JPH06254780A - Walking robot - Google Patents

Abstract

PURPOSE:To provide a walking robot which is designed to easily avoid an obstacle and easy to take a balance. CONSTITUTION:A body part 12 is movable over an X-axis member 52 and an Y-axis member 58. X-axis leg parts 62a-62d are arranged to the X-axis member 52 and expandable. When the leg parts are in a supporting state, they are capable of supporting the body part 12. Y-axis leg parts 66a-66d are arranged at the Y-axis shaft 58 and expandable. When the leg parts are in a supporting state, the body part 12 is supportable. An X-axis drive mechanism causes movement in the direction of an X-axis of the body part 12. An Y-axis drive mechanism causes movement in the direction of an Y-axis of the body part 12. First Z-axis drive mechanisms 68a-68d cause expansion and contraction of the X-axis leg parts 62a-62d. Second Z-axis drive mechanisms 70a-70d causes expansion and contraction of the Y-axis leg parts 66a-66d. A hydraulic drive mechanism 36 causes the feed of a drive force to the X-axis drive mechanism, the Y-axis driven mechanism, the first Z-axis drive mechanisms 68a-68d, and the second Z-axis drive mechanisms 70a-70d.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a walking robot, and more particularly to a walking robot in which a main body is moved by driving legs.

[0002]

2. Description of the Related Art Hitherto, walking robots have been used for carrying articles and the like. These walking robots use tires or crawlers as moving means. In addition, although it is still in the research stage, a four-legged or two-legged walking robot is also known in which a joint is driven by a motor to perform a movement similar to that of a four-legged animal or human.

[0003]

However, the above-mentioned conventional walking robot has the following problems. In the case of a walking robot using a tire or a crawler as a moving means, if an obstacle exists on the course, interference cannot be avoided unless the course is changed. Therefore, there is a problem that interference cannot be avoided if an obstacle is present in a narrow passage. On the other hand, in the case of a four-legged or two-legged walking robot, three-legged or one-legged state occurs during walking, so control for balancing is extremely difficult and has not reached the practical stage. Therefore, it is an object of the present invention to provide a walking robot which can easily avoid obstacles and can be easily balanced.

[0004]

In order to solve the above problems, the present invention has the following constitution. That is, the X-axis member arranged in the X-axis direction, the Y-axis member arranged in the Y-axis direction perpendicular to the X-axis, the X-axis member and the Y-axis member And a main body part that is relatively movable in the length direction of the Y-axis member, and that is provided in the X-axis member and is expandable and contractable in the Z-axis direction that is orthogonal to the X-axis direction and the Y-axis direction, and is in a supported state. In the case of, the main body portion, the X-axis leg portion capable of supporting the Y-axis member and the X-axis member, and the Y-axis member, which are provided in the Y-axis member and are expandable and contractable in the Z-axis direction, are in the supported state. Is a Y-axis leg portion capable of supporting the main body portion, the X-axis member and the Y-axis member, and an X-axis drive mechanism for moving the main body portion in the X-axis direction relative to the X-axis member. ,
A Y-axis drive mechanism for moving the main body in the Y-axis direction relative to the Y-axis member, and a first Z-axis drive for extending and contracting the X-axis leg in the Z-axis direction. Mechanism, a second Z-axis drive mechanism for expanding and contracting the Y-axis leg portion in the Z-axis direction, the X-axis drive mechanism, the Y-axis drive mechanism, the first Z-axis drive mechanism, and the second Z. And a hydraulic drive unit that supplies a drive force to the shaft drive mechanism.

[0005]

[Operation] The operation will be described. Body, X-axis member, Y
Since the X-axis leg and the Y-axis leg that support the shaft member can be expanded and contracted in the Z-axis direction by receiving the driving force from the hydraulic drive unit, the X-axis leg or the Y-axis leg can be used even when the vehicle is traveling straight. By extending the section, it is possible to straddle obstacles on the path. Also,
Since the X-axis leg or the Y-axis leg can support the main body, the X-axis member, and the Y-axis member, the main body, the X-axis member, or the Y-axis can be supported while the X-axis leg or the Y-axis leg is supporting. The member can be moved to proceed, and the balance can be easily balanced even while walking.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will now be described in detail with reference to the accompanying drawings. First, the configuration will be described. Figure 1
2 shows a plan view of the walking robot of the embodiment, and FIG. 2 shows a partially cutaway side view of the main body portion in the vicinity thereof.

Reference numeral 12 denotes a main body portion, which is an upper main body 14 which is a first main body constituent portion, and a lower main body 1 which is a second main body constituent portion.
6 and a lifting table 18. An object to be transported, a tool, a measuring instrument, a work and the like can be attached and placed on the elevating table 18 arranged at the top. The guide rods 20 vertically provided at the four corners of the bottom surface of the lifting table 18 are inserted into the guide cylinders 22 fixed at the four corners of the upper main body 14, and the lifting table 18 follows the guide cylinders 22. It can be moved up and down. Upper body 14
A hollow shaft tube portion 24 is vertically provided on the bottom surface of the. The shaft cylinder portion 24 is rotatably fitted in a bearing portion 25 arranged in the lower body 16. Therefore, the upper body 14 and the lower body 16 are relatively rotatable in a horizontal plane.

Reference numeral 26 is a hydraulically driven vertical moving cylinder,
It is fixed in the upper body 14. Vertical movement cylinder 26
Is inserted through a central hole 30a that is provided in the center of the upper body 14 and a central hole 30b that is provided in the center of the shaft tube portion 24 and the lower body 16. The upper end of the vertical movement rod 28 of the vertical movement cylinder 26 is fixed to the bottom surface of the lifting table 18. Therefore, the up-and-down moving cylinder 26 is driven, and the up-and-down table 18 moves up and down as the up-and-down moving rod 28 expands and contracts. Reference numeral 32 denotes an engine, which is arranged on an engine support portion 34 extending from the upper main body 14. As the engine 32, for example, a 4-cycle gasoline engine is used. An oil pump 36 is a hydraulic drive unit, and is fixed inside the upper body 14. The oil pump 36
The driving force is supplied by supplying the pressure oil in the oil tank 37 to each hydraulic operating device (described later) such as the vertically moving cylinder 26. The oil pump 36 receives the rotational force of the engine 32 to rotate and operate.

A generator 38 is attached to the engine 32. The generator 38 rotates by receiving the rotational force of the engine 32, and charges the power battery arranged in the control box 40. A control system for controlling the operation of the walking robot 10 of this embodiment is built in the control box 40. 42 is a control panel, and a handle 44
Is fixed to. It is possible to monitor the control status of the walking robot 10 while inputting various commands and control data from the operation panel 42 to the control system built in the control box 40 and watching the display device. The handle 44 is linked to the rear roller 46, so that the rolling direction of the rear roller 46 can be changed.

Reference numeral 48 is a pair of hydraulic motors which constitute a self-propelled mechanism, and respectively rolls the corresponding front rollers 50. The hydraulic motor 48 is driven by receiving the supply of pressure oil from the oil pump 36. Both hydraulic motors 48 are connected in the same hydraulic circuit. When the rotation resistance of one front roller 50 increases, the rotation of one hydraulic motor 48 is delayed and the rotation of the other hydraulic motor 48 increases. The other front roller 50 rotates faster than the one front roller 50. By utilizing this operation, the pair of front rollers 50 have the same function as the differential gear of the automobile. Reference numeral 52 denotes a pair of X-axis members, which are metal rods having rigidity. The X-axis members 52 are arranged in parallel in the X-axis direction at intervals. The X-axis member 52 is provided in the upper main body 14, which will be described in detail later.

Reference numerals 54a and 54b denote X connecting members, which fix both ends of the X axis member 52 and connect the X axis members 52 to each other. The pair of hydraulic motors 48 are fixed on the X-connector 54b. Also, the front roller 50
Is disposed below the X-connector 54b. 54
Reference character c denotes a sub-X connected body, the central portion of which is axially attached to the central portion of the X connected body 54a via a shaft 56a.
6 is disposed below the sub-X linked body 54c. 58
Is a pair of Y-axis members and is a metal rod having rigidity.
The Y-axis members 58 are arranged in parallel in the Y-axis direction, which is perpendicular to the X-axis direction, at intervals. The Y-axis member 58, which will be described in detail later, is provided in the lower main body 16 below the X-axis member 52.

Reference numerals 60a and 60b denote Y connecting members, which fix both end portions of the Y axis member 58 and connect the Y axis members 58 to each other. Reference numeral 60c is a sub-Y coupling body, and the central portion is pivotally attached to the central portion of the Y coupling body 60a via a shaft 56a. 62a, 62b, 62c, 62
Reference numeral d denotes an X-axis leg portion, which is provided on the X-axis member 52 via the X-coupling bodies 54a and 54b and the sub-X-coupling body 54c. Specifically, the X-axis leg portions 62a and 62b are arranged at the respective end portions of the sub-X linked body 54c, and the X-axis leg portions 62c and 62d are provided.
Are arranged at each end of the X-connector 54b. The X-axis leg portions 62a, 62b, 62c, 62d are arranged in the X-axis direction and the Y-axis direction.
It can be expanded and contracted downward in the Z-axis direction perpendicular to the axial direction, and the lower surface comes into contact with the main body 12 and the X-axis member 5 in the extended supporting state.
2, Y-axis member 58 and the like can be supported. that time,
The front roller 50 and the rear roller 46 are separated from the ground 64. Portions corresponding to the ankles of the X-axis leg portions 62a, 62b, 62c, and 62d are formed of ball joints (universal joints) and have a function as joints. Note that X
A state in which the shaft leg portions 62a, 62b, 62c, 62d are shortened is an unsupported state.

Reference numerals 66a, 66b, 66c and 66d denote Y-axis leg portions, which are provided on the Y-axis member 58 via the Y-connecting bodies 60a and 60b and the sub-Y-connecting body 60c. Specifically, the Y-axis leg portions 66a and 66b are arranged at the respective end portions of the sub-Y connecting body 60c, and the Y-axis leg portions 66c and 66d are arranged at the respective end portions of the Y-connecting body 60b. Y-axis leg portions 66a, 6
6b, 66c, 66d are extendable / contractible downward in the Z-axis direction, and the lower surface is grounded in the extended support state so that the main body 12,
The X-axis member 52, the Y-axis member 58, etc. can be supported. At that time, the front roller 50 and the rear roller 46 are separated from the ground 64. Y-axis leg portions 66a, 66b, 66c,
A portion of 66d corresponding to the ankle is formed of a ball joint and has a function as a joint. Note that Y
A state in which the shaft leg portions 66a, 66b, 66c, 66d are shortened is an unsupported state. X-axis leg portions 62a, 62b, 62
c, 62d, Y-axis leg portions 66a, 66b, 66c, 66d
Is not supported, the front roller 50 and the rear roller 46 can be grounded.

Reference numerals 68a, 68b, 68c and 68d denote hydraulically driven first Z-axis cylinders which are an example of a first Z-axis drive mechanism, and each X-axis leg portion 62a, 62b, 62c and 62d.
Expand and contract. The first Z-axis cylinders 68a, 68b are
The first Z-axis cylinders 68c and 68d are provided at the respective ends of the sub-X coupling body 54c, and the first Z-axis cylinders 68c and 68d are provided at the respective ends of the X coupling body 54b. In the present embodiment, the X-axis leg portions 62a, 6
2b, 62c and 62d are first Z-axis cylinders 68a,
It is a cylinder rod of 68b, 68c, 68d. 70
Reference numerals a, 70b, 70c and 70d denote hydraulically driven second Z-axis cylinders which are an example of a second Z-axis drive mechanism, and extend and retract the Y-axis leg portions 66a, 66b, 66c and 66d. The second Z-axis cylinders 70a and 70b include the sub Y-connecting body 60.
The second Z-axis cylinders 70c, 7 arranged at each end of c
0d is arranged at each end of the Y-connecting body 60b. In this embodiment, the Y-axis leg portions 66a, 66b, 66c, 6
6d is each second Z-axis cylinder 70a, 70b, 70c,
It is a cylinder rod of 70d.

Next, the structure inside the lower body 16 will be described with reference to FIG. The Y-axis members 58 are slidably inserted in the Y-axis direction into the slide support portions 72a fixed to the inner bottom surface of the lower body 16. Further, the Y-axis member 58 is also inserted through the wall portion of the lower body 16 in the Y-axis direction, and each end portion projects outside the lower body 16. Therefore, the lower body 16 and the Y-axis member 58 are relatively movable in the Y-axis direction. A hydraulically driven Y-axis cylinder 74 is an example of a Y-axis drive mechanism. The Y-axis cylinder 74 is the lower body 1
It is fixed to the inner bottom surface of 6. The Y-axis rod 76 of the Y-axis cylinder 74 is inserted through the wall portion of the lower body 16, and the tip is Y-shaped.
It is fixed to the connecting body 60b. Therefore, the Y-axis rod 7
By expanding and contracting 6, the Y-axis member 58 is moved to the lower body 16
Can be moved in the Y-axis direction.

Reference numeral 78 is a hydraulically driven rotary cylinder which is an example of a rotary drive mechanism. The rotating cylinder 78 is the lower body 1
It is fixed to the inner bottom surface of 6. The rod 80 of the rotating cylinder 78 is pivotally attached to the other end of a link piece 82, one end of which is fixed to the outer peripheral surface of the shaft tube portion 24. Therefore, by expanding and contracting the rod 80, the upper body 14 (the lifting table 18
Is included with respect to the lower body 16 at a predetermined angle (for example, 45
It can be rotated. Reference numeral 83 denotes a pair of spacers, which are provided so as to project on the outer surface of the Y-connecting body 60a, and the tip end surface abuts on the inner surface of the sub-Y-connecting body 60c. By providing the spacer 83, the distance between the Y connecting body 60a and the sub Y connecting body 60c is kept constant. In the present embodiment, the Y connecting body 60a and the sub Y connecting body 60c are connected to the shaft 5
The swing mechanism is pivotally mounted via 6b. The swing mechanism will be described with reference to FIG. 4 (side view showing the vicinity of the portion A in FIG. 3).

Reference numeral 84 denotes a pair of pushing plungers, which are inverted L from the upper portion of the Y connecting body 60a to the upper side of the sub Y connecting body 60c.
It is attached to a horizontal portion of the attachment portion 86 extending in a letter shape, at a distance from each other and at a position symmetrical with respect to the shaft 56b.
The pushing plunger 84 is always urged downward by a spring incorporated therein, and is in contact with the upper surface of the sub Y coupling body 60c. In the normal state, the urging forces of the pair of plungers 84 are the same, so the sub-Y coupling body 60
c is held in a horizontal state parallel to the Y-connecting body 60a. For example, when the Y-axis legs 66a, 66b, 66c, and 66d are grounded, the sub Y-coupling body 60c tilts even if one of them steps on a protrusion such as a stone.
It is possible to reliably ground a, 66b, 66c, 66d, and maintain a stable state. Even if the upper surface of the sub Y-coupling body 60c is tilted as shown by the alternate long and short dash line M, the left plunger 84 moves upward and the right-side plunger 84 moves downward while urging the sub Y-coupling body 60c downward. , The sub-Y linked body 60c can be prevented from swinging like a seesaw.

Next, the structure of the bottom of the upper body 14 will be described with reference to FIG. 5 (a bottom view showing the vicinity of the upper body 14).
The X-axis members 52 are respectively inserted into the slide support portions 72b fixed to the bottom surface of the upper body 14 so as to be slidable in the X-axis direction. Each end of the X-axis member 52 projects outward from the outer edge of the upper body 14. Therefore, the upper body 14 and the X-axis member 52 are relatively movable in the X-axis direction. Reference numeral 88 is a hydraulically driven X-axis cylinder which is an example of an X-axis drive mechanism. The X-axis cylinder 88 is the upper body 14
It is fixed to the bottom of the. The tip of the X-axis rod 90 of the X-axis cylinder 88 is fixed to the X-connector 54a. Therefore, by expanding and contracting the X-axis rod 90, the X-axis member 5
2 can be moved in the X-axis direction with respect to the upper body 14.

In this embodiment, the X connecting body 54a and the sub X connecting body 54c are the Y connecting body 60a and the sub Y connecting body 60, respectively.
Like c, it is pivotally attached via a shaft 56a, and also constitutes a swinging mechanism (C portion). The structure of the C part is the Y-connecting body 60a
Since the structure is the same as that of the swing mechanism including the sub-Y connecting body 60c, the description thereof will be omitted.
c is held in a horizontal state parallel to the X-connector 54a. On the other hand, for example, the X-axis leg portions 62a, 62b, 62c, 6
When 2d touches the ground, even if one of them steps on a protrusion such as a stone and the upper surface of the sub-X connecting body 54c is tilted, one plunger moves up and the other plunger moves down while the sub-X moves.
Since the connecting body 54c is urged downward, the four X-axis leg portions 6
2a, 62b, 62c and 62d can be continuously grounded in a stable state. Reference numeral 91 is a pair of spacers, which are provided so as to project on the outer surface of the X-coupling body 54a, and the tip end surface abuts the inner surface of the sub-X-coupling body 54c. Spacer 91
By providing the X connected body 54a and the sub X connected body 5
4c is kept constant.

Next, the operation of the walking robot thus constructed will be described. First, straight walking will be described with reference to FIG. In addition, the X-axis leg portion 62a indicated by ● in the drawing,
62b, 62c, 62d or Y-axis leg portions 66a, 66
b, 66c, 66d are in a supported state, and the X-axis leg portions 62a, 62b, 62c, 62d or the Y-axis leg portion 66 indicated by ◯.
a, 66b, 66c, and 66d indicate that they are in an unsupported state where they are not grounded (hereinafter the same).

The state shown in FIG. 6A is the X-axis leg portion 62a,
62b, 62c, 62d and Y-axis leg portions 66a, 66
All of b, 66c, and 66d are in the supporting state, and the walking robot 10 is stopped at the position. In this state,
The X-axis leg portions 62a, 62b, 62c, 62d are shortened to an unsupported state, and the X-axis cylinder 88 is driven to move the X-axis member 52 to the right (state of FIG. 6B). When the X-axis member 52 moves to the right, the X-axis leg portions 62a, 62b,
62c and 62d are extended to be in a supporting state, and the X-axis leg portion 6
2a, 62b, 62c, 62d and the Y-axis leg portion 66a,
All of 66b, 66c, and 66d are in a supporting state. Subsequently, the Y-axis leg portions 66a, 66b, 66c, 66d are shortened to an unsupported state, and the X-axis cylinder 88 is driven to move the main body portion 12 to the right (state of FIG. 6C). By repeating this series of operations, the main body 12 linearly advances in the X-axis direction. Needless to say, the same applies to the Y-axis direction.

Next, regarding straight line walking in an oblique direction, FIG.
Will be explained together. The state shown in FIG. 7A is the X-axis leg portion 62.
a, 62b, 62c, 62d and Y-axis leg portions 66a, 6
6b, 66c, 66d are all in a supported state, and the walking robot 10 is stopped at that position. In this state, the Y-axis leg portions 66a, 66b, 66c, 66d are shortened to an unsupported state, the X-axis cylinder 88 is driven to move the main body 12 to the right, and the Y-axis cylinder 74 is also driven. To move the Y-axis member 58 upward (FIG. 7B).
State). After that, the Y-axis leg portions 66a, 66b, 66c,
66d is extended to a supporting state, and X-axis leg portions 62a, 6
2b, 62c, 62d and Y-axis leg portions 66a, 66b,
All of 66c and 66d are in a supporting state. Subsequently, the X-axis leg portions 62a, 62b, 62c, 62d are shortened to an unsupported state, the Y-axis cylinder 74 is driven to move the main body 12 upward, and then the X-axis cylinder 88 is driven. X
The shaft member 52 is moved to the right (state of FIG. 7C).
By repeating this series of operations, the main body 12 advances obliquely to the upper right direction. That is, it is possible to move diagonally by combining linear walking in the X-axis direction and the Y-axis direction. It is also possible to change the direction by combining diagonal walking.

Next, turning of the main body 12 will be described with reference to FIG. The state shown in FIG. 8A is the X-axis leg portion 62a,
62b, 62c, 62d and Y-axis leg portions 66a, 66
All of b, 66c, and 66d are in the supporting state, and the walking robot 10 is stopped at the position. In this state,
The X-axis leg portions 62a, 62b, 62c, 62d are shortened to an unsupported state, the rotation cylinder 78 is driven, and the upper main body 14 and the X-axis member 52 are rotated clockwise about the shaft cylinder portion 24. (State of FIG. 8B). Upper body 14
When the X-axis member 52 rotates, the X-axis leg portions 62a, 6
2b, 62c, 62d are extended to be in a supporting state, and X-axis leg portions 62a, 62b, 62c, 62d and Y-axis leg portion 6 are provided.
All of 6a, 66b, 66c, and 66d are in a supporting state.
Subsequently, the Y-axis leg portions 66a, 66b, 66c, 66d are shortened to an unsupported state, the rotating cylinder 78 is driven, and the lower main body 16 and the Y-axis member 58 are moved clockwise about the shaft tubular portion 24. It is rotated to (state of FIG. 8C). By this rotation, the main body 12 can be rotated. By repeating this series of operations, it becomes possible to rotate the main body 12 at a desired angle.

Next, walking on the inclined surface will be described with reference to FIG. The state shown in FIG. 9A is a state in which the walking robot 10 is located in front of the inclined surface 90 while moving to the right, and the X-axis leg portions 62a, 62b, 62c, 62d are in the unsupported state, and Y The shaft legs 66a, 66b, 66c, 66d are in a supported state. In order for the walking robot 10 to climb the inclined surface 90, it is necessary to incline the main body portion 12 substantially parallel to the inclined surface 90, so that the Y-axis leg portions 66a, 66b, 6 are provided.
6c and 66d are separately expanded and contracted on the inclined surface 90 side and the opposite side, and the main body 12 is inclined substantially parallel to the inclined surface 90 (state of FIG. 9B). Walking robot 1 in this state
0 can climb the slope 90 by performing the straight advance described above. At this time, since ball joints are included in the parts corresponding to the respective ankles, it is possible to firmly ground. If the inclination angle of the inclined surface 90 is large, climbing in a straight line may cause imbalance and fall, so in that case, the inclined surface 90 may be raised in an oblique direction. Also, each X-axis leg portion 62a, 62b, 62c, 6
2d and Y-axis leg portions 66a, 66b, 66c, 66d by attaching a distance measuring sensor for measuring the distance to the ground, X-axis leg portions 62a, 62b, 62c, 62d and Y
The amount of expansion and contraction of the shaft leg portions 66a, 66b, 66c, 66d can be computer controlled, and more precise control can be performed.

Next, the course change will be described with reference to FIG. When a conventional robot changes its course at a right angle, the course is changed in a path that draws an arc, so a so-called inner ring difference occurs, and the width of the course needs to exceed the width of the robot. However, in the walking robot 10 of the present embodiment, the walking in the Y-axis direction and the walking in the X-axis direction are combined, or the main body 12 is turned, so that, for example, as shown in the drawing, the movement in the Y-axis direction is prevented. Since the movement including the turning to the X-axis direction can be immediately performed, the problem of the inner wheel difference does not occur, and it is possible to enter the path 94 having the same width as the width of the walking robot 10. Further, it is also possible to change the course at an acute angle by applying turning of the main body 12.

Next, the progress of rough terrain will be described with reference to FIG. In FIG. 11, the walking robot 10 moves to the right.
When the road surface has a convex portion 96 or a concave portion 98 on the road surface, the X-axis leg portions 62a, 62b, 62c, 62d and the Y-axis leg portions 66a, 66b, 66c, 66d are expanded / contracted so that the main body 12 Interference with the convex portion 96 of the X-axis leg portion 6
2a, 62b, 62c, 62d and the Y-axis leg portion 66a,
It is possible to prevent the 66b, 66c, 66d from falling into the recess 98. In particular, if the relative movement amount of the main body 12 and the X-axis member 52 and / or the Y-axis member 58 can be controlled, interference is prevented while straddling the convex portion 96 and the concave portion 98 while adjusting the movement amount. It is also possible.

Regarding the operation of the walking robot 10, in addition to the above, the X connecting body 54b, the sub X connecting body 54c and the Y connecting body 60b, the sub Y connecting body 60c, the X axis leg portion 62a,
62b, 62c, 62d and Y-axis leg portions 66a, 66
b, 66c and 66d are provided respectively, and the distances between the X-coupling body 54b, the sub-X-coupling body 54c and the Y-coupling body 60b, the sub-Y-coupling body 60c and the road surface are constantly measured, and a computer is used. By controlling so that the upper surface of the lifting table 18 is always kept horizontal, the liquid in the container can be transferred without spilling, and it can be applied to, for example, a transfer robot that transfers liquid while climbing stairs.
As an application, in addition to a transport robot, it can be used as a work robot in which various mechanical devices are mounted on the lifting table 18 or the like to perform unmanned work in a dangerous environment. The various preferred embodiments of the present invention have been described above,
The present invention is not limited to the above-described embodiments, and the number of X-axis leg portions and Y-axis leg portions is not limited to four, and may be any number as long as the walking robot can be supported in a well-balanced manner.
Needless to say, many modifications can be made without departing from the spirit of the invention.

[0028]

When the walking robot according to the present invention is used,
The X-axis leg and the Y-axis leg that support the main body, the X-axis member, and the Y-axis member can be expanded and contracted in the Z-axis direction by receiving the driving force from the hydraulic drive unit. By extending the X-axis leg part or the Y-axis leg part, it is possible to straddle obstacles on the path, so that it can be used on a place other than a flat ground. In particular, since the X-axis drive mechanism, the Y-axis drive mechanism, the first Z-axis drive mechanism, and the second Z-axis drive mechanism are hydraulically driven, a large force can be exerted. Further, since the X-axis leg or the Y-axis leg can support the main body, the X-axis member, and the Y-axis member, while the X-axis leg or the Y-axis leg is supporting, the main body, the X-axis member, or Since the Y-axis member can be moved to proceed and can be easily balanced even while walking, control becomes easy even when performing computer control. In particular, when the configuration of claim 2 is adopted, it becomes possible to quickly change the direction of the walking robot.
Further, when the configuration of claim 3 is adopted, the flat ground can be moved by the self-propelled mechanism that rolls the roller, and a remarkable effect can be achieved such that the moving time can be shortened.

[Brief description of drawings]

FIG. 1 is a plan view showing an embodiment of a walking robot according to the present invention.

FIG. 2 is a side view showing the main part thereof.

FIG. 3 is a plan view showing a lower body and its vicinity.

FIG. 4 is a side view showing the swing mechanism in the vicinity of part A of FIG. 3;

FIG. 5 is a bottom view showing the upper main body and its vicinity.

FIG. 6 is an explanatory diagram showing movement in a linear direction.

FIG. 7 is an explanatory diagram showing movement in an oblique direction.

FIG. 8 is an explanatory diagram showing turning of the main body.

FIG. 9 is an explanatory diagram showing walking on a slope.

FIG. 10 is an explanatory diagram showing a direction change in a right angle direction.

FIG. 11 is an explanatory view showing walking on an uneven road surface.

[Explanation of symbols]

 10 Walking Robot 12 Main Body 14 Upper Main Body 16 Lower Main Body 24 Shaft Cylinder 26 Vertical Cylinder 32 Engine 36 Oil Pump 46 Rear Roller 48 Hydraulic Motor 50 Front Roller 52 X Axis Member 58 Y Axis Members 62a, 62b, 62c, 62d X-axis leg portion 66a, 66b, 66c, 66d Y-axis leg portion 68a, 68b, 68c, 68d First Z-axis cylinder 70a, 70b, 70c, 70d Second Z-axis cylinder 74 Y-axis cylinder 78 Rotation cylinder 88 X-axis cylinder

Claims (3)

[Claims] 1. An X-axis member arranged in the X-axis direction, a Y-axis member arranged in the Y-axis direction perpendicular to the X-axis, and on the X-axis member and the Y-axis member, X-axis member and Y
A main body part that is relatively movable in the length direction of the shaft member, and is provided in the X-axis member, is expandable and contractable in the Z-axis direction that is orthogonal to the X-axis direction and the Y-axis direction, and is in a supported state. In this case, an X-axis leg that can support the main body, the Y-axis member, and the X-axis member, and a Y-axis member that is expandable and contractible in the Z-axis direction. A Y-axis leg portion capable of supporting a main body portion, an X-axis member and a Y-axis member; an X-axis drive mechanism for moving the main body portion in the X-axis direction relative to the X-axis member; A Y-axis drive mechanism for moving the main body in the Y-axis direction relative to the Y-axis member, and a first Z-axis drive mechanism for extending and contracting the X-axis leg in the Z-axis direction. A second Z-axis drive mechanism for expanding and contracting the Y-axis leg portion in the Z-axis direction; and the X-axis drive machine. A walking robot comprising: a structure, a Y-axis drive mechanism, a first Z-axis drive mechanism, and a hydraulic drive unit that supplies a driving force to the second Z-axis drive mechanism. 2. The X-axis member above the X-axis member
The first main body constituent part and the second main body are composed of a first main body constituent part movable in the axial direction and a second main body constituent part movable in the Y-axis direction on the Y-axis member. And a rotational drive mechanism for rotating the first main body configuration section and the second main body configuration section with respect to each other, wherein the hydraulic drive section includes the rotational drive mechanism. The walking robot according to claim 1, wherein a driving force is supplied to the mechanism. 3. A self-propelled mechanism for rolling and moving a roller capable of supporting the main body and the like when the X-axis leg and the Y-axis leg are not supported. The walking robot according to claim 1.