotate only the rotating body on one of the side walls, it rotates about the tip of the leg on the other side wall. As described above, the walking device according to claim 5 has two driving devices, and thus has an effect that the walking device can be moved in a complicated manner.

In the walking device according to the sixth aspect, in addition to the above effects, since the rotating body is a gear, there is an effect that the power of the driving device is efficiently transmitted to the rotating body.

[Brief description of the drawings]

FIG. 1 is an overall perspective view of a walking device according to the present invention.

FIG. 2 is an exploded perspective view of FIG. 1 with a part omitted;

FIG. 3 is an exploded perspective view of a main part of FIG. 1;

FIG. 4 is a sectional side view of FIG. 1;

FIG. 5 is a plan view in which a part of FIG. 1 is sectioned;

FIG. 6 is a plan view in which a part of FIG. 1 is omitted.

FIG. 7 is a front sectional view of FIG. 1;

FIG. 8 is a front sectional view for explaining the movement of FIG. 7;

FIG. 9 is a perspective view of a main part of FIG. 1;

FIG. 10 is a perspective view illustrating another embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Walking device 2 Device main body 3 Bottom wall 5 Step part 5b Lower surface 5a Upper surface 8 Engagement hole 10 Drive device 11 Rotary body 12 Rotary body 13 Rotary body 15 Side wall 16 Housing recess 17 Frame 18 Cover 19 Engagement projection 20 Output shaft DESCRIPTION OF SYMBOLS 21 Drive gear 22 1st rotating gear 23 1st auxiliary gear 25 2nd rotating gear 26 2nd auxiliary gear 27 3rd rotating gear 31 tooth 32 tooth 33 tooth 35 1st bearing hole 36 2nd bearing Hole 37 Third bearing hole 38 Fourth bearing hole 41 First outer bearing hole 42 First inner bearing hole 43 Second outer bearing hole 44 Second inner bearing hole 45 Third outer bearing hole 46 3 inner bearing hole 47 support shaft 49 support shaft 51 insertion hole 52 insertion hole 53 insertion hole 54 fulcrum 55 fulcrum 56 fulcrum 60 movement device 61 drive motor 62 drive gear 63 intermediate gear 64 drive shaft 65 final gear 67 rotation 68 Fixed shaft 69 Engagement shaft 70 Leg 71 Rubber cap 72 Spherical connecting member 73 Guide protrusion 75 Moving member 76 Upper half 77 Lower half 79 Spherical recess 80 Opening 81 Guide groove 82 Engaging hole 85 Guide plate 86 Guide groove 88 Bearing wall 89 Bearing wall 90 Connecting member 91 Vertical axis 92 Horizontal axis 93 Bearing member G Walking surface r1 Rotation diameter r2 Rotation diameter R1 Rotation diameter R2 Rotation diameter

Claims (6)

[Claims] 1. A walking device having the following requirements. (B) It has a device main body provided with a drive device. (B) At least two rotators that are rotated by a driving device are provided on the left and right sides of the device main body. (C) An insertion hole is formed at an eccentric position of the rotating body. (D) The apparatus main body is provided with a movable member that can move in the left-right direction. (E) The leg is rotatably and slidably attached to the insertion hole of the rotating body. (H) The leg has a tip that contacts the walking surface and a rear end that is rotatably attached to the moving member. 2. The walking device according to claim 1, wherein the walking device has the following requirements. (A) A spherical connecting member is attached to the rear end of the leg. (B) The moving member is formed with a spherical recess for rotatably mounting the spherical connecting member. (C) A guide protrusion is formed on one of the spherical connecting member and the spherical concave portion, and a guide groove for slidably guiding the guide protrusion is formed on the other of the spherical connecting member and the spherical concave portion. Be configured so that it does not rotate around the heart. 3. The walking device according to claim 1, wherein the device main body is provided with a moving device that moves the moving member in the left-right direction. 4. The walking device according to claim 1, wherein the following requirements are satisfied. (A) The apparatus body has a bottom wall and side walls provided on the left and right of the bottom wall. (B) At least two rotators are provided on the left and right side walls, respectively.
Being provided one by one. 5. There are two driving devices, one driving device rotating the rotating body on one side wall and the other driving device rotating the rotating body on the other side wall. The walking device according to claim 4, wherein 6. The walking device according to claim 1, wherein the rotating body is a gear.