JP3138843B2 - Walking type 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 mechanism capable of moving on irregular terrain such as a building surface or a floor where obstacles or the like are present.

[0002]

2. Description of the Related Art Conventionally, as a mechanism for walking on uneven terrain, as shown in FIG. 4A, A1, A2, B1 slightly inside vertices A, B, C of a lower triangle indicated by a two-dot chain line. , B2
, C1, C2, six extendable operating arms 40, 41, 4
The lower ends of 2, 43, 44, and 45 are pivotally connected, and the upper ends thereof are slightly inside a1, a2, b1, and b2 of the vertices a, b, and c of the upper triangle indicated by the two-dot chain line in which the vertices are shifted from the triangle ABC.
, C1 and c2, and FIG. 4 (B),
As shown in (C), a total of six extendable operating arms 46 are provided, two on the inner side slightly from the vertices of the lower triangular frame DEF and the upper triangular frame def in which the vertices of the triangle are shifted.
47, 48, 49, 50, and 51 are known (refer to pages 11 to 13 on May 21, 1992, "6th Intelligent Mobile Robot Symposium Proceedings").

FIG. 5 shows (A) and (B) of FIG.
(C) shows a walking-type moving mechanism which is mechanically simplified from that described in (C). This mechanism will be described below. Each of the lower triangular frames 55 formed by three beams 52, 53, 54 is shown. Attach three short legs 56, 57, 58 to the top,
Three beams 59, 6 are provided between the vertices of the lower triangular frame 55.
Position the vertices of the upper triangular frame 62 (shaded for easy distinction) formed by 0 and 61, attach the long legs 63, 64 and 65, which are also shaded to the vertices, and attach the lower triangular frame 55 Telescopic arms 66, 67, 68, 69, which can be sequentially expanded and contracted between the inside of the apex of each beam 52, 53, 54 and the inside of the apex of each beam 59, 60, 61 of the upper triangular frame 62.
Reference numerals 70 and 71 are pivotally connected.

The walking operation of the walking type moving mechanism shown in FIG.
(A) to (D) and (E) to (L) of FIG. 7. First, in (A) and (B) of FIG.
6 to 71 (the operating arm is simply represented by a single line in both FIGS. 6 and 7 because it is an explanatory diagram), and the lower triangular frame 55 is pulled up, and then (C), (D)
Then, the operating arms 67, 68, 70, 71 are first extended, and then the operating arms 66, 69 are extended to move the lower triangular frame 55 to the right of the upper triangular frame 62 and to touch the ground. Hereinafter, the operating arms 66 to 71 of the lower triangular frame 55 and the upper triangular frame 62 are respectively expanded and contracted as shown in FIGS. 7E to 7L, and the upper triangular frame as shown in FIGS. 62
Is raised, the upper triangular frame 62 is moved to the right of the lower triangular frame 55 as shown in (G) and (H) and then touched down, and as shown in (I) and (J), After the frame 55 is raised, walking can be performed by repeating the operation of moving the lower triangular frame 55 to the right of the upper triangular frame 62 and then touching the ground as shown in (K) and (L). In this case, by appropriately controlling the degree of expansion and contraction of the operating arms 66 to 71, it is possible to perform a forward and backward, left and right diagonal movement and a turning movement.

[0005]

SUMMARY OF THE INVENTION FIG.
In the walking mechanism shown in FIGS. 5B and 5C and FIG. 5, the six sides constituted by two triangular frames vertically separated from each other are connected by six telescopic operating arms. The upper and lower triangular frames can be moved in three dimensions by controlling the length of the upper and lower triangular frames. However, when a work machine or a loading platform is loaded on the upper triangular frames, However, there is a disadvantage that it is not easy to move in the direction in which it is difficult to carry out stable transportation.

SUMMARY OF THE INVENTION It is an object of the present invention to solve these drawbacks and to provide a walking type moving mechanism which can easily and easily move a load such as a working machine in any direction without shaking.

[0007]

The present invention for solving the above problems SUMMARY solved] is provided with a top triangular frame in the center between the respective vertex as the vertex of the lower triangular frame is positioned, the upper triangular frame
And move to each vertex of the lower triangular frame
Vertical legs are attached, and the lower ends of two telescopic working arms are rotatably mounted on the upper ends of each vertical leg, and are arranged alternately.
The upper end of the actuating arm of the two on the vertical legs of the two triangular frame which is
The upper end of each operating arm is provided with a walking type moving mechanism that is rotatably mounted on a mounting plate by being alternately and sequentially adjacent to a V- shape.

[0008]

An embodiment of the present invention will be described with reference to the drawings. In FIG. 1, three vertical legs 5, 6, and 7 are attached to each vertex of a lower triangular frame 4 formed by three beams 1, 2, and 3, and a central portion between the vertices of the lower triangular frame 4 is provided. The vertices of the upper triangular frame 11 (hatched for easy distinction) formed by the three beams 8, 9, 10 are positioned, and the vertical legs 12, 13, 14 in which the vertices are similarly hatched. And two working arms 15, 16, 17, 18 which can be respectively extended and retracted on the respective top surfaces of the vertical legs 5, 6, 7 provided at the vertices of the beams 1, 2, 3 of the lower triangular frame 4. , 19, and 20 are attached to the beams 8, 9, and 10 of the upper triangular frame 11 while attaching the lower ends of the mounts 21, 22, and 23 to be rotatable 360 degrees.
Extendable operating arm likewise hatched a stretchable two each to each top surface of the vertical leg 12, 13, 14 24,2
The lower ends of 5, 26, 27, 28, and 29 are attached so as to be rotatable 360 degrees, 30, 31, and 32, and the operating arms 15 to attached to the vertical legs 5, 6, and 7 of the lower triangular frame 4. The upper end of 20 is sequentially joined to the upper ends of the operating arms 24-29 attached to the vertical legs 12, 13, 14 of the upper triangular frame 11 so that the operating arms on the same vertical legs are respectively opened in a V-shape. For example, as shown by reference numerals 34 and 35, the mounting plate 33 is rotatable 360 degrees to a mounting plate 33 indicated by a chain line.

The walking operation of the walking type moving mechanism will be described with reference to FIGS. First, as shown in FIGS. 2A and 2B, each of the operating arms 15 to 20, 24
29 starts to move from a state in which it is rotatably mounted on a hexagonal mounting plate 33. Next, (C),
As shown in (D), after the working arms 24-29 are reduced and the vertical legs 12, 13, 14 of the upper triangular frame 11 are raised,
As shown in (E) and (F), the operating arms 25, 26 are slightly extended, and the operating arms 24, 27, 28, 29 are greatly extended, and the vertical legs 12, 13, 14 of the upper triangular frame 11 are moved rightward. Then, as shown in (G) and (H), the operating arms 24 to 29 are slightly extended to ground the vertical legs 12 to 14. Thereafter, as shown in (I) and (J) of FIG. 3, the lower triangular frame 4 is pulled up by the same operation of the operating arm as described above (K), and then moved to the right as shown in (L).
(M), the lower triangular frame 4 is grounded as shown in (N), the upper triangular frame 11 is pulled up as shown in (O) and (P), and the operation returns to the state of (A) and (B). Is performed, the walking type movement is performed while the mounting plate 33 is kept horizontal.

[0010]

Effects of the Invention The present invention, when moving the upper triangular frame or the lower triangular frame, six actuating arms pivotally connected to one of the vertical leg of the vertical leg of the vertical leg or lower triangular frame of the upper triangular frame The mounting plate is held without shaking because it is in a grounded state without expanding and contracting.
By appropriately controlling the expansion and contraction of the six working arms pivotally attached to the vertical legs, it can be easily moved in any direction of movement, so that it can be moved in any direction without shaking the loaded work machine or loading platform Can be done.

[Brief description of the drawings]

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

FIGS. 2A to 2H are explanatory views of a moving method.

FIGS. 3 (I) to 3 (P) are illustrations of a moving method.

4A is a perspective view showing a conventional example, FIG. 4B is a plan view showing another conventional example, and FIG. 4C is a front view thereof.

FIG. 5 is a perspective view schematically showing the conventional example.

6 (A) to 6 (D) are explanatory diagrams of the conventional moving method shown in FIG.

7 (E) to (L) are explanatory views of the moving method of the conventional example shown in FIG.

[Explanation of symbols]

4 lower triangular frame 5 vertical leg 6 vertical leg 7 vertical leg 11 upper triangular frame 12 vertical leg 13 vertical leg 14 vertical leg 15 actuated arm 16 actuation arm 17 actuation arm 18 actuation arm 19 actuation arm 20 actuation arm 21 pivot 22 pivot Reference Signs List 23 pivotal attachment 24 operating arm 25 operating arm 26 operating arm 27 operating arm 28 operating arm 29 operating arm 30 pivotal attachment 31 pivotal attachment 32 pivotal attachment 33 mounting plate 34 mounting 35 mounting

Claims (1)

(57) [Claims] 1. A top triangular frame in the central portion <br/> between the respective vertex arranged as the vertices of the lower triangle frame is located, the top three
Each vertex of the rectangular frame and the lower triangular frame are integrally
Attach the moving vertical legs, and freely rotate the lower ends of two telescopic working arms at the upper ends of each vertical leg, alternately
The upper end of each of the two operating arms on the vertical legs of both triangular frames arranged in a V- shape is alternately adjacent to each other, and the upper end of each operating arm is rotatably mounted on a mounting plate. Moving mechanism.