JPH05319328A - Ground-contacting foot mechanism of off-road walking type transporting machine - Google Patents

Abstract

PURPOSE:To provide complete contact with the ground, and prevent stress from being applied to vertical legs and a transporting machine body from being dislocated. CONSTITUTION:When a part of four ground-contacting pad 2 comes into contact with the protruding part of a target ground contact part, the slide rod 1 of the ground-contacting pad 2 rises against a spring 10, the movement is transmitted to the other respective slide rod 1 through an endless wire 7 which is engaged with respective pulleys 3, 9 alternately to be circulated, the respective slide rod 1 are lowered, and the respective ground-contacting pads 2 of the slide rod 1 come into contact with the inclination part or the recessed part of the ground contact target part. At this time, the respective ground-contacting pad 2 receives uniform force from the ground surface. Besides, the respective slide rod 1 do not receive horizontal force, thus it is possible to prevent an off-road walking type transporting machine from being dislocated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a foot grounding mechanism for an uneven terrain walking type transport machine that walks on uneven terrain, slopes and the like.

[0002]

2. Description of the Related Art Rough-ground walk-type transport machines, construction machines, robots
Of each attack on the tip grounding mechanism of the robot, prototype research robot, etc.
This is shown in FIGS. First, the foot grounding mechanism of FIG. 6 will be described.
Then, a is a vertical leg of the body of the transporting machine, and b is a ball joy.
Input b₁Is the swing center point of the ball joint b, c
Is the grounding part, c ₁Is the grounding surface of the grounding part c, and the grounding part c is
It is possible to swing to the lower end of the vertical axis a via the rotary joint b.
Noh is installed.

Next, the leg grounding mechanism of FIG. 7 will be described.
Is a vertical leg of the carrier machine body, b is a ball joint, c
Is a grounding part, and the grounding part c is attached to the lower end of the vertical leg a via a ball joint b so as to be swingable. Next, the leg grounding mechanism of FIG. 8 will be described. A is a vertical leg of a transporting machine body, b is a universal joint, c is a grounding part, and the grounding part c is attached so as to be swingable via a universal joint b. ing.

Next, the leg grounding mechanism of FIG. 9 will be described.
Is a vertical leg of the transporting machine body, c is a grounding part fixed to the lower end of the vertical leg a, and the grounding part c is made of a flexible material such as rubber or sponge.

[0005]

In the tip grounding mechanism shown in FIG. 6, the grounding part c swings in accordance with the shape of the ground to be grounded and faces in an appropriate direction. It is constant, and the ground contact portion c does not properly adapt to the shape (irregularities) of the ground to be grounded, so that the ground cannot be reliably grounded. In addition, this leg tip grounding mechanism always has a distance r between the swing center point b ₁ and the grounding surface c _1, and when the leg is grounded from above, the grounding surface c ₁ is adapted to the ground to be grounded. Te Doing swing away from the center point of the swing center point b ₁ of the ground plane c ₁ horizontal distance d, slip occurs between the ground target ground and the ground plane c _1,
The vertical leg a receives a horizontal force in the direction of the arrow A, stress is applied to the vertical leg a, or the displacement of the transporting machine body occurs.

The above problem also occurs in the foot grounding mechanism shown in FIGS. 7 and 8. Further, in the leg grounding mechanism shown in FIG. 9, the grounding part c is made of a flexible material such as rubber or sponge, and the grounding part c has a shape (irregularities) of the ground to be grounded.
However, when applied to a transporting machine other than the prototype research robot, there was a problem that the ground contact part c was worn early by rocks, earth and sand, and lacked in durability and reliability.

The present invention has been proposed in view of the above problems, and the object of the present invention is to reliably ground the object. Another object is to provide a grounding mechanism for the legs of an uneven terrain walking machine that does not apply stress to the vertical legs or cause displacement of the carrying machine body.

[0008]

In order to achieve the above-mentioned object, the present invention provides a vertical leg frame mounted on a main body of a transport machine in an all-terrain walking type transport machine for walking on rough terrain, sloping ground, etc. A horizontal board frame attached to the lower end of the vertical leg frame, a plurality of slide rods that can be moved up and down at a plurality of locations on the outer periphery of the horizontal leg frame, and a plurality of ground pads attached to the lower end of each slide rod. A plurality of springs that are interposed between the ground pads and the horizontal substrate frame to urge the slide rods downward; and a plurality of upper pulleys attached to the upper ends of the slide rods. It comprises a plurality of lower pulleys attached to the outer peripheral portion of the horizontal substrate frame between the slide rods, and an endless wire which is alternately wound around the upper pulleys and the lower pulleys to make a loop.

[0009]

The leg grounding mechanism of the rough terrain walking type transporting machine of the present invention is configured as described above, and when some grounding pads among a plurality of grounding pads are grounded on the convex portion of the ground to be grounded, While the slide rod of this ground pad rises against the spring, this movement is transmitted to each of the remaining slide rods through an endless wire that is looped around each upper pulley and each lower pulley alternately. Each slide rod descends, and the ground pads of these slide rods come into contact with the inclined portion or concave portion of the ground to be grounded. At this time, each ground pad receives an even force from the ground. Further, since each slide bar is not subjected to horizontal force, no displacement occurs in the rough terrain walking type transport machine.

[0010]

EXAMPLES Next, a leg grounding mechanism of an uneven terrain walking type transporting machine of the present invention will be described with reference to one example shown in FIGS.
Reference numeral 6 is a vertical leg frame attached to a carrying machine body (not shown), 5 is a horizontal substrate frame attached to the lower end of the vertical leg frame 6, and 1 is slide bearings at a plurality of locations on the outer peripheral portion of the horizontal substrate frame 5. A plurality of (four in this embodiment) slide rods are attached so as to be able to move up and down via 4.

A plurality of ground pads 2 are attached to the lower ends of the slide rods 1, and 10 is interposed between the ground pads 2 and the horizontal substrate frame 5 to attach the slide rods 1 downward. A plurality of biasing springs, a plurality of upper sheaves 3 attached to the upper ends of the slide rods 1, a plurality of lower sheaves 9 attached to the outer peripheral portion of the horizontal substrate frame 5 between the slide rods 1, Reference numeral 7 is an endless wire which is alternately hung on each upper pulley 3 and each lower pulley 9 to make a loop.

The wire 7 hangs vertically downward from both sides of the upper pulley 3 to both sides of the lower pulley 9, and the center point 8 of the wire 7 can be seen on both sides of the upper pulley 3 (see FIG. 2). There are a total of eight central points 8 of the wire 7, and an octagon in plan view connecting these central points 8 is shown in an expanded form in FIGS.
Is. Next, the operation of the leg grounding mechanism of the rough terrain walking type transport machine shown in FIGS. 1 to 5 will be specifically described.

As shown in FIG. 3, when some of the four ground pads 2 make contact with the convex portion of the ground to be grounded, the slide rod 1 of the ground pad 2 resists the spring 10. While moving up, this movement is transmitted to each of the remaining slide rods 1 through the endless wire 7 which is alternately applied to the pulleys 3 and 9 and makes a loop, and the slide rods 1 are lowered,
The ground pad 2 of these slide rods 1 grounds to an inclined portion or a concave portion of the ground to be grounded.

At this time, each ground pad 2 receives an even force from the ground. Further, since each slide rod 1 does not receive the horizontal force A shown in FIG. 6, the displacement of the rough terrain walking type transport machine does not occur. FIG. 4 shows a state in which three of the four ground pads 2 are grounded. Further, FIG. 5 shows a state in which two of the four ground pads 2 are grounded. Also in these cases, each ground pad 2 receives an equal force from the ground.
Further, since each slide rod 1 does not receive the horizontal force A shown in FIG. 6, the displacement of the rough terrain walking type transport machine does not occur.

[0015]

As described above, the leg grounding mechanism for an uneven terrain walking type transporting machine according to the present invention has a structure in which, when a part of the grounding pads is grounded on the convex portion of the ground to be grounded, the grounding pad is grounded. While the slide bar of rises against the spring,
This movement is transmitted to each of the remaining slide rods through an endless wire that is looped alternately on each upper pulley and each lower pulley, and the slide rods descend and the ground pads of these slide rods contact the ground. Touch the ground or slope of the target ground. At this time, each of the ground pads receives an even force from the ground, so that the ground pads can be reliably grounded. Also, each slide bar
It does not receive horizontal force, does not add stress to the vertical legs, and does not cause displacement of the transport machine body.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of a foot tip grounding mechanism of an uneven terrain walking type transportation machine according to the present invention.

FIG. 2 is a plan view thereof.

FIG. 3 is an explanatory diagram of its operation.

FIG. 4 is an explanatory diagram of its operation.

FIG. 5 is an explanatory diagram of its operation.

FIG. 6 is a side view showing an example of a conventional tip grounding mechanism.

FIG. 7 is a side view showing another example of a conventional foot tip grounding mechanism.

FIG. 8 is a side view showing another example of a conventional leg grounding mechanism.

FIG. 9 is a side view showing still another example of the conventional leg grounding mechanism.

[Explanation of symbols]

 1 Slide Rod 2 Ground Pad 3 Upper Pulley 4 Slide Bearing 5 Horizontal PCB Frame 6 Vertical Leg Frame 7 Wire 9 Lower Pulley 10 Spring

Claims (1)

[Claims] 1. In an all-terrain walking type walking machine that walks on uneven terrain, sloping ground, etc., a vertical leg frame attached to the main body of the conveying machine, a horizontal substrate frame attached to a lower end of the vertical leg frame, and the same horizontal substrate. A plurality of slide rods that can be lifted and lowered at a plurality of locations on the outer periphery of the frame, a plurality of ground pads that are attached to the lower ends of the slide rods, and an interposition between the ground pads and the horizontal board frame. A plurality of springs for urging each slide rod downward, a plurality of upper pulleys attached to the upper end portions of the slide rods, and a plurality of springs attached to the outer peripheral portion of the horizontal substrate frame between the slide rods. And a lower end pulley and an endless wire that is looped around each of the upper pulleys and the lower pulleys to make a loop.