JP2006255816A - Four-legged walking robot - Google Patents

Four-legged walking robot Download PDF

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Publication number
JP2006255816A
JP2006255816A JP2005074370A JP2005074370A JP2006255816A JP 2006255816 A JP2006255816 A JP 2006255816A JP 2005074370 A JP2005074370 A JP 2005074370A JP 2005074370 A JP2005074370 A JP 2005074370A JP 2006255816 A JP2006255816 A JP 2006255816A
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leg
walking robot
arms
tip member
vehicle body
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Inventor
Shigeo Hirose
茂男 廣瀬
Toshihito Okamoto
俊仁 岡本
Yasushi Fukuda
靖 福田
Takahiro Doi
隆宏 土居
Ryuichi Hodoshima
竜一 程島
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Rikogaku Shinkokai
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Rikogaku Shinkokai
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Priority to JP2005074370A priority Critical patent/JP2006255816A/en
Publication of JP2006255816A publication Critical patent/JP2006255816A/en
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a four-legged walking robot for safely walking while accurately landing at a grounding point on a flat surface and an inclined surface such as a slope. <P>SOLUTION: The four-legged walking robot has front, rear, right and left legs provided with booms and arms on front, rear, right and left portions of a vehicle body. It comprises ankle members fixed to front ends of the arms of the front, rear, right and left foots and having spherical lower ends, and a leg end member composed of a leg seat rotatably mounted to a spherical portion of the ankle member for landing on the ground surface and a resistance imparting member mounted between the spherical portion of the ankle member and the leg seat for preventing the automatic rotation of the leg seat with its dead weight. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は法面等の傾斜面でも確実に地面に脚先部材を接地させて歩行することができる４足歩行型ロボットに関する。   The present invention relates to a quadruped walking robot capable of walking with a leg tip member in contact with the ground reliably even on an inclined surface such as a slope.

従来の４足歩行型ロボットの足の脚先部材はユニバーサルジョイントを介して取付けられたり、足先に固定された半球状のものが使用されている。 A leg leg member of a conventional quadruped walking robot is attached via a universal joint, or a hemispherical one fixed to the leg tip is used.

このため、着地地点が動かない平坦地ではユニバーサルジョイントを介して取付けられた脚先部材は確実に着地させることができるが、半球状の脚先部材は動き、接地点が変化してしまうという欠点があった。
また、法面等の傾斜面の歩行では半球状の脚先部材は傾斜面に確実に接地するが、ユニバーサルジョイントを介した脚先部材は自重により回転して、傾斜面に確実に接地させることができないという欠点があった。
特になし For this reason, on flat ground where the landing point does not move, the leg tip member attached via the universal joint can be landed reliably, but the hemispherical leg tip member moves and the ground contact point changes. was there.
In addition, when walking on slopes such as slopes, hemispherical leg tip members make contact with the inclined surface, but the leg tip member via the universal joint rotates by its own weight and reliably contacts the inclined surface. There was a drawback that could not.
nothing special

本発明は以上のような従来の欠点に鑑み、平坦面でも法面等の傾斜面でも、確実に接地点に着地させて、安全に歩行させることができる４足歩行型ロボットを提供することを目的としている。 SUMMARY OF THE INVENTION In view of the above-mentioned conventional drawbacks, the present invention provides a quadruped walking type robot that can land on a grounding point and walk safely on a flat surface or an inclined surface such as a slope. It is aimed.

本発明の前記ならびにそのほかの目的と新規な特徴は次の説明を添付図面と照らし合わせて読むと、より完全に明らかになるであろう。
ただし、図面はもっぱら解説のためのものであって、本発明の技術的範囲を限定するものではない。 The above and other objects and novel features of the present invention will become more fully apparent when the following description is read in conjunction with the accompanying drawings.
However, the drawings are for explanation only and do not limit the technical scope of the present invention.

上記目的を達成するために、本発明は車体の前後左右部位にブームとアームを備える前後左右の足を設けた４足歩行型ロボットにおいて、前記前後左右の足のアームの先端部に固定された下端部が球状の足首部材と、この足首部材の球状部に回転可能に取付けられた接地面に着地する脚座と、この脚座が自重によって自動的に回転するのを阻止するように、前記足首部材の球状部と該脚座との間に介装された抵抗付与部材とからなる脚先部材とで４足歩行型ロボットを構成している。   In order to achieve the above object, the present invention is a quadruped walking robot provided with front and rear, left and right feet provided with a boom and an arm at the front, rear, left and right parts of the vehicle body, and fixed to the front end of the front, rear, left and right foot arms. The lower end of the ankle member having a spherical shape, a leg seat that lands on a grounding surface that is rotatably attached to the spherical portion of the ankle member, and the leg seat is prevented from automatically rotating by its own weight. A quadruped walking robot is configured by a leg tip member including a spherical portion of an ankle member and a resistance imparting member interposed between the leg seats.

本発明は車体の前後左右部位にブームとアームを備える前後左右の足を設けた４足歩行型ロボットにおいて、前記前後左右の足のアームの先端部にユニバーサルジョイントを介して取付けられたリング状の脚座と、この脚座が自重によって自動的に回転するのを阻止するように前記ユニバーサルジョイントのロール、ピッチ回転に抵抗を付与するように取付けられたロール、ピッチ抵抗付与部材とからなる脚先部材とで４足歩行型ロボットを構成している。   The present invention relates to a quadruped walking robot having front and rear, left and right legs provided with booms and arms at front and rear and left and right parts of a vehicle body, and a ring-like shape attached to the front and rear left and right leg arms via universal joints. A leg tip comprising a leg seat, a roll of the universal joint so as to prevent the leg seat from being automatically rotated by its own weight, a roll attached to impart resistance to pitch rotation, and a pitch resistance imparting member. The members constitute a quadruped walking robot.

以上の説明から明らかなように、本発明にあっては次に列挙する効果が得られる。 As is clear from the above description, the present invention has the following effects.

（１）車体の前後左右部位にブームとアームを備える前後左右の足を設けた４足歩行型ロボットにおいて、前記前後左右の足のアームの先端部に固定された下端部が球状の足首部材と、この足首部材の球状部に回転可能に取付けられた接地面に着地する脚座と、この脚座が自重によって自動的に回転するのを阻止するように、前記足首部材の球状部と該脚座との間に介装された抵抗付与部材とからなる脚先部材とで構成されているので、前後左右の足の脚先部材を平坦面でも法面等の傾斜面でも、確実に接地点に着地させることができる。
したがって、従来のように平坦面と傾斜面のいずれかで着地地点が動く不具合を確実に防止でき、安全に歩行させることができる。 (1) In a quadruped walking robot provided with front and rear, left and right feet provided with booms and arms at front and rear and left and right parts of a vehicle body, a lower end portion fixed to a front end portion of the front and rear and left and right foot arms is a spherical ankle member. A leg seat landing on a grounding surface rotatably attached to the spherical portion of the ankle member; and the spherical portion of the ankle member and the leg so as to prevent the leg seat from automatically rotating due to its own weight. Since it is composed of a leg tip member consisting of a resistance imparting member interposed between the seat and the leg tip member of the front, rear, left and right, it can be reliably grounded on a flat surface or an inclined surface such as a slope. Can land on.
Therefore, it is possible to reliably prevent the problem that the landing point moves on either the flat surface or the inclined surface as in the conventional case, and it is possible to walk safely.

（２）前記（１）によって、抵抗付与部材によって脚座が接地面に押し付けられるだけで接地面に面接触するように回動するため、特別な制御が不要で、楽に使用することができる。 (2) According to the above (1), the leg seat is rotated so as to come into surface contact with the grounding surface only by being pressed against the grounding surface by the resistance applying member, so that no special control is required and it can be used easily.

（３）前記（１）によって、抵抗付与部材を用いるだけでよいので、構造が簡単で、安価に製造することができる。 (3) According to the above (1), it is only necessary to use a resistance imparting member.

（４）請求項２も前記（１）〜（３）と同様な効果が得られる。 (4) In claim 2, the same effects as in the above (1) to (3) can be obtained.

（５）請求項３も前記（１）〜（３）と同様な効果が得られるとともに、脚先部材が外力により予想しない姿勢になったとしても、着地地点より浮かせた場合に脚先部材基準姿勢維持機構によって、自動的に基準姿勢に戻り、次の着地地点に確実に着地させることができる。 (5) In claim 3, the same effects as in the above (1) to (3) can be obtained, and even if the leg tip member is in an unexpected posture due to external force, when the leg tip member is lifted from the landing point, the leg tip member reference By the posture maintenance mechanism, it is possible to automatically return to the reference posture and land on the next landing point with certainty.

（６）請求項４も前記（１）〜（３）と同様な効果が得られる。 (6) In the fourth aspect, the same effects as in the above (1) to (3) can be obtained.

以下、図面に示す本発明を実施するための最良の形態により、本発明を詳細に説明する。   Hereinafter, the present invention will be described in detail with reference to the best mode for carrying out the invention shown in the drawings.

図１ないし図１０に示す本発明を実施するための最良の第１の形態において、１は平坦面や法面等の傾斜面を歩行して荷物の運搬や法枠等の枠が形成された法面での穴明け作業等を行なうことができる本発明の４足歩行型ロボットで、この４足歩行型ロボット１は油圧駆動装置（図示せず）で駆動される左右の無限軌道２、２が取付けられた車体３と、この車体３の前後左右部位に取付けられた前後左右の足４、４、４、４と、前記車体３に必要に応じて取付けられる穴明け装置５とで構成されている。   In the best mode for carrying out the present invention shown in FIG. 1 to FIG. 10, 1 is walking on an inclined surface such as a flat surface and a slope, and a frame such as carrying a load and a frame is formed. The quadruped walking robot 1 according to the present invention capable of performing a drilling operation or the like on a slope, wherein the quadruped walking robot 1 is a left and right endless track 2, 2 driven by a hydraulic drive device (not shown). The vehicle body 3 is attached to the vehicle body 3, the front and rear legs 4, 4, 4, 4 attached to the front, rear, left and right parts of the vehicle body 3, and the drilling device 5 attached to the vehicle body 3 as necessary. ing.

前記前後左右の足４、４、４、４は前記車体３の前後左右部位に枢支ピン６、６、６、６で水平方向に回動可能に取付けられた前後左右のブーム支持台７、７、７、７と、この前後左右のブーム支持台７、７、７、７を水平方向に回動させる一端部が、該前後左右のブーム支持台７、７、７、７に枢支金具８、８、８、８で枢支され、他端部が前記車体３の前後左右部位に枢支金具９、９、９、９で枢支された前後左右のブーム支持台回動用油圧シリンダー１０、１０、１０、１０と、先端部が垂直方向に回動するように、後端部が前記前後左右のブーム支持台７、７、７、７に枢支ピン１１、１１、１１、１１で枢支された前後左右のブーム１２、１２、１２、１２と、この前後左右のブーム１２、１２、１２、１２を垂直方向に回動させる一端部が、前記前後左右のブーム支持台７、７、７、７に枢支ピン１３、１３、１３、１３で枢支され、他端部が該前後左右のブーム１２、１２、１２、１２の曲げ部１２ａ、１２ａ、１２ａ、１２ａ寄りの部位に取付けられた枢支金具Ｘの枢支ピン１４、１４、１４、１４で枢支された前後左右のブーム回動用油圧シリンダー１５、１５、１５、１５と、先端部が垂直方向に回動するように後端部が前記前後左右のブーム１２、１２、１２、１２の先端部に枢支ピン１６、１６、１６、１６で枢支された前後左右のアーム１７、１７、１７、１７と、この前後左右のアーム１７、１７、１７、１７を垂直方向に回動させる一端部が、前記前後左右のブーム１２、１２、１２、１２の曲げ部１２ａ、１２ａ、１２ａ、１２ａ寄りの部位に取付けられた枢支金具Ｘの枢支ピン１８、１８、１８、１８で枢支され、他端部が該前後左右のアーム１７、１７、１７、１７の後端部寄りの部位に枢支金具１９、１９、１９、１９で枢支された前後左右のアーム回動用油圧シリンダー２０、２０、２０、２０と、前記前後左右のアーム１７、１７、１７、１７の先端部にそれぞれ取付けられた前後左右の脚先部材２１、２１、２１、２１とからなり、この前後左右の脚先部材２１、２１、２１、２１は図４ないし図７に示すように、前記前後左右のアーム１７、１７、１７、１７の先端部に脚中心を通る直線上に中心がくるように固定された球状部２２を有する足首部材２３と、この足首部材２３の球状部２２に回転可能に取付けられた接地面に着地する中央部に透孔２４が形成された円盤状の着地板２５、この着地板２５の上面に固定された、前記足首部材２３の球状部２２の外周部を覆うカバー筒２６、このカバー筒２６の上部に着脱可能に取付けられた、前記足首部材２３の回動が可能で、球状部２２の抜け脱を防止するカバー２７とからなる脚座２８と、この脚座２８が自重によって自動的に回動するのを阻止するように、前記足首部材２３の球状部２２と該脚座２８のカバー筒２６との間に介装された弾性を有する合成樹脂材等の弾性部材やゴム等の抵抗付与部材２９とで構成されている。   The front, rear, left and right feet 4, 4, 4, 4 are front, rear, left and right boom support bases 7 attached to the front, rear, left and right parts of the vehicle body 3 by pivot pins 6, 6, 6, 6 so as to be horizontally rotatable. 7, 7, 7 and one end portion for rotating the front, rear, left and right boom support bases 7, 7, 7, 7 in the horizontal direction are pivotally attached to the front, rear, left and right boom support bases 7, 7, 7, 7. 8, 8, 8, 8, and 8, and the other end is pivotally supported by pivot metal fittings 9, 9, 9, 9 on the front, rear, left, and right parts of the vehicle body 3. 10, 10, 10, and rear ends are pivotally supported on the front, rear, left and right boom support bases 7, 7, 7, 7 with pivot pins 11, 11, 11, 11 so that the front end rotates in the vertical direction. The booms 12, 12, 12, and 12 that are pivotally supported and the booms 12, 12, 12, and 12 are rotated in the vertical direction. One end is pivotally supported by pivot pins 13, 13, 13, 13 on the front, rear, left and right boom support bases 7, 7, 7, 7, and the other end is front, rear, left, right, boom 12, 12, 12, 12. Hydraulic cylinders 15, 15, 15 for pivoting the front, rear, left and right booms pivotally supported by the pivot pins 14, 14, 14, 14 of the pivotal support fitting X attached to the bent portions 12 a, 12 a, 12 a, 12 a. 15 and the rear end of the boom 12, 12, 12, 12 are pivotally supported by the pivot pins 16, 16, 16, 16 so that the front end rotates in the vertical direction. The front, rear, left and right arms 17, 17, 17, 17 and one end for rotating the front, rear, left and right arms 17, 17, 17, 17 in the vertical direction are bent to the front, rear, left and right booms 12, 12, 12, 12. Remove the parts near the parts 12a, 12a, 12a, 12a. The pivot bracket 18 is pivotally supported by pivot pins 18, 18, 18, 18 of the pivot bracket X, and the other end is pivotally mounted on a portion near the rear end of the front, rear, left and right arms 17, 17, 17, 17. Front / rear / left / right arm pivoting hydraulic cylinders 20, 20, 20, 20 pivoted by 19, 19, 19, 19 and front / rear attached to the front / rear / left / right arms 17, 17, 17, 17 respectively. The left and right leg tip members 21, 21, 21, 21 are composed of the front, rear, left and right arms 17, 17, 21 as shown in FIGS. 4 to 7. An ankle member 23 having a spherical portion 22 fixed so as to be centered on a straight line passing through the center of the leg at the distal end portions of 17 and 17, and a grounding surface rotatably attached to the spherical portion 22 of the ankle member 23 Disc shape with through-hole 24 formed in the center of landing Landing plate 25, a cover tube 26 covering the outer periphery of the spherical portion 22 of the ankle member 23 fixed to the upper surface of the landing plate 25, and the ankle member removably attached to the upper portion of the cover tube 26 The ankle member so as to prevent the leg seat 28 from automatically turning due to its own weight. An elastic member such as a synthetic resin material having elasticity and a resistance imparting member 29 such as rubber, which are interposed between the spherical portion 22 of 23 and the cover cylinder 26 of the leg seat 28, are configured.

上記構成の４足歩行型ロボット１は道路等では前後左右の足４、４、４、４の前後左右の脚先部材２１、２１、２１、２１を路面上より浮かせて、左右の無限軌道２、２を油圧駆動装置（図示せず）で駆動させて走行させる。
作業現場では前後左右の足４、４、４、４を駆動させて走行させるが、平坦面では図８に示すように前後左右の足４、４、４、４の脚先部材２１、２１、２１、２１の脚座２８、２８、２８、２８の着地板２５、２５、２５、２５が着地地点と面接地するとともに、法面等の傾斜面では図９および図１０に示すように着地地点までの地面より浮き上がらせた移動時には、脚先部材２１、２１、２１、２１は前の着地地点に面接地した状態のままで移動し、着地地点に着地させる移動時に脚先部材２１、２１、２１、２１の脚座２８、２８、２８、２８の最初に着地する部分に加わる荷重によって、抵抗付与部材２９、２９、２９、２９の抵抗に抗して回動して、着地地点に着地板２５、２５、２５、２５が面接地される。
このため、平坦面はもちろん、法面等の傾斜面でも脚先部材２１、２１、２１、２１の着地板２５、２５、２５、２５を着地地点に面接地させて着地地点が移動するのを防止して、安全に走行させることができる。
[発明を実施するための異なる形態] The quadruped walking type robot 1 having the above-described configuration is configured such that the front and rear, left and right leg tip members 21, 21, 21, and 21 of the front and rear, left and right legs 4, 4, 4, and the like are lifted from the road surface. 2 is driven by a hydraulic drive device (not shown).
At the work site, the front, rear, left and right feet 4, 4, 4, 4 are driven to run, but on the flat surface, as shown in FIG. The landing plates 25, 25, 25 and 25 of the leg seats 28, 28, 28 and 28 are in contact with the landing point, and on the slope such as the slope, as shown in FIGS. 9 and 10 The leg tip members 21, 21, 21, 21 are moved in a state where they are surface-grounded to the previous landing point during the movement that is lifted from the ground until the landing point 21, 21, 21, 21 and 21 are rotated against the resistance of the resistance applying members 29, 29, 29, 29 by the load applied to the first landing portion of the leg seats 28, 28, 28, 28, and arrive at the landing point 25, 25, 25, 25 are grounded.
For this reason, not only a flat surface but also an inclined surface such as a slope, the landing plate 25, 25, 25, 25 of the leg tip member 21, 21, 21, 21 is grounded to the landing point so that the landing point moves. It can prevent and drive safely.
[Different forms for carrying out the invention]

次に、図１１ないし図２０に示す本発明を実施するための異なる形態につき説明する。なお、これらの本発明を実施するための異なる形態の説明に当って、前記本発明を実施するための最良の第１の形態と同一構成部分には同一符号を付して重複する説明を省略する。   Next, different modes for carrying out the present invention shown in FIGS. 11 to 20 will be described. In the description of these different modes for carrying out the present invention, the same components as those in the best mode for carrying out the present invention are designated by the same reference numerals and redundant description is omitted. To do.

図１１ないし図１４に示す本発明を実施するための第２の形態において、前記本発明を実施するための最良の第１の形態と主に異なる点は着地板２５と、この着地板２５の透孔２４の外周部より上方へ突出させた４本の支柱３０、３０、３０、３０と、この４本の支柱３０、３０、３０、３０に螺合するボルト３１、３１、３１、３１によって固定されたカバー２７Ａとからなる脚座２８Ａと、この脚座２８Ａの着地板２５と足首部材２３の球状部２２との間に介装された抵抗付与部材２９Ａとからなる前後左右の脚先部材２１Ａ、２１Ａ、２１Ａ、２１Ａを用いた点で、このような前後左右の脚先部材２１Ａ、２１Ａ、２１Ａ、２１Ａを用いて構成した４足歩行型ロボット１Ａにしても、前記本発明を実施するための最良の第１の形態と同様な作用効果が得られる。   The second embodiment for carrying out the present invention shown in FIGS. 11 to 14 is mainly different from the best first embodiment for carrying out the present invention in that the landing plate 25 and the landing plate 25 By four struts 30, 30, 30, 30 protruding upward from the outer peripheral portion of the through hole 24, and bolts 31, 31, 31, 31 screwed into the four struts 30, 30, 30, 30 Front, rear, left and right leg tip members comprising a leg seat 28A composed of a fixed cover 27A, and a resistance applying member 29A interposed between the landing plate 25 of the leg seat 28A and the spherical portion 22 of the ankle member 23 The present invention is also applied to a quadruped walking robot 1A configured using such front / rear / left / right leg tip members 21A, 21A, 21A, 21A in that 21A, 21A, 21A, 21A is used. Same as the first best mode for Do effect can be obtained.

図１５ないし図２０に示す本発明を実施するための第３の形態において、前記本発明を実施するための最良の第１の形態と主に異なる点は、前後左右のアーム１７、１７、１７、１７の先端部に脚中心を通る直線上に中心が位置する前後左右のユニバーサルジョイント３２、３２、３２、３２と、この前後左右のユニバーサルジョイント３２、３２、３２、３２の他方の軸３３、３３、３３、３３に回転可能に取付けられたリング状の前後左右の脚座２８Ｂ、２８Ｂ、２８Ｂ、２８Ｂと、前記前後左右のユニバーサルジョイント３２、３２、３２、３２のロール、ピッチ回転する一方の軸３４と他方の軸３３部位にそれぞれ抵抗付与部材２９Ｂ、２９Ｂを介装し、前後左右の脚先部材２１Ｂ、２１Ｂ、１２Ｂ、２１Ｂを用いた点で、このような前後左右の脚先部材２１Ｂ、２１Ｂ、２１Ｂ、２１Ｂを用いて構成した４足歩行型ロボット１Ｂにしても、前記本発明を実施するための最良の第１の形態と同様な作用効果が得られる。   The third embodiment for carrying out the present invention shown in FIGS. 15 to 20 is mainly different from the best first embodiment for carrying out the present invention in that the front, rear, left and right arms 17, 17, 17 , 17 universal joints 32, 32, 32, 32, which are centered on a straight line passing through the center of the leg, and the other shaft 33 of the universal joints 32, 32, 32, 32, Ring-shaped front / rear left / right leg seats 28B, 28B, 28B, 28B rotatably attached to 33, 33, 33, rolls of the front / rear left / right universal joints 32, 32, 32, 32, one of the pitch rotating In this way, resistance imparting members 29B and 29B are interposed in the shaft 34 and the other shaft 33, respectively, and the front and rear, left and right leg tip members 21B, 21B, 12B and 21B are used. Even in the quadruped walking robot 1B configured by using the front, rear, left and right leg tip members 21B, 21B, 21B, and 21B, the same effects as the first preferred embodiment for carrying out the present invention can be obtained. .

図２１ないし図２４に示す本発明を実施するための第４の形態において、前記本発明を実施するための最良の第１の形態と主に異なる点は、前後左右の脚先部材２１、２１、２１、２１に荷重が加わらない状態では常時基準姿勢に戻すことができる脚先部材基準姿勢維持機構３４、３４、３４、３４を設けた点で、このような脚先部材基準姿勢維持機構３４、３４、３４、３４を設けて構成した４足歩行型ロボット１Cにしても、前記本発明を実施するための最良の第１の形態と同様な作用効果が得られるとともに、前後左右の脚先部材２１、２１、２１、２１に荷重が加わらない状態では常時基準姿勢に戻り、外力により予想しない姿勢になったとしても、着地地点より浮かせた場合に自動的に基準姿勢に戻り、次の
着地地点に確実に着地させることができる。
前記脚先部材基準姿勢維持機構３４、３４、３４、３４は本発明の実施の形態ではアーム１７、１７、１７、１７の先端部寄りの部位と脚先部材２１、２１、２１、２１の着地板２５、２５、２５、２５との間に介装された各４本のスプリング３５、３５、３５、３５と、これらのスプリング３５、３５、３５、３５を覆う蛇腹状のカバー３６とで構成されている。
なお、この前記脚先部材基準姿勢維持機構３４、３４、３４、３４は前述の構成以外にシリンダー筒内にスプリングを内装した常時外方に突出する作動体を用いたものや、ダンパー機構を用いたもの等であっても良い。 The fourth embodiment for carrying out the present invention shown in FIG. 21 to FIG. 24 is mainly different from the best first embodiment for carrying out the present invention in that the front and rear leg left and right leg members 21, 21 are different. , 21 and 21 are provided with leg tip member reference posture maintaining mechanisms 34, 34, 34 and 34 that can always return to the reference posture in a state where no load is applied. , 34, 34, 34, the four-legged walking type robot 1 </ b> C can achieve the same operational effects as the first preferred embodiment for carrying out the present invention, and can also have front and rear, left and right leg tips When no load is applied to the members 21, 21, 21, 21, the posture always returns to the reference posture, and even if the posture is unexpected due to an external force, the member 21, 21, 21, 21 automatically returns to the reference posture when lifted from the landing point. Surely landed at the spot Can be made.
In the embodiment of the present invention, the leg tip member reference posture maintaining mechanism 34, 34, 34, 34 is attached to a portion near the tip of the arm 17, 17, 17, 17 and the leg tip member 21, 21, 21, 21. Each of the four springs 35, 35, 35, 35 interposed between the main plates 25, 25, 25, 25 and a bellows-like cover 36 covering these springs 35, 35, 35, 35. Has been.
The leg tip member reference posture maintaining mechanism 34, 34, 34, 34 is not limited to the above-described configuration, and uses a constantly protruding outwardly actuating body in which a spring is housed in a cylinder tube, or a damper mechanism. It may be what was.

前記本発明を実施するための各形態では車体３に左右の無限軌道２、２を設置したものについて説明したが、本発明はこれに限らず、無限軌道を用いないものであってもよい。
また、車体にウインチ等を設置して法面等で牽引できるようにしたものであってもよい。 In the embodiments for carrying out the present invention, the left and right endless tracks 2 and 2 are installed on the vehicle body 3. However, the present invention is not limited to this, and the endless track may not be used.
Further, a winch or the like may be installed on the vehicle body so that it can be pulled by a slope or the like.

本発明は４足歩行型ロボットを製造する産業で利用される。   The present invention is used in an industry for manufacturing a quadruped walking robot.

本発明を実施するための最良の第１の形態の側面図。The side view of the best 1st form for implementing this invention. 本発明を実施するための最良の第１の形態の平面図。The top view of the best 1st form for implementing this invention. 本発明を実施するための最良の第１の形態の足の説明図。Explanatory drawing of the leg | foot of the best 1st form for implementing this invention. 本発明を実施するための最良の第１の形態の脚先部材の側面図。The side view of the leg tip member of the best 1st form for implementing this invention. 本発明を実施するための最良の第１の形態の脚先部材の平面図。The top view of the leg tip member of the best 1st form for implementing this invention. 本発明を実施するための最良の第１の形態の脚先部材の正面図。The front view of the leg tip member of the best 1st form for implementing this invention. 図４の７−７線に沿う断面図。Sectional drawing which follows the 7-7 line | wire of FIG. 本発明を実施するための最良の第１の形態の平坦面の走行状態の説明図。Explanatory drawing of the driving | running | working state of the flat surface of the best 1st form for implementing this invention. 本発明を実施するための最良の第１の形態の傾斜面の走行状態の説明図。Explanatory drawing of the driving | running | working state of the inclined surface of the best 1st form for implementing this invention. 本発明を実施するための最良の第１の形態の傾斜面での脚先部材の動作説明図。Operation | movement explanatory drawing of the leg tip member in the inclined surface of the best 1st form for implementing this invention. 本発明を実施するための第２の形態の平面図。The top view of the 2nd form for carrying out the present invention. 本発明を実施するための第２の形態の脚先部材の側面図。The side view of the leg tip member of the 2nd form for carrying out the present invention. 本発明を実施するための第２の形態の脚先部材の平面図。The top view of the leg tip member of the 2nd form for carrying out the present invention. 図１２の１４−１４線に沿う断面図。Sectional drawing which follows the 14-14 line | wire of FIG. 本発明を実施するための第３の形態の側面図。The side view of the 3rd form for carrying out the present invention. 本発明を実施するための第３の形態の平面図。The top view of the 3rd form for carrying out the present invention. 本発明を実施するための第３の形態の脚先部材の側面図。The side view of the leg tip member of the 3rd form for carrying out the present invention. 本発明を実施するための第３の形態の脚先部材の平面図。The top view of the leg tip member of the 3rd form for carrying out the present invention. 本発明を実施するための第３の形態の脚先部材の正面図。The front view of the leg tip member of the 3rd form for carrying out the present invention. 図１８の２０−２０線に沿う断面図。Sectional drawing which follows the 20-20 line of FIG. 本発明を実施するための第４の形態の側面図。The side view of the 4th form for carrying out the present invention. 本発明を実施するための第４の形態の平面図。The top view of the 4th form for carrying out the present invention. 本発明を実施するための第４の形態の脚先部の側面図。The side view of the leg tip part of the 4th form for carrying out the present invention. 本発明を実施するための第４の形態の脚先部の断面図。Sectional drawing of the leg tip part of the 4th form for implementing this invention.

符号の説明Explanation of symbols

１、１Ａ、１Ｂ、１C：４足歩行型ロボット、
２：無限軌道、 ３：車体、
４：足、 ５：穴明け装置、
６：枢支ピン、 ７：ブーム支持台、
８：枢支金具、 ９：枢支金具、
１０：ブーム支持台回動用油圧シリンダー、
１１：枢支ピン、 １２：ブーム、
１３：枢支ピン、 １４：枢支金具、
１５：ブーム回動用油圧シリンダー、
１６：枢支ピン、 １７：アーム、
１８：枢支金具、 １９：枢支金具、
２０：アーム回動用油圧シリンダー、
２１、２１Ａ、
２１Ｂ：脚先部材、
２２：球状部、 ２３：足首部材、
２４：透孔、 ２５：着地板、
２６：カバー筒、 ２７、２７Ａ：カバー、
２８、２８Ａ、２８Ｂ：脚座、
２９、２９Ａ、２９Ｂ：抵抗付与部材、
３０：支柱、 ３１：ボルト、
３２：ユニバーサルジョイント、 ３３：他方の軸、
３４：脚先部材基準姿勢維持機構、
３５：スプリング、 ３６：カバー。
1, 1A, 1B, 1C: quadruped walking robot,
2: Endless track, 3: Vehicle body,
4: Feet, 5: Drilling device,
6: Pivot pin, 7: Boom support,
8: Pivot bracket, 9: Pivot bracket,
10: Hydraulic cylinder for rotating the boom support base,
11: Pivot pin, 12: Boom,
13: pivot pin, 14: pivot bracket,
15: hydraulic cylinder for rotating the boom,
16: Pivot pin, 17: Arm,
18: Pivot bracket, 19: Pivot bracket,
20: Hydraulic cylinder for arm rotation,
21, 21A,
21B: Leg tip member,
22: spherical part, 23: ankle member,
24: through hole, 25: landing plate,
26: Cover cylinder, 27, 27A: Cover,
28, 28A, 28B: Leg seat,
29, 29A, 29B: resistance imparting member,
30: support, 31: bolt,
32: Universal joint, 33: The other shaft,
34: Leg tip member reference posture maintenance mechanism,
35: Spring, 36: Cover.

Claims (4)

車体の前後左右部位にブームとアームを備える前後左右の足を設けた４足歩行型ロボットにおいて、前記前後左右の足のアームの先端部に固定された下端部が球状の足首部材と、この足首部材の球状部に回転可能に取付けられた接地面に着地する脚座と、この脚座が自重によって自動的に回転するのを阻止するように、前記足首部材の球状部と該脚座との間に介装された抵抗付与部材とからなる脚先部材を設けたことを特徴とする４足歩行型ロボット。 A quadruped walking robot having front and rear, left and right legs provided with a boom and an arm at front and rear and right and left parts of a vehicle body, and a lower end portion fixed to a distal end portion of the front and rear and right and left leg arms, A leg seat landing on a grounding surface rotatably attached to the spherical portion of the member, and the spherical portion of the ankle member and the leg seat so as to prevent the leg seat from automatically rotating due to its own weight. A quadruped walking robot characterized in that a leg tip member comprising a resistance imparting member interposed therebetween is provided. 車体の前後左右部位にブームとアームを備える前後左右の足を設けた４足歩行型ロボットにおいて、前記前後左右の足のアームの先端部にユニバーサルジョイントを介して取付けられたリング状の脚座と、この脚座が自重によって自動的に回転するのを阻止するように前記ユニバーサルジョイントのロール、ピッチ回転に抵抗を付与するように取付けられたロール、ピッチ抵抗付与部材とからなる脚先部材を設けたことを特徴とする４足歩行型ロボット。 In a quadruped walking robot provided with front and rear, left and right feet having booms and arms at front and rear and right and left parts of the vehicle body, ring-shaped leg seats attached to the front ends of the front and rear and left and right foot arms via a universal joint; A leg tip member comprising a roll of the universal joint, a roll attached to impart resistance to pitch rotation, and a pitch resistance imparting member so as to prevent the leg seat from being automatically rotated by its own weight. A quadruped walking robot characterized by that. 脚先部材は該脚先部材に荷重が加わらない状態では常時基準姿勢に戻すことができる脚先部材基準姿勢維持機構が設けられていることを特徴とする請求項１、２いずれかに記載の４足歩行型ロボット。 The leg tip member is provided with a leg tip member reference posture maintaining mechanism that can always return to the reference posture when no load is applied to the leg tip member. A quadruped robot. ４足歩行型ロボットは車体と、この車体の前後左右部位に水平方向に回動可能に取付けられた前後左右のブーム支持台、これらの前後左右のブーム支持台を水平方向に回動させる前後左右のブーム支持台回動用油圧シリンダー、先端部が垂直方向に回動するように後端部が前記前後左右のブーム支持台に枢支された前後左右のブーム、この前後左右のブームを垂直方向に回動させる前後左右のブーム回動用油圧シリンダー、先端部が垂直方向に回動するように後端部が前記前後左右のブームの先端部に枢支された前後左右のアーム、この前後左右のアームを垂直方向に回動させる前後左右のアーム回動用油圧シリンダーとからなる前後左右の足と、この前後左右の足を駆動させる駆動装置とで構成されていることを特徴とする請求項１、２、３いずれかに記載の４足歩行型ロボット。
The quadruped robot is a vehicle body, front / rear / left / right boom support bases mounted on the front / rear / left / right parts of the vehicle body so as to be horizontally rotatable, front / rear / left / right rotations of the front / rear / right / left boom support bases horizontally. The boom support base rotating hydraulic cylinder, the front and rear left and right booms whose rear ends are pivotally supported by the front and rear left and right boom support bases so that the front end rotates in the vertical direction, and the front and rear left and right booms vertically Front / rear / right / left boom pivot hydraulic cylinders, front / rear / left / right arms whose rear ends are pivotally supported by the front / rear / left / right boom ends so that the front end rotates in the vertical direction. 2. A front / rear / right / left foot composed of front / rear / left / right arm-rotating hydraulic cylinders for vertically rotating the arm and a drive device for driving the front / rear / left / right foot. , 4-legged robot according to any one.
JP2005074370A 2005-03-16 2005-03-16 Four-legged walking robot Pending JP2006255816A (en)

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JP2009101469A (en) * 2007-10-24 2009-05-14 Tokyo Institute Of Technology Legged mobile work device
JP2019112877A (en) * 2017-12-26 2019-07-11 日本総合リサイクル株式会社 Lightweight demolition work vehicle for interior

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