JP2535568Y2 - Rough Terrain Walking Machine - Google Patents

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to an irregular terrain walking machine that walks on uneven terrain, sloped land, etc., and performs transportation, construction, measurement, and the like.

(Prior Art) As a conventional machine of this type, one that walks under the sole of a leg or controlled only by a load sensor attached to an appropriate part of a leg, or a distance detector using ultrasonic waves or light, etc. There is known a device that is mounted on a vehicle or the like and walks.

(Problem to be Solved by the Invention) The above-described conventional technology has the following problems.

In other words, in the former method, only the load sensor attached to the back of the leg tip or an appropriate part of the leg is used while the leg is landing (the leg is in contact with the ground and the load is actually supported). However, it is not possible to predict when the landing will occur, and the descent speed at the time of landing will not be sufficiently reduced. This will cause an impact at the time of landing, and will not allow a large descending speed to avoid it, resulting in a decrease in walking speed.

In the latter method, in which a distance detector using ultrasonic waves or light is attached to the back of the leg or the like, the above prediction can be made to some extent. However, depending on the ground condition and use environment, complete operation cannot be expected in many cases.

The present invention has been developed to address such problems, and has as its object to be able to cope with ground conditions and use environments.

(Means for Solving the Problems) The configuration of the present invention for achieving the above object will be described with reference to FIGS. 1 to 3 corresponding to the embodiment. The present invention walks on uneven terrain, slopes, and the like. In the machine, a leg tip slide portion is provided at the leg tip portion so as to freely slide in the leg length direction, and is extended to the extension end by gravity or a spring mechanism, and a landing that does not support the load of the leg tip portion of the leg tip slide portion is provided. It comprises a leg tip ungrounded detection sensor for detecting, and a leg load sensor for detecting a landing supporting the load of the leg tip of the leg slide portion, and by detecting the leg ungrounded detection sensor,
The descent speed of the leg tip is reduced.

(Operation) In the present invention, when the tip of the leg is not in contact with the ground or the like by the above-described means, the leg slide portion is extended by power or a spring mechanism, and the extension is recognized by the leg ungrounded detection sensor. Detecting a ground contact that extends further and the leg tip slide does not support the load at the tip of the leg reduces the descent speed of the tip of the leg, and the foot slide slide supports the load supporting the load at the tip of the leg. , It is possible to predict the timing of landing on the leg, reduce the buffering of the impact at the time of landing on the leg, and increase the walking speed.

(Embodiment) An embodiment of the present invention will be described below with reference to FIGS. 1 to 3. Reference numeral 1 denotes a tip of the entire leg, and the tip 1 of the leg and the slide 2 of the tip of the leg extend in the direction of descending the leg. You can slide freely.

FIG. 1 shows a state in which the leg starts to descend and the leg tip is not touched.

In this state, the leg slide portion 2 is at the extended end by gravity or an appropriate spring mechanism 7, and the leg ungrounded detection sensor 3
, And the walking mechanism recognizes that the leg tip is not touched. The leg down speed at this time is defined as V1.

When the descent is further continued, the leg tip sliding portion 2 comes into contact with the ground 6 as shown in FIG. After that, the actuator 4 of the leg ungrounded detection sensor 3 is not pushed, and the walking machine recognizes that the leg is grounded. From this time, V2 <V1 V2
Or to V2 or less. When the descent is further continued, the upper end of the leg tip sliding portion 2 hits the leg load sensor 5 as shown in FIG. When the leg tip slide portion 2 detects a load supporting the leg tip portion 1 by the leg tip load sensor 5, or simply when the upper end of the stroke of the leg tip slide portion is detected, the lowering of the leg is stopped and the landing is completed. . When the landing is completed in FIG. 3, the leg lowering speed: V2 in the state of FIG. 2 (grounding the foot) is determined so that the load on the leg is not excessive or accompanied by an impact. 2 slide stroke: L, leg lowering speed in the state of FIG. 1 (foot landing): V1 to V
If V1, V2 and L are properly determined so that the speed can be sufficiently reduced to 2,
Normally, the leg lowering speed: V1 in the state of FIG. 1 (foot landing) occupying most of the leg lowering length can be increased.

FIG. 4 shows that at the time A when the state of the leg tip ungrounded detection sensor 3 changes, the leg lowering speed is immediately reduced to V2 in a step-like manner, and the state of the leg tip loader 5 changes at B to stop the leg lowering. 5 shows the relationship between the leg descent speed and the time until the landing of the leg is completed.

FIG. 5 shows a time point A ′ at which the state of the leg ungrounded detection sensor 3 changes and a time point B ′ at which the state of the foot load sensor 5 changes.
Sliding stroke between: L 'is known, the leg descent speed between A'-B' is gradually reduced, and B 'is used as landing confirmation so that landing can be performed with smoother movement. The relationship between the leg lowering speed and the time is shown.

(Effects of the Invention) As described above, according to the present invention, a leg tip slide portion is provided at the leg tip portion so as to freely slide in the leg length direction, and is extended to the extension end by gravity or a spring mechanism. A foot unlanding detection sensor that detects a landing that does not support the load of the leg tip, and a leg load sensor that detects a landing that supports the load of the leg tip of the leg slide. Since the descending speed of the leg tip is reduced by the detection of the ungrounded detection sensor, the leg tip sliding portion of the leg tip reduces the leg load from landing in a state where the leg load is not received to stopping the leg. The descent speed of the leg tip can be controlled by the on / off control of the leg ungrounded detection sensor and the leg load sensor until landing, so the timing of the landing of the leg that supports the load when the leg contacts the ground and Can be predicted in advance Therefore, the impact at the time of landing on the leg is reduced and the leg can be lowered at a high speed, and the walking speed as a walking machine is improved.

[Brief description of the drawings]

1 to 3 show an embodiment of the uneven terrain walking machine of the present invention, FIG. 1 shows a state in which a foot is not grounded, FIG. 2 shows a state in which a foot is grounded,
FIG. 3 is a schematic diagram showing a landing state of the leg, and FIG. 4 is a diagram showing a relationship between the speed of the leg tip and the time when the landing speed is reduced by decreasing the descending speed of the leg stepwise. FIG. 5 is a diagram showing the relationship between the leg tip speed and the time when the leg landing speed is gradually reduced and the leg landing is performed. 1 ... Leg tip, 2 ... Leg slide part, 3 ... Leg ungrounded detection sensor, 5 ... Leg load sensor, 6 ... Ground

Claims (1)

(57) [Scope of request for utility model registration] 1. A machine for walking on uneven terrain or sloping terrain, wherein a leg tip slide portion is provided at the tip of the leg so as to be freely slidable in the leg length direction and extended to the extension end by gravity or a spring mechanism. A non-ground contact detection sensor that detects a landing that does not support the load of the leg tip portion of the leg, and a leg load sensor that detects a landing that supports the load of the leg tip portion of the leg slide portion, An uneven terrain walking machine characterized in that the descending speed of the tip of the leg is reduced by the detection of the leg non-ground contact detection sensor.