JP3152891B2 - Walking equipment - 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 device that can stably walk on a steep slope.

[0002]

2. Description of the Related Art Various walking devices have been proposed which can walk on a considerably steep slope. One is to attach an electromagnet to each leg and raise the wall made of a ferromagnetic material. In this walking device, when one leg is grounded, an electric current is applied to the electromagnet of one leg to cause one leg to be attracted to the wall surface, and when the other leg is to be lifted, the other leg is lifted. The current is not supplied to the electromagnet of the leg, and the other leg is easily separated from the wall surface.

[0003] Another walking device is a device in which a suction device is attached to each leg and a wall surface is raised. This walking device, when one leg is grounded, when the suction device of one leg is operated by a compressor to adsorb one leg to the wall surface and when trying to raise the other leg,
The suction device of the other leg is not operated by the compressor, so that the other leg is easily separated from the wall surface.

[0004]

The above-mentioned conventional walking device requires a control device or a compressor, etc., because the two legs are alternately energized or sucked for walking. Therefore, the structure is complicated, large, and expensive. There is a problem that it is difficult to reduce the size. In addition, the timing of activation and release of energization or suction is mainly performed by the control device, but in this type of walking device with severe vibration, the timing is easily shifted, and if the timing is shifted, the legs should be alternately carried in a well-balanced manner. There is a problem that it is very difficult to correct the timing once the timing is shifted.

The present invention has been devised in view of the above problems, and provides a walking device which has a simple structure, can be miniaturized, is inexpensive, and can stably walk even on a steep slope. The task is to

[0006]

According to a first aspect of the present invention, there is provided a walking device having the following configuration. (A) It has a main body and at least a pair of leg members. (B) The main body is provided with a power unit and at least one pair of rotating shafts. (C) At least a pair of rotating shafts are linked to the power unit so as to rotate in the same direction at substantially the same rotation speed. (D) A rotating member having an eccentric shaft is provided on both ends of at least a pair of rotating shafts. Be provided substantially symmetrically. (E) At least one pair of leg members is rotatably attached to an eccentric shaft of a pair of rotating members located at one end and an eccentric shaft of a pair of rotating members located at the other end. (F) The leg member is provided with an operating rod having a guide projection so as to be able to protrude and retract toward the lower end direction of the leg member, and a lower part of the leg member is provided with an adsorbing member that adsorbs to the walking surface . thing. (G) The operating rod is configured such that the guide projection engages with one side of the main body when the leg member moves upward, and the lower end protrudes from the lower end surface of the leg member.

A walking device according to a second aspect has the following configuration to achieve the above object. (A) It has a main body and at least a pair of leg members. (B) The main body is provided with a power unit and at least one pair of rotating shafts. (C) At least a pair of rotating shafts are linked to the power unit so as to rotate in the same direction at substantially the same rotation speed. (D) A rotating member having an eccentric shaft is provided on both ends of at least a pair of rotating shafts. Be provided substantially symmetrically. (E) At least one pair of leg members is rotatably attached to an eccentric shaft of a pair of rotating members located at one end and an eccentric shaft of a pair of rotating members located at the other end. (F) An operating rod is provided on the leg member so as to be movable in a direction opposite to the lower end of the leg member, and a walking portion is provided below the operating rod.
An adsorbing member that adsorbs to the surface is provided. (G) The operating rod is provided with a link member that engages with one side of the main body when the leg member moves upward, and moves the operating rod from the lower end of the leg member to the opposite lower end direction. .

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the walking device according to the present invention will be described with reference to FIGS. Walking device 1
Has a main body 2 and at least a pair of leg members 31 and 32. The shape and configuration of the main body 2 are appropriately changed and are not specified. The main body 2 is provided with a power unit 10 and at least a pair of rotating shafts 11 and 12. The power unit 10 may be various types such as a drive motor and a mainspring. There may be three or more rotation axes, but at least one pair is required. The rotation shafts 11 and 12 are arranged vertically, but may be arranged side by side. The vertical arrangement or the horizontal arrangement is determined by the shape of the main body 2 and the like.

At least one pair of rotating shafts 11 and 12 rotate in the same direction at substantially the same rotational speed so that the power unit 1 can rotate.
Linked to 0. Power unit 10 and rotating shafts 11 and 12
Can be formed by a combination of various gears and the like, and can be variously changed.

Rotating members 21, 22, 23, 24 having eccentric shafts 21a, 22a, 23a, 24a are provided at both ends of at least a pair of rotating shafts 11, 12. The rotating members 21, 22, 23, and 24 are eccentric shafts 21a, 22
a, 23a and 24a are rotated, and there is no need to specify the shape. The eccentric shafts 21a and 23a of the rotating members 21 and 23 at one end of the rotating shafts 11 and 12 are provided substantially symmetrically with the eccentric shafts 22a and 24a of the rotating members 22 and 24 at the other end. Have been.

At least one pair of leg members 31 and 32 is connected to the eccentric shaft 21 of the pair of rotating members 21 and 23 located at one end.
a, 23a, and a pair of rotating members 22,
Twenty-four eccentric shafts 22a and 24a are rotatably mounted. An operating rod 41 having a guide projection 42 is provided on the leg members 31 and 32 so as to be able to protrude and retract toward the lower end direction of the leg members 31 and 32, and a magnet 36 and the like are provided below the leg members 31 and 32. A suction member is provided. The suction member may be an adhesive member that is in close contact with a flat walking surface. The adhesive member is made of various materials, for example, a material mainly composed of glycerin and glue, and an acrylic rubber-based or urethane rubber-based material.

When the leg members 31 and 32 move upward, the guide rod 42 engages with one side 51 of the main body 2 so that the lower end of the operating rod 41 projects from the lower end surfaces of the leg members 31 and 32. Is configured.

In the walking device 1, when the leg members 31 and 32 are set at the same height and stand on a walking surface formed of a ferromagnetic material such as iron, the lower ends of the leg members 31 and 32 are grounded and the magnet 3
5, 36 adhere to the walking surface. When the power unit 10 is driven, the pair of rotating shafts 11 and 12 rotate in the same direction at substantially the same rotation speed.

When the rotating shafts 11 and 12 rotate, the rotating members 21, 22, 23 and 24 also rotate, and the eccentric shaft 22 on one end side rotates.
a, 24a move upward, and the eccentric shafts 21a, 21 on the other end side.
3a moves downward. Therefore, the leg members 32 located behind the rotation shafts 11 and 12 move upward as shown in FIG. 3A, and the leg members 31 located ahead of the rotation shafts 11 and 12 move downward. .

When the rear leg member 32 moves upward,
Since the guide projection 42 of the operating rod 41 is engaged with one side 51 of the main body 2, the main body 2 is placed on the operating rod 41, and the main body 2 does not tilt, and the leg member 32 attracts the magnet 36. Pulled away from walking surface against force. Rear leg member 3
2 is carried forward by the rotating members 22 and 24, and the magnet 36 is attracted to the walking surface at the forward position.

The front leg member 31 tends to move downward when the rear leg member 32 moves upward, but does not actually move, but moves the main body 2 forward. Since the magnet 35 of the front leg member 31 is attracted to the walking surface, the main body 2 tilts and falls even if the rear leg member 32 is separated from the walking surface and the front leg member 31 stands on one foot. Nothing. In this way, the walking device 1 carries the leg members 31 and 32 alternately forward and walks.

An embodiment of the walking device according to claim 2 will be described with reference to FIGS. The walking device 70 includes a main body 80.
And at least a pair of leg members 71, 71. The main body 80 is provided with a power unit (not shown) and at least a pair of rotating shafts 83 and 84. At least a pair of rotating shafts 83 and 84 are linked to the power unit so as to rotate in the same direction at substantially the same rotation speed.

Rotating members 72, 7 having eccentric shafts 72a, 73a at both ends of at least a pair of rotating shafts 83, 84.
The eccentric shafts 72a, 73a of the rotating members 72, 73 at one end are provided substantially symmetrically with the eccentric shafts 72a, 73a of the rotating members 72, 73 at the other end with respect to the rotating shafts 83, 84. Have been.

At least one pair of leg members 71, 71 is provided with an eccentric shaft 72 of a pair of rotating members 72, 73 located on one end side.
a, 73a and a pair of rotating members 72 located on the other end side.
The eccentric shafts 73a and 73a are rotatably attached to the eccentric shafts 73a and 73a. Operation members 75, 75 are provided on the leg members 71, 71 so as to be movable in a direction opposite to the lower end of the leg members 71, 71, and magnets 77, 7 are provided below the operation rods 75, 75.
7. An adsorbing member such as an adhesive member is provided.

The operating rods 75, 75 include leg members 71, 71.
A link member 79 is provided which engages with one side of the main body 80 and moves the operating rods 75, 75 from the lower ends of the leg members 71, in the direction opposite to the lower end when the.

In this walking device 70, leg members 71 are symmetrically arranged on both sides of a body 80 as in the above-described embodiment. When the rotation members 72 and 73 are rotated to move the leg member 71 upward, the link member 79 is momentarily engaged with one side of the body 80 to pull up the operating rod 75 before the leg member 71, 77 is released. Therefore, the leg member 71 can be easily pulled up, and walking can be performed smoothly.

[0022]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an exploded perspective view showing an embodiment of the walking device. FIG. 2 is an assembled perspective view of FIG. FIG. 3 is a side view illustrating the movement of the walking device.

Reference numeral 1 denotes a walking device, and a torso 2 (main body)
And a left leg member 31 and a right leg member 32 provided on both sides of the body 2. The body 2 includes a pair of main side plates 3 and 4.
And auxiliary side plates 5 and 6 provided on both sides of the pair of main side plates 3 and 4. The pair of main side plates 3 and 4 and the auxiliary side plates 5 and 6 are integrally fixed by a spacing shaft 7 and a screw 8.

A drive motor 1 is provided between the pair of main side plates 3 and 4.
0 (power unit) and a pair of rotating shafts 1 protruding from both sides
1 and 12 are provided. An output gear 13 is attached to an output shaft of the drive motor 10. A crown gear 15 meshing with the output gear 13 and an intermediate small gear 16 integrated with the crown gear 15 are rotatably provided between the pair of main side plates 3 and 4.

The intermediate small gear 16 has a pair of rotating shafts 1.
The spur gear 17 fixed to the rotating shaft 11 and the spur gear 19 fixed to the rotating shaft 12 are meshed with each other. The rotating shaft 11 and the rotating shaft 12 are
The rotating members 21, 22 and 23, 24 are provided at both ends thereof. The rotating members 21, 22, 23, and 24 have eccentric shafts 21a, 22a, 23a, and 24a projecting from positions eccentric from the center of rotation.

The eccentric shafts 21a and 23a provided on the left end sides of the rotating shafts 11 and 12 are provided so as to always be substantially at the same position with respect to the center of rotation, and provided on the right end sides of the rotating shafts 11 and 12. The eccentric shafts 22a and 24a are also provided so as to be always at substantially the same position with respect to the rotation center. The eccentric shafts 21a and 23a of the rotating members 21 and 23 located on the left end side
Eccentric shafts 22a of rotating members 22, 24 located on the right end side,
It is arranged substantially symmetrically with respect to the rotation shafts 11 and 12 with respect to 24a.

The left leg member 31 is rotatably provided on the eccentric shafts 21a and 23a of the rotating members 21 and 23 located on the left end side, and the eccentric shafts 22a and 24a of the rotating members 22 and 24 located on the right end side. , A right leg member 32 is rotatably provided. The left and right leg members 31, 32 have a ground plate 3 at the lower end.
The ground plates 33 and 34 have a plurality of magnets 35 and 36 embedded therein. The left leg member 31 and the right leg member 32 are provided inside the auxiliary side plates 5, 6, but extend the rotation shafts 11, 12 to project outside the auxiliary side plates 5, 6. , 12, the rotation members 21, 22, 23, 24 can be provided outside the auxiliary side plates 5, 6, as a matter of course.

In the left and right leg members 31, 32, operating rods 41, 41 having guide projections 42, 42 are provided so as to be able to protrude and retract toward the lower end. Guide projections 42, 42
Are projected from the guide grooves 37, 37 formed on one side of the left and right leg members 31, 32, respectively.
Are slidably guided by The lower portions of the auxiliary side plates 5 and 6 are engaged with guide projections 42 and 42 of the operating rods 41 and 41, respectively.
Engagement projections 51, 51 for pushing down the operating rods 41, 41 are provided in a protruding manner.

A battery box 55 containing a battery is provided at the front end of each of the main side plates 3 and 4, and a switch 56 is attached to one side of the battery box 55. An electric circuit is formed by the battery in the battery box 55, the drive motor 10, and the switch 56.

Since the walking device 1 has the above configuration, the left leg member 31 and the right leg member 32 are set at the same height and stand on a walking surface formed of a ferromagnetic material such as iron. The ground plates 33 and 34 of the right leg member 32 and 31 are grounded, and the magnets 35 and 36 of the ground plates 33 and 34 are attracted to the walking surface.
When the switch 56 is turned on, the drive motor 10 is driven,
The spur gears 17, 19 rotate through the output gear 13, the crown gear 15, and the intermediate small gear 16, and the rotating shafts 11, 12 rotate in the same direction at substantially the same rotational speed.

FIG. 3A shows that the right leg member 32 is
1 and 12, the left leg member 31 is
It is a side view of the state located ahead of 1,12. In this state, when the rotating shafts 11 and 12 rotate, the rotating member 2
1, 22, 23, 24 also rotate, and the right eccentric shaft 22a,
24a moves upward, and the left eccentric shafts 21a and 23a move downward. Therefore, the right leg member 32 moves upward, and the left leg member 31 moves downward.

The operating rods 41, 41 provided in the left and right leg members 31, 32 have guide projections 42, 42 with guide grooves 37, 42, respectively.
It can move within the range guided by 37 and protrudes from the lower ends of the left and right leg members 31 and 32 by its own weight, but when the lower ends are in contact with the walking surface, they are in contact with the walking surface at the same time. It is immersed in the leg members 31 and 32.

When the right leg member 32 moves upward as described above, since the guide projection 42 of the operation rod 41 is engaged with the engagement projection 51 of the auxiliary side plate 6, the auxiliary side plate 6
1 and the ground plate 34 of the right leg member 32 is separated from the walking surface against the attraction force of the magnet 36.

If the right leg member 32 moves upward without the operating rod 41, the ground plate 34 cannot be pulled away from the walking surface due to the attraction force of the magnet 36 of the ground plate 34. The torso 2 can not walk at all. The operating rod 41 prevents the body 2 from tilting when the right leg member 32 moves upward, so that the right leg member 32 can be smoothly moved upward.

When the right leg member 32 moves upward, the operating rod 41 moves the engaging projection 5 of the auxiliary side plate 6 as described above.
1, it projects from the lower end of the right leg member 32, and it looks as if the ground plate 34 is separated from the walking surface against the attraction force of the magnet 36. Once the right leg member 32 separates from the walking surface, the attraction force of the magnet 36 is weakened, so that the operating rod 41 does not need to be in contact with the walking surface, and the guide projection 42 is engaged with the engagement projection 51 of the auxiliary side plate 6. Will not match.

The right leg member 32 is carried forward by the rotating members 22 and 24, and the magnet 36 of the ground plate 34 is attracted to the walking surface at the forward position. When the right leg member 32 moves upward, the left leg member 31 attempts to move downward, but does not actually move, and moves the body 2 forward. Since the magnet 35 of the ground plate 33 of the left leg member 31 is attracted to the walking surface, the body 2 is inclined even if the right leg member 32 is separated from the walking surface and the left leg member 31 stands on one leg. Will not fall. When the left leg member 31 moves upward,
As described above, the right leg member 32 moves in the same manner as the right leg member 32.
When 2 moves downward, it moves similarly to the left leg member 31. In this way, the walking device 1 carries the right leg member 32 and the left leg member 31 alternately forward and walks.

FIGS. 4 and 5 are side views showing another embodiment of the leg member of the walking device. The leg member 71 of the walking device 70 according to the other embodiment is rotatably attached to the eccentric shafts 72a, 73a of the pair of rotating members 72, 73 in the same manner as the above embodiment. An operating rod 75 is provided on the leg member 71 so as to be movable in a direction opposite to the lower end of the leg member 71. A grounding member 76 is formed below the operating rod 75, and a magnet 77 is embedded in the grounding member 76.

The upper end of the operating rod 75 is rotatably connected to one end 81 of a link member 79 that is swingably attached to the leg member 71. The other end 82 of this link member 79
Is adapted to engage with one side of the body 80 of the walking device 70.

In this walking device 70, leg members 71 are symmetrically arranged on both sides of the body 80 as in the above-described embodiment.
When the rotation members 72 and 73 are rotated to move the leg member 71 upward, the other end 82 of the link member 79 is instantaneously moved.
Engages with one side of the body 80 to pull up the operating rod 75 before the leg member 71 to release the magnet 77 from being attracted. Therefore,
The leg member 71 is easily pulled up, so that walking can be performed smoothly.

FIG. 6 is a perspective view showing still another embodiment of the walking device. A walking device 90 according to this further embodiment includes a body 91 (main body), and left leg members 92 and right leg members 93 provided on both sides of the body 91. The body 91 has a drive motor and a pair of rotating shafts 9 linked to the drive motor and protruding from both sides in the same manner as in the above embodiment.
4,95 are provided.

At both ends of the rotating shafts 94, 95, elliptical rotating members 96, 96 are provided, and the rotating members 96 are provided with eccentric shafts projecting therefrom. Left leg members 92 and right leg members 93 are provided rotatably via screws 97 and washers 98 on eccentric shafts provided at both ends of the rotating shafts 94 and 95 so as to be symmetrical. .

The left leg member 92 and the right leg member 93 are provided with operating rods having guide projections 99 protruding inward so as to be able to protrude and retract toward the lower end. On both lower sides of the body 91, engagement projections 100 are provided which are engaged with the guide projections 99 of the operation rod and push down the operation rod. This walking device 90
Operates similarly to the walking device 1.

FIGS. 7 to 1 show still another embodiment of the present invention.
3 will be described. A walking device 101 includes a body 102 (main body), a left leg member 103 provided on both sides of the body 102, and a right leg member 105 (see FIG. 13). The body 102 is formed in a box shape, and has a drive motor and a pair of rotating shafts 106 and 107 that are linked to the drive motor and protrude from both sides, as in the above embodiment. The pair of rotating shafts 106 and 107
Unlike the above embodiment, they are arranged in the horizontal direction.

At both ends of the rotary shaft 106 located on the front side,
Substantially elliptical rotating members 109 and 110 are provided, and substantially elliptical rotating members 111 and 112 are also provided at both ends of the rotating shaft 107 located on the rear side. Eccentric shafts 113 to 116 protrude from the tips of the rotating members 109 to 112, respectively.

The rotating member 109 and the rotating member 111 are positioned so that the eccentric shaft 113 of the rotating member 109 and the eccentric shaft 115 of the rotating member 111 located on the left side are always substantially at the same position with respect to the center of rotation. And on the left side of the rotating shaft 107. Also, the eccentric shaft 114 of the rotating member 110 and the eccentric shaft
The rotating member 110 and the rotating member 112 are mounted on the right side of the rotating shaft 106 and the rotating shaft 107 so that the rotating member 110 and the rotating member 112 are always substantially at the same position with respect to the center of rotation.

The eccentric shafts 113 and 115 of the rotating members 109 and 111 located on the left side are connected to the rotating members 11 and 115 located on the right side.
0, 112 eccentric shafts 114, 116, rotating shaft 1
They are arranged substantially symmetrically with respect to 06 and 107.

The left leg member 103 comprises a pair of parallel link members 121 and 122 and a lower left leg member 123. One link member 121 is rotatably attached to the eccentric shaft 113 of the rotating member 109 whose upper portion is located on the left front side, and the lower portion is connected to the lower left leg member 123 by the connecting shaft 117.
Is rotatably connected to This link member 121
A guide elongated hole 124 is formed substantially at the center, and the guide elongated hole 124 is slidably engaged with a guide shaft 125 projecting from the front left portion of the body 102.

The other link member 122 is rotatably attached to the eccentric shaft 115 of the rotating member 111 whose upper portion is located on the left rear side, and is rotatably connected to the lower left leg member 123 by the connecting shaft 118 at the lower portion. Have been. The link member 122 has a guide elongated hole 126 formed substantially at the center thereof.
The guide elongated hole 126 is slidably engaged with a guide shaft 127 protruding from a rear portion of a left side surface of the body 102.

The right leg member 105 includes a pair of parallel link members 131 and 132 and a lower right leg member 133. One link member 131 is rotatably attached to the eccentric shaft 114 of the rotating member 110 whose upper part is located on the right front side, and its lower part is connected to the lower right leg member 133 by the connecting shaft 119.
Is rotatably connected to This link member 131
A guide elongated hole 134 is formed substantially at the center, and the guide elongated hole 134 is slidably engaged with a guide shaft 135 protruding from the front right side of the body 102.

The other link member 132 has an upper portion rotatably attached to the eccentric shaft 116 of the rotating member 112 located on the right rear side, and a lower portion rotatably connected to the lower right leg member 133 by the connecting shaft 120. Have been. The link member 132 has a guide slot 136 formed substantially at the center thereof.
The guide elongated hole 136 is slidably engaged with a guide shaft 137 protruding from the right side rear portion of the body 102.

The lower left leg member 123 has a ground plate 1 at its lower end.
The ground plate 129 has a plurality of magnets 140 embedded therein. A ground plate 139 is also attached to the lower end of the lower right leg member 133, and this ground plate 1
A plurality of magnets 141 are also embedded in 39.

The left and right lower leg members 123 and 133 are operating rods 145 and 146 having guide projections 143 and 144 therein.
Are provided so as to be able to protrude and retract toward the lower end. The guide projections 143 and 144 are provided on the left and right lower leg members 123 and 133, respectively.
Are slidably guided by the guide grooves 147 and 149 so as to protrude from the guide grooves 147 and 149 formed inside the. Operating rods 145, 14 are provided at the lower part of the body 102.
6 engages with the guide projections 143, 144 of the
Engagement projections 151 and 152 that push down the 146 are provided in a protruding manner.

A battery box containing a battery is provided in the body 102. Further, a switch (not shown) is attached to one side of the body 102. The battery, the drive motor, and the switch in the battery box are electrically connected.

The walking device 101 includes a lower left leg member 123.
And the lower right leg member 133 are set at the same height and stand on a walking surface formed of a ferromagnetic material such as iron.
23 and the ground plates 129, 139 of the lower right leg member 133 are grounded, and the magnets 140, 141 of the ground plates 129, 139 are attracted to the walking surface (see FIG. 7).

The operating rods 145, 146 provided in the left and right lower leg members 123, 133 are provided with guide projections 143, 144.
Can move within the range guided by the guide grooves 147 and 149, and protrude from the lower ends of the left and right lower leg members 123 and 133 by its own weight. When the lower ends are in contact with the walking surface,
It is immersed in the left and right lower leg members 123 and 133. At this time, the engaging projection 152 provided on the right side of the body 102 is engaged with the guide projection 144 of the operating rod 146 in the lower right leg member 133 located at the rear.

When a switch (not shown) is turned on, a drive motor (not shown) is driven to rotate the rotating shafts 106 and 107 in the same direction at substantially the same rotational speed. FIG. 7 is a side view of the state where the lower left leg member 123 is located forward and the lower right leg member 133 is located rearward. In this state, the rotating shaft 106,
As the arrow 107 rotates clockwise, the rotating members 109 to 112 rotate, and the left eccentric shaft 113,
115 moves downward, and the right eccentric shafts 114 and 116 move upward.

When the left eccentric shafts 113 and 115 move downward, the link members 121 and 122 try to be pushed down.
8, the torso 102 is pushed upward in the opposite direction, as shown in FIG.

When the right eccentric shafts 114 and 116 move upward, the link members 131 and 132 are pulled up, and the lower right leg member 133 moves upward. Lower right leg member 1
When the bracket 33 moves upward, the guide protrusion 14 of the operating rod 146 is moved.
4 is engaged with the engagement protrusion 152 of the body 102,
The body 102 rests on the operating rod 146, and the lower right leg member 133 is separated from the walking surface against the attraction force of the magnet 141 of the ground plate 139.

As described above, if the right lower leg member 133 is to be pulled upward without the operating rod 146, the right lower leg member 133 may be separated from the walking surface by the attractive force of the magnet 141 of the ground plate 139. On the contrary, the torso 102 cannot walk with inclination.
The operating rod 146 prevents the body 102 from tilting when the lower right leg member 133 moves upward.
Can be smoothly moved upward.

When the right leg member 105 moves upward, the operating rod 146 projects from the lower end of the lower right leg member 133, as if against the attraction force of the magnet 141 of the ground plate 139. Appears to be pulling away from the walking surface. Once the lower right leg member 133 is separated from the walking surface, the attractive force of the magnet 141 is weakened, so that the lower right leg member 133 can be easily pulled up (see FIG. 9).

As described above, when the body 102 attempts to push down the link members 121 and 122, it is pushed upward by the reaction, and at the same time, the right leg member 105 is separated from the walking surface by the link members 131 and 132.

Further, when the eccentric shafts 113 and 115 rotate, the lower left leg member 123 is attracted and fixed to the walking surface by the magnet 140, so that the link members 121 and 122 are fixed.
Is tilted forward about the lower left leg member 123, and FIG.
As shown at 0 and 11, the body 102 is moved forward (the direction of arrow A in FIG. 7).

The lower right leg member 133 has eccentric shafts 114 and 11
6 is carried forward by the rotation of 6, and touches the walking surface at a position in front of the lower left leg member 123. At this time, as shown in FIG. 11, the magnet 141 provided on the ground plate 139 of the lower right leg member 133 is attracted to the walking surface. The left leg member 103 is also shown in FIG.
As shown in FIG. 2, it moves forward similarly to the right leg member 105. In this way, the walking device 101 is
05 and the left leg member 103 are alternately carried forward to walk.

[0064]

As described above, the first aspect of the present invention is as follows.
The walking device described above is provided with a suction member that adsorbs to the walking surface at the lower part of the leg member, so that it can be stably stood even on a fairly steep slope, Moreover, there is an effect that one foot can be made to stand without moving the center of gravity. Also, when the leg members are alternately pulled up for walking, the operating rod provided on the leg members protrudes from the lower end surface, and the suction member provided on the lower portion can be easily separated from the walking surface, so that walking can be smoothly performed. This has the effect of being performed. Further, as compared with the conventional method in which a current is alternately passed through the electromagnets of the two leg members by the control means to cause walking, there is an effect that the structure is simple, inexpensive, and the size can be reduced.

In the walking device according to the second aspect of the present invention, since the suction member is provided below the operating rod attached to the leg member, the suction member sticks to the walking surface. There is an effect that it is possible to stand on one foot without moving the center of gravity. Also, when the leg member is alternately pulled up and walked, the operating rod provided on the leg member moves in the direction opposite to the lower end surface from the lower end surface and the suction member is separated from the walking surface, and the suction force of the suction member decreases. There is an effect that walking is performed smoothly.

[Brief description of the drawings]

FIG. 1 is an exploded perspective view showing an embodiment of a walking device.

FIG. 2 is an assembled perspective view of FIG. 1;

FIG. 3 is a side view illustrating the movement of the walking device.

FIG. 4 is a side view showing another embodiment of the walking device.

FIG. 5 is a side view showing the movement of the walking device of FIG. 4;

FIG. 6 is a perspective view showing still another embodiment of the walking device.

FIG. 7 is a side view showing another embodiment of the walking device.

FIG. 8 is a side view illustrating the movement of the walking device of FIG. 7;

FIG. 9 is a side view illustrating the movement of the walking device of FIG. 7;

FIG. 10 is a side view illustrating the movement of the walking device of FIG. 7;

FIG. 11 is a side view illustrating the movement of the walking device of FIG. 7;

FIG. 12 is a side view illustrating the movement of the walking device of FIG. 7;

FIG. 13 is a front view of FIG. 10;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Walking apparatus 2 Body (main body) 3 Main side plate 4 Main side plate 5 Auxiliary side plate 6 Auxiliary side plate 7 Spacing axis 8 Screw 10 Drive motor (power unit) 11 Rotary shaft 12 Rotary shaft 13 Output gear 15 Crown gear 16 Intermediate small gear 17 Spur gear 19 Spur gear 21 Rotating member 21a Eccentric shaft 22 Rotating member 22a Eccentric shaft 23 Rotating member 23a Eccentric shaft 24 Rotating member 24a Eccentric shaft 31 Left leg member 32 Right leg member 33 Ground plate 34 Ground plate 35 Magnet 36 Magnet 37 Guide groove 41 operating rod 42 guide projection 51 engaging projection (one side) 55 battery box 56 switch 70 walking device 71 leg member 72 rotating member 72a eccentric shaft 73 rotating member 73a eccentric shaft 75 operating rod 76 ground member 77 magnet 79 link member 81 one end 82 Other end 90 Walking device 91 Torso (main body) 92 Left leg member 93 Right Leg member 94 Rotation shaft 95 Rotation shaft 96 Rotation member 97 Screw 98 Washer 99 Guide protrusion 100 Engagement protrusion 101 Walking device 102 Body (main body) 103 Left leg member 105 Right leg member 106 Rotation shaft 107 Rotation shaft 109 Rotation member 110 Rotation member 111 rotating member 112 rotating member 113 eccentric shaft 114 eccentric shaft 115 eccentric shaft 116 eccentric shaft 117 connecting shaft 118 connecting shaft 119 connecting shaft 120 connecting shaft 121 link member 122 link member 123 lower left leg member 124 guide slot 125 guide shaft 126 guide length Hole 127 Guide shaft 129 Ground plate 131 Link member 132 Link member 133 Right lower leg member 134 Guide elongated hole 135 Guide shaft 136 Guide elongated hole 137 Guide shaft 139 Ground plate 140 Magnet 141 Magnet 143 Guide projection 144 Guide projection 1 45 Operating rod 146 Operating rod 147 Guide groove 149 Guide groove 151 Engagement protrusion 152 Engagement protrusion

Continuation of front page (58) Field surveyed (Int. Cl. ⁷ , DB name) A63H 1/00-37/00 B25J 5/00 B62D 57/02

Claims (2)

(57) [Claims] 1. A walking device having the following configuration. (A) It has a main body and at least a pair of leg members. (B) The main body is provided with a power unit and at least one pair of rotating shafts. (C) At least a pair of rotating shafts are linked to the power unit so as to rotate in the same direction at substantially the same rotation speed. (D) A rotating member having an eccentric shaft is provided on both ends of at least a pair of rotating shafts. Be provided substantially symmetrically. (E) At least one pair of leg members is rotatably attached to an eccentric shaft of a pair of rotating members located at one end and an eccentric shaft of a pair of rotating members located at the other end. (F) The leg member is provided with an operating rod having a guide projection so as to be able to protrude and retract toward the lower end direction of the leg member, and a lower part of the leg member is provided with an adsorbing member that adsorbs to the walking surface . thing. (G) The operating rod is configured such that the guide projection engages with one side of the main body when the leg member moves upward, and the lower end protrudes from the lower end surface of the leg member. 2. A walking device having the following configuration. (A) It has a main body and at least a pair of leg members. (B) The main body is provided with a power unit and at least one pair of rotating shafts. (C) At least a pair of rotating shafts are linked to the power unit so as to rotate in the same direction at substantially the same rotation speed. (D) A rotating member having an eccentric shaft is provided on both ends of at least a pair of rotating shafts. Be provided substantially symmetrically. (E) At least one pair of leg members is rotatably attached to an eccentric shaft of a pair of rotating members located at one end and an eccentric shaft of a pair of rotating members located at the other end. (F) An operating rod is provided on the leg member so as to be movable in a direction opposite to the lower end of the leg member, and a walking portion is provided below the operating rod.
An adsorbing member that adsorbs to the surface is provided. (G) The operating rod is provided with a link member that engages with one side of the main body when the leg member moves upward, and moves the operating rod from the lower end of the leg member to the opposite lower end direction. .