JP7193986B2 - walking trolley - Google Patents

Description

In the construction site of the uneven folded plate type metal roof consisting of ridges and troughs, the present invention allows parts, tools, etc., to reach predetermined positions in a stable state with almost no up-and-down vibration of the loading platform. It relates to a walking cart that can be transported.

At the construction site of a metal roof made of conventional large-area folded-plate type roofing materials, brackets for installing the roofing materials are attached on the structural members that will be the beams, and then the brackets are attached on the structural members. The roofing plate material is transported to the position of the fitting, and the roofing plate material is installed on the receiving fitting. There are various types of folded-plate roofing materials, such as the tightening type, the interlocking type, and the overlapping type. Concave-and-convex shape which continues alternately.

When the construction of the roof has progressed to some extent within the scheduled roof construction area, the roofing material must be transported to an unconstructed area where the roofing material has not yet been constructed. In this construction completion area, the uneven surface serves as a transport path for parts and tools. Furthermore, there are some roofing shingles and their parts that cannot be carried by workers at construction sites. For this reason, there have been developed transport devices for workers to carry parts, tools, etc. to predetermined positions on such uneven road surfaces. exists.

Japanese Utility Model Laid-Open No. 59-65158 Japanese Utility Model Laid-Open No. 5-73135

In Patent Document 1, the truck type is provided with wheels, and pneumatic tires are used for the wheels. The unevenness of the folded plate roof has a large height difference, and it is impossible to move across the peaks except for walking only in the valleys. For this reason, plate materials such as scaffolding boards are used as rails between the ridges of the folded-plate roof, these plate materials are laid, and the truck is moved along the scaffolding boards.

In addition, general scaffolding boards have the risk of derailing, and for this reason, special rails with derailment prevention walls are sometimes used. As the position for conveying parts and tools moves away from the position for stocking them, the number of rail materials increases, and preparations for this work are required. Normally, as the construction progresses, the transportation distance of parts and tools increases proportionately, and at construction sites with large roofs, the number of rail materials increases, and a place to stock them is also required.

In addition, as the conveying tool in Patent Document 2, three to five rows of rollers are provided on the lower surface of the base that is the main body of the carriage. The rolls are arranged in a dense state by locating the rolls in the other row between the rolls in the row. This allows the base to move on the crest of the folded-plate roof.

In this type of conveying device, the folded plate roof of the overlapping type can be moved, but in the case of the ridged roof type, which has projections formed at the tops of the ridges for the purpose of tightening, it is difficult to move when walking. Unable to walk stably due to rattling. In particular, when a long roofing board is moved by a plurality of conveying devices, vertical movement occurs in each conveying device, and the vertical movement does not always occur at the same height, so the roofing plate material being conveyed is in a stable state. It is difficult to become Furthermore, Patent Documents 1 and 2 rely on human power for walking, and are not suitable for automatic walking.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems, and to easily and quickly transport parts, tools, equipment, etc. to a predetermined position at a construction site such as a roof, and to give vibrations to the placed load. To provide a walking trolley which can be transported in an extremely stable state without any trouble.

Therefore, as a result of earnest research to solve the above-mentioned problems, the inventors have developed a walking base having guide grooves on both sides in the width direction and along the front-rear direction and capable of loading a load. and a motor installed on the walking base, a horizontal grounding shaft portion positioned at the lower end, vertical shaft portions positioned on both sides in the front-rear direction, and a top shaft portion at the upper end, and on both sides in the width direction of the walking base. Two first frame -shaped legs, horizontal grounding shafts positioned at the lower ends, vertical shafts positioned on both sides in the front-rear direction, and top shafts positioned at the upper end, and arranged on both sides in the width direction of the walking base. two second frame-shaped legs spaced narrower than the first frame-shaped legs; A first link mechanism and a second link mechanism for alternately repeating forward movement according to a loop trajectory with ground contact and walking, wherein either one of the first frame-shaped leg and the second frame-shaped leg is grounded. In this state, the first link mechanism and the second link mechanism always maintain the walking base at a constant height, and one of the vertical shaft portions of each of the first frame-shaped leg and the second frame-shaped leg. The above-mentioned problem is solved by providing a walking trolley configured such that the portion is slidably in contact with the guide groove.

In the walker according to claim 1, the invention of claim 2 is adapted to the walking trolley according to claim 1, wherein the guide grooves of the walking base are provided on both sides in the width direction of the walking base, into which the first frame-shaped legs and the second frame-shaped legs are inserted. The above problem was solved by providing a walking cart having one guide groove and a second guide groove. The invention of claim 3 is the walking cart according to claim 1 or 2, wherein the contact surface of the vertical shaft portion of each of the first frame-shaped leg and the second frame-shaped leg with respect to the guide groove is a flat surface. The above problem was solved by making it a walking trolley.

The invention of claim 4 is the walking cart according to any one of claims 1, 2 or 3, wherein the first frame-like legs 2 and the second frame-like legs 3 are connected to each other. By adopting a walking cart, the above problems have been solved. The invention of claim 5 is the walking cart according to any one of claims 1, 2, 3, or 4, wherein the first frame-shaped leg contacts the width direction inner side surface of the guide groove, The above problem is solved by providing a walking cart in which the two frame-shaped legs are in contact with the widthwise outer side surfaces of the guide grooves. The invention of claim 6 is a walking cart according to any one of claims 1, 2, 3, 4 or 5, wherein the walking base is provided with a loading platform. resolved.

The invention of claim 7 is the walking cart according to any one of claims 1, 2, 3, 4, 5, or 6, wherein the first link mechanism and the second link mechanism are a driving link and a transmission link. , a main intermediate link, a secondary intermediate link, a main leg link, a secondary leg link, and a connecting link, wherein the main leg link and the secondary leg link are the first frame-shaped leg and the second frame The above problems are solved by providing a walking cart that is pivotally connected to the top shaft portion of each leg, and that the main intermediate link, the sub intermediate link, and the connecting link constitute a four-bar link of a parallelogram. did. The invention of claim 8 is a walking cart according to claim 7, wherein the driving link, the transmission link and the main intermediate link constitute a Chebyshev link mechanism, thereby solving the above problems. did.

In the invention of claim 1, the walker of the present invention can walk on the folded plate roof board of the roof construction completion place in a roof construction site in an extremely stable state. , the height is maintained at approximately the same height at all times, and materials such as roofing boards and loads such as tools can be conveyed with almost no rattling in the vertical direction. In addition, since the traveling base can always be moved at substantially the same height, when a plurality of walking bases of the present invention are arranged in a row and a long roof plate material is conveyed, it can be conveyed in an extremely stable state.

Further, the distance between the two first frame-shaped legs and the distance between the two second frame-shaped legs in the width direction of the walking base can be maintained substantially constant, and stable walking can be achieved. In particular, a portion of the vertical shaft portion of each of the first frame-shaped leg and the second frame-shaped leg is configured to slidably contact the guide groove, thereby allowing the guide groove of the walking base to move to the second position. By preventing or minimizing the movement of the first frame-shaped leg and the second frame-shaped leg during walking in the width direction of the walking base, the movement of the first frame-shaped leg and the second frame-shaped leg can be prevented. Walking motion can be made extremely stable.

In the invention of claim 2, the guide groove of the walking base has a first guide groove and a second guide groove into which the first frame-like leg and the second frame-like leg are inserted on both sides in the width direction of the walking base. Therefore, when the first frame-shaped leg and the second frame-shaped leg perform a walking motion, they do not come into contact with each other and can be prevented from interfering with each other, thereby improving walking performance.

According to the third aspect of the invention, the contact surfaces of the vertical shaft portions of the first and second frame-shaped legs with respect to the guide grooves are formed to be flat surfaces, so that even better operation can be realized. In the fourth aspect of the present invention, the first frame-like legs and the second frame-like legs are connected to each other, so that even better operation can be achieved. According to the invention of claim 5, the first frame-shaped leg contacts the width direction inner side surface of the guide groove, and the second frame-shaped leg contacts the width direction outer side surface of the guide groove, thereby enabling walking. The walking stability of the base can be improved. In the sixth aspect of the present invention, since the walking base is provided with a loading platform, it is possible to easily load the load. According to the invention of claim 7 and claim 8, the walkability of the walker can be improved.

(A) is a plan view of the present invention, (B) is a cross-sectional view along the Y1-Y1 arrow in (A), (C) is a cross-sectional view along the X1-X1 arrow showing the first frame-like leg in (A), ( D) is a cross-sectional view taken along line X2-X2 showing the second frame-shaped leg of (A). (A) is a schematic perspective view of a walking base, (B) is a schematic perspective view of a first frame-like leg, and (C) is a schematic perspective view of a second frame-like leg. (A) is an enlarged plan view of the main parts of the walking base, the first frame-shaped leg, and the second frame-shaped leg, and (B) is an enlarged longitudinal section of the main part of the walking base, the first frame-shaped leg, and the second frame-shaped leg. It is a front view, (C) is an enlarged view of (α) part of (B), and (D) is an enlarged view of another embodiment of (α) part of (B). (A) is a schematic plan view of another embodiment of the present invention, and (B) is a cross-sectional view taken along line Y2-Y2 of (A). FIG. 11 is a side view of a walking base of another embodiment of the present invention; (A) to (E) are process diagrams showing the walking state of the walking cart according to the present invention. FIG. 4 is a schematic diagram showing a state of constructing a roof with the walking cart of the present invention; (A) to (C) are schematic diagrams showing the process of transporting the roof panel material by the walking cart of the present invention. (D) to (F) are schematic diagrams showing the process of transporting the roof panel material by the walking cart of the present invention.

The present invention will be described below with reference to the drawings. In the description of the present invention, terms indicating the direction of the walking cart include the front-rear direction and the width direction. The front-rear direction is the direction in which the walker can move by walking, and the width direction is the direction orthogonal to the above-described front-rear direction on a plane. The fore-and-aft direction and the width direction are indicated in the drawing.

The walking cart of the present invention mainly includes a walking base 1, first frame-like legs 2, and second frame-like legs 3 (see FIG. 1). A prime mover 7 is installed on the walking base 1 . A first frame-shaped leg 2 and a second frame-shaped leg 3 are arranged on one side of the walking base 1 in the width direction. are arranged on both sides of the walking base 1 in the width direction.

The walking base 1 is a rectangular and flat structure along the front side. As an example of the structure of the walking base 1, vertical frame shafts 13, 13 are provided on both sides in the front-rear direction, and a plurality of horizontal frame shafts 14, 14, . . . Configured. A guide groove 1A, which will be described later, is formed between adjacent horizontal frame shafts 14,14. A base plate portion 15 extending in the front-rear direction is provided from an intermediate portion in the width direction of the walking base 1, and the prime mover 7 is installed on the upper surface of the base plate portion 15 [Fig. B), see FIG. 2(A), etc.].

The first frame-shaped leg 2 and the second frame-shaped leg 3 on both sides in the width direction of the walking base 1 are configured to be able to perform alternate walking motions according to a predetermined operating locus by the prime mover 7 . (See Figure 6). As an embodiment of the prime mover 7, it is composed of a power section 71 such as an electric motor or an internal combustion engine (engine), a transmission 72, and a drive shaft 73. By rotating the drive shaft 73, the first frame-like leg 2 and the second frame-like leg 3 are operated (see FIG. 1). The power source of the prime mover 7 may be mounted on the walking base 1 or may be operated from the outside of the walking base 1 using electric wires.

A loading platform 16 is installed on the walking base 1 . Various items such as a roof plate material 91, tools, and a power generator are placed on the loading platform 16, which will be described later. The upper surface of the loading platform 16 on which a load is placed is positioned higher than the uppermost positions of the first frame-shaped leg 2 and the second frame-shaped leg 3 in the walking state. Moreover, the loading platform 16 is a table-like one having four legs, and is preferably installed on the prime mover 7 on the walking base 1 . This has the advantage that the prime mover 7 and other equipment can also be protected from the outside.

The first frame-shaped leg 2 and the second frame-shaped leg 3 have substantially the same configuration. The first frame-shaped leg 2 is formed in a substantially rectangular shape by a grounding shaft portion 21, longitudinal shaft portions 22, 22 on both sides in the front-rear direction, and a top shaft portion 23 (see FIGS. 1(C) and 2). . Two vertical shaft portions 22, 22 are arranged and fixed on the ground shaft portion 21 with a predetermined interval, and a top shaft portion 23 is arranged and fixed on the top of both the vertical shaft portions 22, 22. As shown in FIG.

Similarly, the second frame-shaped leg 3 is formed in a substantially rectangular shape by a grounding shaft portion 31, vertical shaft portions 32, 32 on both sides in the front-rear direction, and a top shaft portion 33 [FIGS. 2]. Two vertical shaft portions 32, 32 are arranged and fixed on the ground shaft portion 31 at a predetermined interval, and a top shaft portion 33 is arranged and fixed to the top of both the vertical shaft portions 32, 32. As shown in FIG. The first frame-like legs 2 are bifurcated on both sides of the walking base 1 in the width direction, and the second frame-like legs 3 are bifurcated on both sides of the walking base 1 in the width direction. [See FIGS. 1(A) and 1(B)].

In the width direction of the walking base 1, the interval between the two first frame-shaped legs 2, 2 is configured to be larger than the interval between the two second frame-shaped legs 3, 3. Two second frame-like legs 3, 3 are configured to enter inside the two first frame-like legs 2, 2 in the width direction of the [Figs. 3(B)]. A connecting member 24 is provided between the top shaft portions 23 of the two first frame-like legs 2, 2, and the two first frame-like legs 2, 2 are connected to each other. The connecting member 24 is formed in a substantially square gate shape [see FIGS. 1(B) and 2(B)]. Further, the two second frame-like legs 3, 3 are provided with a substantially plate-like connecting member 34 between the grounding shaft portions 31, 31, and the two second frame-like legs 3, 3 are connected to each other. See FIGS. 1(B) and 2(B)].

The grounding shaft portions 21 and 31, the vertical shaft portions 22 and 32, and the top shaft portions 23 and 33, which constitute the walking base 1, the first frame-shaped leg 2, and the second frame-shaped leg 3, each have an approximately rectangular cross section. It is formed by a shaft (see FIG. 2). However, without being limited to this, various steel pipes or steel materials having a circular cross-section may be used. Further, the walking base 1 is not composed of the vertical frame shaft 13 and the horizontal frame shaft 14 as described above, but is simply a flat plate member (for example, a wooden plate) formed with guide grooves 1A, 1A, which will be described later. It may be

The first frame-shaped leg 2 walks by the first link mechanism 4 and the motor 7 , and the second frame-shaped leg 3 walks by the second link mechanism 5 and the motor 7 . The first link mechanism 4 has a driving link 41, a transmission link 42, a main intermediate link 43, a secondary intermediate link 44, a main leg link 45, a secondary leg link 46, and a connecting link 47 [ See FIGS. 1(C) and 2(B)]. One longitudinal end of the driving link 41 is directly connected to the drive shaft 73 of the motor 7, and rotates about the one end (see FIG. 1(C)).

The main leg link 45 is integrally formed with the transmission link 42 in the longitudinal direction. The main intermediate link 43 and the secondary intermediate link 44 are pivotally connected to the walking base 1 . The main leg link 45 and the sub leg link 46 are pivotally connected to the top shaft portion 23 of the first frame-shaped leg 2 (see FIG. 1(C)).

When the driving link 41 directly connected to the driving shaft 73 of the motor 7 rotates when the driving motor 7 is started, the main leg link 45 is formed by combining the driving link 41 and the main intermediate link 43 . The rocking motion is performed along a predetermined trajectory. Further, the secondary leg link 46 swings synchronously with the main leg link 45 by means of the secondary intermediate link 44 and the connecting link 47 . As a result, the first frame-shaped leg 2 performs a predetermined walking motion (see FIGS. 6, 8, 9, etc.).

The second link mechanism 5 has substantially the same configuration as the first link mechanism 4, and includes a driving link 51, a transmission link 52, a main intermediate link 53, a sub intermediate link 54, a main leg link 55, and a sub leg. It has a link 56 and a connecting link 57 (see FIG. 1(D)). The main intermediate link 53 and the secondary intermediate link 54 are pivotally connected to the walking base 1 . The main leg link 55 and the sub leg link 56 are pivotally connected to the top shaft portion 33 of the second frame-like leg 3 (see FIG. 1(D)). One longitudinal end of the driving link 51 is directly connected to the drive shaft 73 of the motor 7, and rotates about the one end (see FIG. 1(D)). The main leg link 55 is integrally formed with the transmission link 52 in the longitudinal direction.

In the operation of the second link mechanism 5, when the driving link 51 is rotated by the motor 7, the main leg link 55 swings along a predetermined trajectory due to the combined trajectory of the driving link 51 and the main intermediate link 53. conduct. Further, the sub-leg link 56 swings synchronously with the main leg link 55 by means of the sub-intermediate link 54 and the connecting link 57 . As a result, the second frame-shaped leg 3 performs a predetermined walking motion (see FIGS. 6, 8, 9, etc.).

The driving link 41 of the first link mechanism 4 and the driving link 51 of the second link mechanism 5 are both directly connected to the driving shaft 73 of the same driving motor 7 with a phase difference. Both the driving link 41 and the driving link 51 are rotated in a phase-shifted state, whereby the first frame-shaped leg 2 and the first frame-shaped leg 2 move as if a person were walking. It performs a walking motion (see FIGS. 6, 8 and 9).

The first frame-shaped leg 2 and the second frame-shaped leg 3 alternately perform walking motions by means of the first link mechanism 4 and the second link mechanism 5 . By the walking motion of the first frame-shaped leg 2 and the second frame-shaped leg 3, the walking base 1 can move along the walking direction while maintaining a substantially constant height.

In order to move while maintaining a substantially constant height, that is, to move with a slight vertical movement, the first link mechanism 4 and the second link mechanism 5 specifically include Chebyshev links. A mechanism is preferably incorporated. Specifically, in the first link mechanism 4 , the drive link 41 , the transmission link 42 and the main intermediate link 43 constitute a Chebyshev link mechanism, and the main leg link 45 and the first frame-like leg 2 are pivotally supported. The part moves along a loop locus consisting of a substantially circular arc and a horizontal shape.

In the second link mechanism 5, the driving link 51, the transmission link 52, and the main intermediate link 53 constitute a Chebyshev link mechanism, and the pivotal connection between the main leg link 55 and the second frame-like leg 3 is substantially It operates along a loop trajectory consisting of an arc and a horizontal shape. The Chebyshev link mechanism is also called a Hawkins link mechanism.

This motion causes the first frame-shaped leg 2 to perform a walking motion. The second frame-shaped leg 3 can also perform the same operation as the first frame-shaped leg 2 by the second link mechanism 5 (see FIG. 6). By including a Chebyshev link mechanism or a Hawkins link mechanism in a part of each of the first link mechanism 4 and the second link mechanism 5, when the walker of the present invention moves forward or backward, the walking base 1 is positioned in the first frame. The dimension Ha in the height direction from the walking surface (grounding surface) on which the grounding shaft portion 21 of the leg 2 and the grounding shaft portion 31 of the second frame-shaped leg 3 are grounded during walking is always maintained constant. Almost all vertical vibrations can be prevented (see FIGS. 8 and 9).

Here, the walking plane (grounding plane) is the height position of the roof top in the roof construction completion area at the roof construction site. Further, when the loading platform 16 is provided on the walking base 1, the dimension Hb of the loading platform 16 in the height direction is always kept constant together with the walking base 1, so that the load such as the roof plate material 91 placed on the loading platform 16 can be lifted. It can be transported in a stable state (see FIGS. 8 and 9). In other words, as described above, the dimension Ha in the height direction from the walking surface (grounding surface) of the walking base 1 is always maintained constant and unchanged (including substantially constant). The vertical dimension Hb is also unchanged (including substantially unchanged).

Here, the fact that the dimension Ha in the height direction from the walking surface (grounding surface) of the walking base 1 and the dimension Hb in the height direction of the loading platform 16 are unchanged (including substantially unchanged) means that the first link mechanism This is the same purpose (content) as that the walking base 1 and the loading platform 16 are always kept at a constant height in the walking state by the link mechanism 4 and the second link mechanism 5 .

Further, as described above, the position of the upper surface of the loading platform 16 on which the load is placed is the position when the first frame-shaped leg 2 and the second frame-shaped leg 3 reach their uppermost positions in the walking state. 1(B) and 3(B)]. As a result, even if the load placed on the loading platform 16 protrudes from the width direction end of the walking base 1, it is prevented from coming into contact with the first frame-like leg 2 and the second frame-like leg 3. be able to.

In particular, the roof plate material 91 has a length of ten and several meters to several tens of meters, and since the roof plate material 91 is conveyed in a bridging state by a plurality of walking carts, the walking base 1 and the loading platform 16 of the walking cart of the present invention can be used. Since the dimension in the height direction is kept constant during walking, the long roof plate material 91 can be transported in an extremely stable state, and the roof plate material 91 can be moved between the first frame-shaped legs 2 and the second frame-shaped legs 2 during walking. Contact with the legs 3 can be prevented (see FIG. 7).

Guide grooves 1A, 1A are formed on both sides in the width direction of the walking base 1 along the longitudinal direction (see FIGS. 1A and 2A). As described above, the guide groove 1A forms a gap between adjacent horizontal frame shafts 14, 14 in the plurality of horizontal frame shafts 14, 14, . . . (B), FIG. 2(A), FIG. 3, etc.].

The two first frame-like legs 2, 2 and the two second frame-like legs 3, 3 are inserted into the guide grooves 1A, 1A of the walking base 1 [Figs. 2(A), see FIG. 3, etc.]. Each guide groove 1</b>A consists of two grooves, a first guide groove 11 and a second guide groove 12 . The first guide groove 11 is located on the outer side in the width direction of the walking base 1 relative to the second guide groove 12 . The second frame-shaped leg 3 is inserted in [see FIGS. 1(A), (B), and FIG. 3].

Both vertical shaft portions 22, 22 of the first frame-like legs 2, 2 contact the first guide grooves 11, 11 on both sides in the width direction of the walking base 1. As shown in FIG. This contact state also includes a substantially close state. More specifically, the vertical shaft portion 22 of the first frame-like leg 2 contacts the surface of the inner circumferential groove wall surface 11a of the first guide groove 11 that faces the outer side of the walking base 1 in the width direction. That is, both the first frame-like legs 2, 2 are held in a sandwiched state by the inner peripheral groove wall surfaces 11a, 11a on the widthwise outer side of the both first guide grooves 11, 11, and the first frame-like legs 2, 2 2 can perform a stable walking motion while maintaining equal intervals (see FIGS. 3A, 3B, and 3C).

Similarly, both vertical shaft portions 32, 32 of the second frame-like leg 3 contact the second guide grooves 12, 12 on both sides of the walking base 1 in the width direction. This contact state also includes a substantially close state. More specifically, the vertical shaft portion 32 of the second frame-like leg 3 contacts the surface of the inner circumferential groove wall surface 12a of the second guide groove 12 that faces the inner side of the walking base 1 in the width direction. That is, both the second frame-shaped legs 3, 3 are spaced equally apart by the inner peripheral groove wall surfaces 12a, 12a on the width direction inner side of the both second guide grooves 12, 12. A stable walking motion can be performed while maintaining this [see FIGS. 3(A), (B), and (C)].

In other words, a part of the vertical shaft portions 22 and 32 of the first frame-shaped leg 2 and the second frame-shaped leg 3 are configured to slidably contact the inner peripheral surface of the guide groove 1A, thereby increasing the walking distance. The guide groove 1A of the base 1 can prevent or minimize the movement of the first frame-shaped leg 2 and the second frame-shaped leg 3 in the width direction of the walking base 1 during walking. As a result, the walking motion of the first frame-shaped leg 2 and the second frame-shaped leg 3 can be made extremely stable with little swing.

Also, the guide groove 1A may not be divided into the first guide groove 11 and the second guide groove 12, but may be a single groove (see FIGS. 4A and 4B). Further, the vertical shaft portions 22, 22 of the first frame-shaped leg 2 and the vertical shaft portions 32, 32 of the second frame-shaped leg 3 may be provided with sliding members 8 having smoothness [ See FIGS. 4A and 4B].

The walking trolley according to the present invention is extremely suitable for use at construction sites, especially for roof construction (see FIGS. 7, 8 and 9). At the roof construction site, the roof 9 is a folded plate type metal roof that employs a tightening method or a cap material fitting method, and is composed of a roof plate material 91 . A roof support 93 is attached to the structural member 92 .

The walking trolley of the present invention is suitable for walking in the area where roof construction is completed at the roof construction site, and the position where the roof board material 91 is attached from the place where the roof board material 91 for construction at the site is stocked. It conveys the roof board material 91 to. In this transportation operation, a plurality of walking carts of the present invention are arranged in a row in a direction orthogonal to the direction of transportation, and the long roof plate material 91 is placed on the loading platform 16 of the plurality of walking carts in a bridge manner. and transport it to the desired position (see Figures 6 and 7).

1 walking base 1A guide groove 11 first guide groove 12 second guide groove
16... loading platform, 2... first frame-like leg, 3... second frame-like leg, 21, 31... grounding shaft portion,
22, 32... vertical shaft portion, 23, 33... top shaft portion, 4... first link mechanism ,
5... Second link mechanism , 41, 51... Driving link, 42, 52... Transmission link,
43, 53... Main intermediate link, 44, 54... Sub intermediate link,
45,55...main leg link, 46,56...sub-leg link, 47,57...connecting link,
7... Prime mover.

Claims (8)

A walking base having guide grooves extending in the front-rear direction on both sides in the width direction so that a load can be loaded; a motor installed on the walking base; Two first frame-shaped legs having vertical shafts on both sides and top shafts on the upper ends and arranged on both sides in the width direction of the walking base, and horizontal grounding shafts on the lower ends on both sides in the front-rear direction. two second frame-shaped legs having vertical shafts positioned at the upper end and having top shafts at the upper ends thereof, and are arranged on both sides in the width direction of the walking base, and are spaced narrower than the first frame-shaped legs; A first link mechanism and a second link mechanism alternately repeat forward movement according to a loop locus of ground contact of the first frame-shaped leg and the second frame-shaped leg and ground contact after the upward arc-shaped trajectory to perform walking. wherein one of the first frame-shaped leg and the second frame-shaped leg is grounded, and the first link mechanism and the second link mechanism always maintain the walking base at a constant height. and a portion of the vertical shaft portion of each of the first frame-shaped leg and the second frame-shaped leg is configured to slidably contact the guide groove. 2. The walking trolley according to claim 1, wherein the guide grooves of the walking base include first guide grooves and second guide grooves into which the first frame-shaped legs and second frame-shaped legs are inserted on both sides in the width direction of the walking base. A walking cart characterized by having a groove. 3. The walker according to claim 1, wherein contact surfaces of said vertical shaft portions of said first frame-shaped legs and said second frame-shaped legs with said guide grooves are flat surfaces. trolley. 4. A walking cart according to claim 1, wherein said first frame-like legs and said second frame-like legs are connected to each other. 5. The walking cart according to any one of claims 1, 2, 3, and 4, wherein the first frame-shaped leg contacts the width direction inner side surface of the guide groove, and the second frame-shaped leg contacts the guide groove. A walking trolley characterized by being in contact with the widthwise outer side surface of the groove. 6. A walking cart according to claim 1, wherein said walking base is provided with a carrier. 7. The walking cart according to any one of claims 1, 2, 3, 4, 5 or 6, wherein the first link mechanism and the second link mechanism comprise a driving link, a transmission link, a main intermediate link, It has a secondary intermediate link, a main leg link, a secondary leg link, and a connecting link, wherein the main leg link and the secondary leg link connect the top shaft portions of the first frame-shaped leg and the second frame-shaped leg. , wherein the main intermediate link, the sub-intermediate link and the connecting link form a parallelogram four-bar link. 8. A walking cart according to claim 7, wherein said driving link, said transmission link and said main intermediate link constitute a Chebyshev link mechanism.

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