JPH0664569A - Walking type moving mechanism stabilizing method and device therefor - Google Patents

Abstract

PURPOSE:To prevent an unstable state generated by the shift of the center-of- gravity of the whole moving mechanism caused by the mutual movement of vertically superposed triangular bodies in the case of moving by walking type moving mechanism so as to enable free movement with wide steps. CONSTITUTION:Triangular bodies 1, 3 with expansion leg bodies 7 provided at the respective vertex parts 4 of triangles are vertically superposed. After contracting the expansion leg bodies 7 of one triangular body 1 to expand/ contract the length between the respective vertex parts 4, 4, the expansion leg bodies 7 in the contracted state are elongated, and the expansion leg bodies 7 of the other triangular body 3 are contracted to expand/contract the length between the respective vertex parts 4, 4. The upper part of the triangular body 1 is provided with a triangular weight plate 15 capable of moving each vertex part 4a, a lateral frame 17 for moving a moving body 19, or a longitudinal frame 21 provided on the moving body 17 orthogonally to the moving body 19.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for stabilizing a walking type moving mechanism capable of stably moving on uneven terrain such as a construction site.

[0002]

2. Description of the Related Art This applicant has already applied for a walking type moving mechanism as a patent application No. 92921 in 1991,
As shown in FIG. 5, the mechanism is such that a lower triangular main body 23 is interposed between an upper triangular main body 21 and a lowermost triangular main body 22 forming an equilateral triangle, and the apexes of the upper and lower triangular main bodies 21 and 23 are respectively apexes. A telescopic leg body 27 composed of a telescopic leg 26 which is vertically telescopic by a telescopic leg hydraulic cylinder 25 is attached to the front end of the portion 24, and a moving cylinder 28 is pivotally attached to the apex portion 24 between the upper and lower triangular bodies 21 and 22. The base end 3 of the piston rod 30 of the expansion / contraction body 31 that is attached to the moving cylinder 28 and its piston rod 30.
2 is pivotally mounted between the apex portion 24 of the lower triangular body 23 and a hydraulic cylinder 25 attached to the front end thereof.

[0003]

When the above walking type moving mechanism is used to move in any direction, the upper and lower triangular main bodies 21 and 23, which are vertically stacked, move relative to each other, and both triangular main bodies 21 and 23 are moved. Since the point of synthesizing the center of gravity of 23 is the center of gravity G of the whole, it is positioned on the slope 33 as shown in FIG. 6 and inclined, or when the distance between the telescopic legs 27 is too wide as shown in FIG. The center of gravity G of the whole is easily displaced from the support position of the telescopic leg 27 and becomes unstable.
Similarly, when the above is mounted on the upper triangular body 21, there is a drawback that the center of gravity G of the whole is easily dislocated from the supporting position of the expandable leg 27 and becomes unstable and falls.

The present invention solves these drawbacks, and obtains a stabilizing method of a mechanism and a stabilizing device for the mechanism, which allows the walking type moving mechanism to freely move with a wide stride in a state where a working machine or the like is mounted. This is an issue.

[0005]

In order to solve the above-mentioned problems, the present invention provides (1) an expandable leg body of one of the triangular main bodies which is formed by vertically stacking triangular body bodies each having an extendable leg body at each vertex of the triangle. After expanding and contracting between the corresponding apexes of each triangle body in a reduced state by an appropriate length, the extendable leg body in the reduced state is extended, and then the extendable leg body of the other triangle body is reduced to Similar to the above, the distance between the vertices is expanded / contracted by an appropriate length, and the vertices of the triangular weight plate provided corresponding to the lower triangle main body on the upper part of the upper triangle main body and the corresponding three vertexes of the upper triangle main body. A method of stabilizing a walk-type moving mechanism that expands and contracts in a direction that balances with the movement of the center of gravity due to the movement of each triangular body, (2) The triangular main body provided with telescopic legs at each vertex of the triangle. By stacking them on top of each other, In addition to installing a stretchable body between the points, a triangular weight plate having apex corresponding to each apex of the lower triangular body is provided on the upper part of the upper triangular body, and each apex and three apexes of the upper triangular body are provided. Stabilizer for walking type moving mechanism, which is provided with an actuating member that expands and contracts between the parts, (3)
Expanding and contracting the appropriate lengths between the corresponding vertices of each triangle body while the triangle bodies with the telescopic legs provided at each vertex of the triangle were stacked one above the other and the telescopic legs of one triangle body were reduced. After that, the telescopic leg in the contracted state is extended, then the telescopic leg of the other triangular body is reduced to expand or contract the appropriate distance between the apexes as described above, and the upper or lower triangular body or the lower part by this expansion or contraction. A method of stabilizing a walking type moving mechanism that moves a moving body in a direction opposite to the moving direction of a triangular body,
(4) A moving body having a triangular main body provided with elastic legs at each apex of a triangle, stacked vertically to attach an elastic body between corresponding apices of each triangular main body, and having an operating member on the upper triangular main body. (5) A moving body having an actuating member orthogonal to this is provided on a lateral frame that slidably moves a moving body having an actuating member. A means comprising a stabilizer of the walking type moving mechanism of the above (4) provided with a slidable vertical frame is provided.

[0006]

The operation of the walking type moving mechanism of the present invention will be described. FIG. 4 is an explanatory view showing the operating principle of the moving mechanism shown in FIG. 1, and FIG. 4A shows an upper triangular main body 1 and a lower triangular main body 3 which are superposed so that their centers P and Q overlap each other. The apexes a, a, a, b, b, and c, c of the first and the third vertices show a basic shape connected by an elastic body 11 having the same length.

In order to move the moving mechanism in parallel in the first embodiment, as shown in FIG. 4 (B), the telescopic legs of the apexes of the upper triangular body 1 are contracted to the telescopic legs of the lower triangular body 3. The stretchable body 11 between the vertices a and a in the state in which the
By extending a, contracting the elastic body 11c between the vertices c and c, and contracting the elastic body 11b between the vertices b and b so as to be shorter than the elastic body 11c between the vertices c and c. The center P of the upper triangular body 1 can be moved so that its center P is substantially parallel to the center Q of the lower triangular body 3 as indicated by the arrow R, and the moving mechanism is caused to perform parallel movement and swivel simultaneously as indicated by the arrow. As shown in FIG. 7C, the state of the telescopic legs of each of the triangular bodies 1 and 3 is the same as in FIG. The stretchable body 11b between the parts b and b is stretched, and the stretchable body 11c between the apexes c and c is stretched to substantially the same extent as between the b and b, so that the center P of the upper triangular body 1 is lower. Moves diagonally upward as shown by arrow S from the center Q of the b, c can be moved to pivot as shown by the arrow T. That is, since the relative position and orientation of the upper and lower triangular bodies 1 and 3 can be determined by the length of the stretchable body 11a connecting the three vertex portions, the position of one of the triangle bodies is extended. It is possible to move the moving mechanism to any position by fixing the moving mechanism.

Next, as shown in FIG. 3D, the state of the telescopic legs of each of the triangular main bodies 1 and 3 is the same as that in FIGS. 11a is contracted, the elastic body 11b between the vertices b and b is further contracted from between a and a, and the elastic body 11c between the vertices c and c is elongated from between b and b, so that the upper triangular main body 1 is formed. The center P moves diagonally upward to the left from the center Q of the lower triangular body 3, and when a working machine or the like is attached to the lower triangular body 3, the entire body tilts to the upper left side and becomes unstable. At this time, the vertices of the triangular weight plate 15 indicated by the one-dot chain line at the top and the apices 14a, 14c between the vertices a, a and c, c of the lower triangular body 1 hardly change, and b, b
When the elastic body 14b between them is remarkably reduced, the center U of the triangular weight plate 15 moves below the center Q of the lower triangular body 3, and the center of gravity V of the walking type moving mechanism as a whole becomes the center Q of the lower triangular body 3. It can approach and be in a stable state.

Explaining the second embodiment, when the whole walking type moving mechanism is in an unstable state as shown in FIG. 4 (B) or FIG. 7, the moving body in the long groove 18 of the lateral frame 17 is moved. By moving the position of 19 to the left by the actuating member 14a, the balance of the entire moving mechanism can be maintained.

The second embodiment is capable of correcting an imbalance in one direction, whereas the third embodiment is also capable of correcting an imbalance in two vertical and horizontal directions and an imbalance between them. Alternatively, the actuating members 14b orthogonal to this can be appropriately moved separately or simultaneously to correct the imbalance.

[0011]

Embodiments of the present invention will be described with reference to the drawings. In the first embodiment, as shown in FIG. 1, a lower triangular body 3 is provided between an upper triangular body 1 and a lowermost triangular body 2 forming an equilateral triangle, and a vertex portion 4 thereof has an upper triangular body 1 and a lowermost triangular body. 2 so as to project from the bottom sides 1a, 2a of the two, and each vertex portion 4 of each of the triangular bodies 1, 2, 3
A telescopic leg body 7 made up of telescopic legs 6 which extend and contract in the vertical direction by a hydraulic cylinder 5 for telescopic legs is attached to the front of the. Each vertex 4 between the upper and lower triangular bodies 1, 2
A moving cylinder 8 is pivotally mounted 9 between the movable cylinder 8 and each telescopic leg 7, and the moving cylinder 8 and its piston rod 10 are connected.
The base end 12 of the piston rod 10 of each expandable body 11 consisting of
Are connected to the hydraulic cylinders 5 for telescopic legs mounted in front of the apexes 4 of the lower triangular body 3 to form a walking type moving mechanism A. In this embodiment, an expandable body similar to the moving cylinder 8 is pivotally mounted as an operating member 14 on each pivot point 9 of the moving cylinder 8 of the walking type moving mechanism A, and the upper part of the upper triangular body 1 is connected. The tip end of the piston rod 10a of each actuating member 14 is pivotally attached 16 to each vertex 4a of the triangular weight plate 15 having the same shape as the lower triangular body 3.

In the second embodiment, as shown in FIG. 2, the walking type moving mechanism A shown in FIG. 5 previously filed by the applicant.
The horizontal frame 17 is fixed on the upper triangular body 1 of the
The moving body 19 is slidably loosely inserted into the long groove 18 by the actuating member 14a, and the working machine, the loading platform 20 and the like are mounted on the moving body 19.

As a third embodiment, as shown in FIG. 3, on the horizontal frame 17 in FIG. 2 of the second embodiment, a vertical frame 21 is orthogonal to the horizontal frame 17 on the moving body 19 of the horizontal frame 17. Fixed, vertical frame 2
The movable member 19a is moved into the long groove 22 of No. 1 by the operating member 14b.
Is slidably loosely inserted, and the working machine, the loading platform 20 and the like are mounted on the moving body 19a.

[0014]

According to the method of the invention of claims 1 and 3, the forward / backward / leftward / rightward movement and the turning movement can be simultaneously performed by using the expandable body of the same form, and the operation is simple, but the moving mechanism is Is located on a slope and tilts, or when the distance between the telescopic legs is too wide and the center of gravity of the entire body is biased, and the moving mechanism becomes unstable, the bias of the center of gravity of the triangular weight plate and the moving body is restored. Therefore, even if there is an inclined surface and the stride is wide, it is possible to move stably.

In the inventions of claim 2, claim 4 and claim 5, the basic mechanism of the moving mechanism is constituted only by the telescopic legs attached to each vertex of the upper and lower triangular bodies and the telescopic body acting on each vertex. In addition, the structure is simple, and the aircraft topples only by mounting the triangular weight plate on the upper triangular body or by adding one moving body having an operating member or a moving body having two intersecting operating members. Without doing so, it is possible to obtain a stabilizer for a walk-type moving mechanism that allows a significant walk.

[Brief description of drawings]

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

FIG. 2 is a perspective view showing a second embodiment of the present invention.

FIG. 3 is a perspective view showing a third embodiment of the present invention.

FIG. 4 is an explanatory diagram showing the operating principle of the first embodiment of the present invention.

FIG. 5: Patent application No. 9 of 1991 filed by the applicant earlier
It is a perspective view which shows the Example of the invention described in 2921.

FIG. 6 is a front view illustrating the operation of FIG.

FIG. 7 is a front view illustrating the operation of FIG.

[Explanation of symbols]

 1 triangular main body (upper triangular main body) 3 triangular main body (lower triangular main body) 4 apex 4a apex 7 telescopic leg 11 telescopic body 14a operating member 14b operating member 15 triangular weight plate 17 horizontal frame 19 moving body 19a moving body 21 vertical frame

Claims (5)

[Claims] 1. A triangular main body (1) or (3) having expandable and contractible legs (7) at each vertex (4) of the triangle is vertically stacked to expand or contract one triangular main body (1) or (3). After the leg body (7) is contracted, the triangular body (1), (3) is expanded and contracted by an appropriate length between the corresponding three apexes (4), (4), and then the contracted state is obtained. The telescopic leg (7) is extended, and then the telescopic leg (7) of the other triangular body (3) or (1) is contracted to appropriately set the space between the apexes (4) and (4) as described above. Of the triangular weight plate (15) provided on the upper part of the upper triangular body (1) corresponding to the lower triangular body (3) and the upper triangular body (1).
The stability of the walking-type moving mechanism, which is designed to expand and contract between the corresponding three apexes (4) so as to expand and contract in a direction that balances with the movement of the center of gravity due to the movement of each triangular body (3) or (1). Method. 2. The triangular bodies (1) and (3), each having a telescopic leg (7) provided on each vertex (4) of the triangle, are vertically stacked to correspond to each of the triangular bodies (1) and (3). The expandable body (11) is attached between the three apexes (4) and (4), and the apex corresponding to each apex (4) of the lower triangular body (3) is provided on the upper part of the upper triangular body (1). A triangular weight plate (15) having a portion (4a) is provided, and each vertex (4
A stabilizer for a walk-behind movement mechanism provided with an actuating member (14) extending and contracting between a) and three apexes (4) of the upper triangular body (1). 3. A triangular main body (1) or (3) having an expandable leg (7) at each apex (4) of the triangle is vertically stacked to expand or contract one triangular main body (1) or (3). After the leg body (7) is contracted, the corresponding apex portions (4) and (4) of the triangular bodies (1) and (3) are expanded or contracted by an appropriate length, and then the retractable leg body is contracted. (7) is extended, and then the telescopic leg (7) of the other triangular main body (3) or (1) is reduced to a suitable length between the apexes (4) and (4) as described above. The upper triangular body (1)
Alternatively, a method for stabilizing a walking type moving mechanism, in which the moving bodies (19) and (19a) are moved in a direction opposite to the moving direction of the lower triangular body (3). 4. The triangular bodies (1) and (3), each having a telescopic leg (7) provided on each vertex (4) of the triangle, are vertically stacked to correspond to each other. A horizontal frame (a) in which an expandable body (11) is mounted between the apexes (4) and (4) and a movable body (19) having an actuating member (14a) on the upper triangular body (1) is slidable. A stabilizer for a walk-behind movement mechanism provided with 17). 5. A moving body (1) having an actuating member (14a).
9) A walking type moving mechanism provided with a vertical frame (21) on which a movable body (19a) having an actuating member (14b) is slidable on a horizontal frame (17) on which the movable body (9) is slidable. Stabilizer.