JP2976145B2 - Walking type moving method and its moving mechanism - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a walking type moving method and a moving mechanism for moving on irregular terrain such as a construction site.

[0002]

2. Description of the Related Art A conventional general walking type moving mechanism is shown in FIGS.
11 and FIG. 9 and FIG. 10 show that the main body frame 41 is provided with moving cylinders 42 and 43 in the vertical and horizontal directions, and the distal ends of the piston rods 44 and 45 can slide in the main body frame 41. A first leg frame 48 and a second leg frame 49 having vertical and horizontal portions having portions 46 and 47 are provided, and four of the first leg frame 48 and the second leg frame 49 are provided.
The one for moving back and forth and right and left with the telescopic leg 50 attached to the corner,
In FIG. 11, upper and lower main body frames 51 and 52 are mounted so as to be rotatable with respect to each other by a turning actuator 53, and upper and lower main body frames 51 and 52 are provided with moving cylinders 54 and 55, respectively. ,
Leg frame 5 having telescopic legs 58 at four corners at the tip of 57
9 and 60 are shown slidably mounted in the main body frames 51 and 52.

The moving method of the moving mechanism for moving back and forth, right and left is, as shown in FIG.
From the state A in which the telescopic leg 50 of the first leg frame 48 in the vertical direction (shown inside in the figure) is extended by extending the telescopic leg 50 of the second leg frame 49, and the piston of the moving cylinder 43 as shown by the arrow. After the rod 45 is extended to bring the inner first leg frame 48 into the state B in which the inner first leg frame 48 is moved to the right, the telescopic leg 50 of the inner first leg frame 48 is extended and the telescopic leg of the outer second leg frame 49 is extended. State C with body 50 reduced
From this state, the piston rod 45 of the moving cylinder 43 is reduced as shown by the arrow to
The leg frame 49 is moved to the right in the state D, the telescopic leg 50 of the inner first leg frame 48 is reduced, and the telescopic leg 50 of the outer second leg frame 49 is extended to return to the state A. By repeating the operation of setting the states of B, C, and D below, it is possible to move on an uneven surface such as irregular terrain.

[0004]

In order to move in any direction using the conventional walking type moving mechanism, FIGS.
It is not sufficient to use the one that can move in the front-rear and left-right directions as shown in FIG. 0, that is, the one having two moving cylinders, and it is necessary to provide the one shown in FIG. The moving cylinder is extended and retracted for moving back and forth and left and right, while turning requires operation of a turning actuator having a completely different structure from the moving cylinder. There was a drawback that it was troublesome.

The present invention solves these drawbacks, and has a simple structure in which three vertexes are connected between the vertices of the upper and lower triangular bodies or between the corners of the quadrangular body with a stable structure during operation. It is an object of the present invention to provide a moving mechanism and a moving method that can be easily operated.

[0006]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention relates to (1) a triangular body having telescopic legs provided at each apex of a triangle is superimposed one on top of the other, and the telescopic leg of one triangular main body is overlapped. After expanding and contracting the appropriate length between the three corresponding vertices of each triangular body in a reduced state, extend the telescopic leg in the reduced state, and then reduce the telescopic leg of the other triangular body. A walking type moving method in which the distance between the apexes is enlarged and reduced in the same manner as described above. (2) The triangular bodies provided with the telescopic legs at the apexes of the triangles are superimposed one on top of the other. Walking type moving mechanism with telescopic body attached between the apexes of places,
(3) The corresponding three corner tips of each of the quadrangular bodies in a state where the quadrangular bodies each having telescopic legs provided at the tip of each of the quadrangular corners are vertically stacked and the telescopic legs of one of the quadrangular bodies are reduced. After expanding and contracting the appropriate length between the portions, the telescopic leg in the contracted state is extended, and then the other telescopic leg of the quadrangular body is contracted to expand and contract between the corner tip portions in the same manner as described above. (4) A rectangular body having telescopic legs provided at the tip of each corner of the square is overlapped up and down to correspond to each square body.
In this case, a means of a walking type moving mechanism in which an elastic body is attached between the end portions of the corners is adopted.

[0007]

The operation of the walking type moving mechanism of the present invention will be described. FIG. 6 is an explanatory view showing the operation principle of the moving mechanism shown in FIG.
Are superimposed such that their centers P and Q overlap, and the vertices a, a, b, b, and c, c
The space shows a basic shape connected by elastic bodies 11 of the same length.

In order to translate the moving mechanism in parallel, as shown in B, the apex portion a of the upper triangular main body 1 is reduced while the telescopic leg of the middle triangular main body 3 is extended. The elastic body 11a between a is extended, the elastic body between the vertices c and c is reduced, and the elastic body 11b between the vertices b and b is shorter than the elastic body 11c between the vertices c and c. By reducing the size, the upper triangular main body 1 can be moved so that its center P is obliquely below the center Q of the intermediate triangular main body 3 as shown by the arrow R, and the moving mechanism is moved in parallel as shown by the arrow. In order to perform the turning at the same time, as shown in FIG.
In the same state as above, the elastic body 11a between the vertices a and a is reduced, the elastic body 11b between the vertices b and b is extended, and the elastic body 11 between the vertices c and c is c between b and b. By further extending, the center P of the upper triangular main body 1 moves obliquely upward as shown by the arrow S from the center Q of the middle triangular main body 3 so that the vertexes b and c pivot as shown by the arrow T. Can be moved. That is, since the relative position and orientation of the two triangular bodies can be determined by the length of the telescopic body connecting the three vertices, the position of one triangular main body is fixed by extending the telescopic legs. By doing so, the moving mechanism can be moved to any position.

FIG. 7 is an explanatory view showing the operating principle of the moving mechanism similarly to FIG. 6, wherein A overlaps the upper rectangular body 21 and the intermediate rectangular body 23 so that their centers P and Q overlap.
Three corner tip portions a, a of each square body 21, 23
The spaces between b and b and between d and c show basic shapes connected by elastic bodies of the same length.

In order to translate the moving mechanism in parallel, as shown in B, the tip portions a, b, c and d of the corners of the upper rectangular body 21 are formed.
The telescopic legs 31a, 31b, 31c between the corner tip portions a, a, b, b, and d, c are extended in a state where the telescopic legs of the intermediate rectangular body 23 are contracted by extending the telescopic legs of the intermediate square body 23. By extending, the middle rectangular body 23 can be moved so that its center Q is obliquely below the center P of the upper rectangular body 21 as shown by the arrow R, and the moving mechanism is moved in parallel as shown by the arrow. In order to perform the turning simultaneously, as shown in C, the extensible legs of each of the quadrangular bodies 21 and 23 are extended in the same state as B, and the extensible body 31a between the corners a and a is extended. The stretchable body 31b of the portions b and b is further extended, and the stretchable body 31c of the corner tip portions d and c is reduced, so that the center Q of the middle square body 23 is shifted from the center P of the upper square body 21 by an arrow S Move diagonally upward and at the same time Part d can perform pivoting as indicated by arrow T.

Next, in order to operate the moving mechanism, the displacement meter 14 and each vertex portion attached between the hydraulic cylinder 5 for telescopic legs provided at each vertex portion 4 in FIG. The strokes of all the cylinders are measured by displacement gauges 14 provided between the moving cylinder 8 of the telescopic body 11 provided between 4, 4 and the base end 12 of the piston rod 10, and as shown in FIG. Operate the operating lever to set the measurement results and the moving direction, moving amount, moving speed, rotation amount, and leg expansion / contraction amount of the moving mechanism and input these values to the computer, and the amount of oil flowing from the hydraulic pump to the hydraulic cylinder Can be moved to a desired moving direction and point at a desired speed by controlling the valve. The same operation may be performed for FIGS. 2 and 5.

[0012]

An embodiment of the present invention will be described with reference to the drawings. In the first embodiment, as shown in FIG. 1, an intermediate triangular main body 3 is interposed between an upper triangular main body 1 and a lower triangular main body 2, each of which forms an equilateral triangle. It is not necessary to divide the triangular main body 2, and a single upper triangular main body 1 or 2 and a lower triangular main body 3 may be stacked. In front of the apexes 4 of the triangular bodies 1, 2, and 3, a telescopic leg 7 composed of a telescopic leg 6 that is vertically extended and contracted by a hydraulic cylinder 5 for a telescopic leg is attached. A moving cylinder 8 is pivotally mounted 9 on a vertex 4 between the upper and lower triangular bodies 1 and 2, and an elastic body 11 composed of each moving cylinder 8 and its piston rod 10.
The base end 12 of the piston rod 10 is the intermediate triangular body 3
Is pivotally mounted 13 between the apex portion 4 and a hydraulic cylinder 5 mounted in front of it. Displacement gauges 14 are mounted between the hydraulic cylinder 5 for the telescopic leg and the lower end of the telescopic leg 6 and between the moving cylinder 8 and the base end 12 of the piston rod 10.

As shown in FIG. 2, the second embodiment is different from the first embodiment in that the upper and lower triangular bodies 1, 2 and the middle triangular body 3 have a plate-like central portion. The central portions of the upper and lower triangular bodies 1a, 2a are empty, and the middle triangular body 3a of the second embodiment is a tripod 3a extending from the center to the vertex of the triangle. The apex 4 is different in that it corresponds to the tip 4a of the leg of the tripod 3a. The telescopic leg 7 of the first embodiment comprises the hydraulic cylinder 5 for telescopic leg and the telescopic leg 6, and the telescopic body 11 moves. The telescopic leg 7a and the telescopic body 11a of the second embodiment have a stepping motor 5a and a pipe leg 6, respectively.
a, 10a. As shown in FIG. 3, the stepping motors 5a, 8a rotate from the rotating shafts 5b, 8a.
b, the female screw 15 fixed to the base end of the pipe leg 6a, 10a corresponding to the telescopic leg 6 and the piston rod 10 of the first embodiment is screwed to the rotating shafts 5b, 8b. The projection 15 has a projection 16 which is fitted in a long hole 18 of an outer cylinder 17 fixed to the stepping motors 5a and 8a.
They are the same except that the pipe legs 6a and 10a expand and contract by the rotation of a and 8a.

As shown in FIG. 4, there is another embodiment in which each vertex 4 of the upper triangular main body 1 and the intermediate triangular main body 3 in the first embodiment is substantially linear in front and rear. The telescopic legs 7 provided at the four opposing vertices 4
The wheels 19 are attached to the running surface so as to be able to come and go, and the telescopic body 11 provided between the vertices 4 of the upper and lower triangular bodies 1 and 3 is expanded and contracted by the same distance between the vertices 4 by an appropriate distance. Thus, a steering operation for turning the direction of the wheel 19 in an appropriate direction (arrow) can be performed, and the motor 20 provided on the axis of the wheel 19 can freely travel on a flat surface.

In the third embodiment, as shown in FIG. 5, an intermediate quadrangular main body 23 is interposed between an upper quadrangular main body 21 and a lower quadrangular main body 22 each forming a square. It is not necessary to divide the lower rectangular main body 22, and a single upper rectangular main body 21 or 22 and a lower rectangular main body 23 may be stacked. An extensible leg 27 comprising an extensible leg 26 which is extended and retracted by an extensible leg hydraulic cylinder 25 is mounted in front of each corner tip 24 of each of the quadrangular bodies 21, 22 and 23. Three corner tip portions 2 between the upper rectangular body 21 and the lower rectangular body 22
4, three moving cylinders 28 are pivotally mounted, and the base end 32 of the piston rod 30 of the telescopic body 31 composed of each moving cylinder 28 and its piston rod 30 is connected to the corner distal end 24 of the intermediate square body 23. Is pivotally mounted 33 in front of.
Between the hydraulic cylinder 25 for the telescopic leg and the lower end of the telescopic leg 26 and the base 3 of the moving cylinder 28 and the piston rod 30
2, a displacement gauge 34 is attached.

[0016]

The moving method according to the first and third aspects of the present invention conventionally requires separate operations for the front-rear and left-right movement and the turning movement, whereas the moving method of the present invention requires the front-rear and left-right movement. And swivel motion can be performed simultaneously using the same type of elastic body, and the operation is simple. The conventional walking-type moving mechanism requires a separate turning actuator in addition to the two telescopic members for front, rear, left and right movements. And the structure is simple,
In addition, the invention of claim 4 can be moved in a stable state because it is always supported by the four telescopic legs during movement.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a first embodiment of the present invention.

FIG. 2 is a perspective view showing a second embodiment of the present invention.

FIG. 3 is a partially cut front view of the elastic body of FIG. 2;

FIG. 4 is a plan view showing a mode of use of the present invention.

FIG. 5 is a perspective view showing a third embodiment of the present invention.

FIG. 6 is an explanatory diagram showing the operation principle of the first embodiment and the second embodiment of the present invention.

FIG. 7 is an explanatory diagram showing an operation principle of a third embodiment of the present invention.

FIG. 8 is an explanatory diagram for explaining the operation of the moving mechanism of the present invention.

FIG. 9 is a plan view showing a conventional example.

FIG. 10 is a front view showing a conventional example.

FIG. 11 is a plan view showing a conventional example.

FIG. 12 is a front view showing an operation state of a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Triangular main body (upper triangular main body) 1a Triangular main body (upper triangular main body) 2 Lower triangular main body 3 Triangular main body (intermediate triangular main body) 3a Triangular main body (intermediate triangular main body) 4 Apex section 4a Apex section 5 Hydraulic for extension leg Cylinder 5a Stepping motor 7 Telescopic leg 7a Telescopic leg 8 Hydraulic cylinder for movement 8a Stepping motor 11 Telescopic body 11a Telescopic body 21 Square body (upper square body) 23 Square body (intermediate square body) 24 Corner tip 27 Telescopic Leg 31 Elastic body

──────────────────────────────────────────────────続 き Continuation of front page (56) References JP-A-51-26701 (JP, A) JP-A-60-104474 (JP, A) JP-A-60-255581 (JP, A) JP-A 63-104 123681 (JP, A) Fully open sho 53-78779 (JP, U) Fully open sho 56-25693 (JP, U) Fully open sho 61-206596 (JP, U) (58) Field surveyed (Int. ⁶ , DB name) B62D 57/032 B25J 5/00

Claims (4)

(57) [Claims] 1. Triangular bodies (1) and (3) each having a telescopic leg (7) provided at each vertex (4) of a triangle are vertically stacked to expand or contract one of the triangular bodies (1) or (3). After the leg (7) is reduced in size, the distance between the corresponding three vertices (4) and (4) of each of the triangular bodies (1) and (3) is reduced or increased by an appropriate length. The telescopic leg (7) is extended, and then the telescopic leg (7) of the other triangular body (3) or (1) is contracted to expand and contract between the vertices (4) and (4) as described above. A walking-type moving method that is designed to be used. 2. Triangular bodies (1) and (3) each having a telescopic leg (7) provided at each vertex (4) of the triangle are vertically overlapped to correspond to each of the triangular bodies (1) and (3). A walking type moving mechanism in which an elastic body (11) is attached between three apexes (4) and (4). 3. A quadrangular body (21), (23) having telescopic legs (27) at each corner tip (24) of the quadrangular shape, and one of the quadrangular bodies (21) or (23) is vertically stacked. With the telescopic legs (27) of the
1) and (23) corresponding three corner tips (2
4) and (24) are expanded or contracted by an appropriate length, and then the telescopic leg (27) in the contracted state is extended.
(1) A walking type moving method in which the other telescopic leg (27) of (23) is reduced to expand and contract between the corner tip portions (24) and (24) in the same manner as described above. 4. A rectangular body (21), (23) provided with a telescopic leg (27) at each corner tip (24) of the square is vertically overlapped with each other to form a rectangular body (21), (23). The elastic body (3) is located between the corresponding three corner tips (24) and (24).
A walking type moving mechanism to which 1) is attached.