JPH0687475A - Walking type movable mechanism utilizing rotary support expansion leg - Google Patents

Abstract

PURPOSE:To improve the degree of freedom of the movement, and reduce the height of a movable mechanism by using four rotary support expansion legs, in which the lower ends of three expansible operating arms are supported by a support leg body freely to rotate and the upper ends of the operating arms are fitted to a base with a space to turn freely. CONSTITUTION:A support leg body 5 is moved fore and aft by extending and shrinking a piston 2. Namely, the support leg 5 can be moved in any direction by controlling the expansion of each operating arm 1, 2, 3. Consequently, three rotary support expansion legs 7B, 7C, 7D among four rotary support expansion legs 7 fitted to a base 8 are grounded, and the residual one leg is moved in the desired direction (a) and grounded. Next, one leg 7B among the grounded three legs is moved in the same direction (a) and grounded, and next, one leg 7C of the remaining two legs is moved, and finally, the remaining one leg 7D is moved in the same direction (a), and a movable mechanism thereby travels one step with four operations.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a walking type moving mechanism using a rotary support telescopic leg capable of moving on an uneven ground such as a construction site or a floor where obstacles exist.

[0002]

2. Description of the Related Art Conventionally, as a mechanism for walking on uneven terrain, as shown in FIG. 5 (A), A1, A2, B1 slightly inside the vertices A, B, C of the lower triangle indicated by a two-dot chain line. , B2
, C1 and C2 with 6 telescopic operating arms 20, 21, 2
2, 23, 24, 25 are pivoted at their lower ends, and their upper ends are slightly inside a1, a2, b1, b2 of the vertices a, b, c of the upper triangle shown by the two-dot chain line with the triangle ABC and its vertices offset.
, C1 and c2, and (B) of FIG.
As shown in (C), a total of six extendable and retractable operating arms 26, two on the inner side of the vertices of the lower triangular frame DEF and the upper triangular frame def, in which the triangular vertices are offset and stacked.
It is known that 27, 28, 29, 30, and 31 are attached (refer to "6th Intelligent Mobile Robot Symposium Proceedings", May 21, 1992, pages 11 to 13).

In FIG. 6, (A) and (B) of FIG.
A walking type movement mechanism mechanically simplified from the one described in (C) is shown, and when this mechanism is described, each of the lower triangular frames 35 formed by the three beams 32, 33, 34 is shown. Attach the three short legs 36, 37, 38 at the top,
Three beams 39, 4 are provided between the vertices of the lower triangular frame 35.
The upper triangular frame 42 (obliquely shaded for easy distinction) formed by 0 and 41 is positioned, and the long legs 43, 44 and 45 having the same diagonal lines are attached to the respective vertices, and the lower triangular frame 35 is attached. Of the beams 32, 33, 34 and the inside of the vertices of the beams 39, 40, 41 of the upper triangular frame 42 are sequentially expandable and contractable operating arms 46, 47, 48, 49 ,.
50 and 51 are pivotally attached.

The walking operation of the walking type moving mechanism of FIG. 6 is as shown in FIG.
(A) to (D) of FIG. 8 and (E) to (L) of FIG. 8, first, in (A) and (B) of FIG.
After pulling up the lower triangular frame 35 by shrinking 6 to 51 (the operating arm is represented by only one line in FIGS. 7 and 8 because it is an explanatory view), (C), (D)
At first, the operating arms 47, 48, 50 and 51 are first extended, and then the operating arms 46 and 49 are extended to move the lower triangular frame 35 to the right of the upper triangular frame 42 to be grounded. Hereinafter, as shown in (E) to (L) of FIG. 8, the operating arms 46 to 51 of the lower triangular frame 35 and the upper triangular frame 42 are respectively expanded and contracted (E), and the upper triangular frame as shown in (F). 42
After moving up, as shown in (G) and (H), the upper triangular frame 42 is moved to the right of the lower triangular frame 35 and then grounded, and as shown in (I) and (J), After raising the frame 35, walking can be carried out by repeating the operation of advancing the lower triangular frame 35 to the right of the upper triangular frame 42 and then grounding it as shown in (K) and (L). At that time, by appropriately controlling the degree of expansion and contraction of the operating arms 46 to 51, the movement in the front-back, left-right, and diagonal directions and the turning movement can be performed.

[0005]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention
In the walking mechanism shown in (B), (C), and FIG. 6, since the six sides formed by the two vertically separated triangle frames are connected by the six extendable and retractable operating arms, The upper and lower triangular frames can be moved three-dimensionally by controlling the length of the upper and lower sides. However, in these mechanisms, the legs of the upper triangular frame and the legs of the lower triangular frame are constrained to each other. However, it has a drawback that it cannot be used in a place where the height is limited due to the limited movement of the robot and limited freedom of movement.

An object of the present invention is to solve these drawbacks and to obtain a walking type moving mechanism which can be used even in a place where the height from the ground is low and has a high degree of freedom of movement.

[0007]

In order to solve the above problems, the present invention provides four rotary support telescopic legs in which the lower ends of three telescopic operating arms are rotatably supported by a support leg. A walking type moving mechanism using rotary support telescopic legs rotatably attached to the base with the upper ends of the operating arms spaced apart from each other, and the lower ends of the three telescopic operating arms rotatably supporting legs. 6 rotary support telescopic legs supported on each of the working arms
The rotatable attachments on the upper end of the book are concentrated in the center of the base, and the rotatable attachments on the upper ends of the other two actuating arms are adjacent to each other so that the actuating arms open in a V shape. It provides a means for a walking type moving mechanism using attached rotary support telescopic legs.

[0008]

Embodiments of the present invention will be described with reference to the drawings. In the first embodiment, as shown in FIG. 2, three expandable pistons 1a, 2a, 3a and cylinders 1b, 2b,
A support leg 5 for fixing the lower ends of the pistons 1a, 2a, 3a of the operating arms 1, 2, 3 configured as 3b to one rotation support 4 and rotatably supporting the rotation support 4.
Further, there is shown a rotary support telescopic leg 7 in which a mounting portion 6 capable of rotating support is mounted on the upper end of the cylinder so as to form an appropriate triangle. In FIG. 1, the moving mechanism main body includes four rotation support telescopic legs 7 on the back surface of a base 8 and a mounting portion 6 forming a triangle with the upper ends of the three operating arms 1, 2, and 3 spaced apart.
Installed and configured by.

The walking operation of the above walking type moving mechanism will be described. In FIG. 2, since the mounting portion 6 at the upper end of each cylinder of the rotary support telescopic leg 7 is in a fixed state, the piston 1a
Is extended and the piston 3a is contracted, the lower ends of the operating arms 1 and 3 move the supporting leg 5 to the right. At this time, the support leg 5 moves in the front-back direction by expanding and contracting the piston 2. That is, each operating arm 1,
By controlling the expansion and contraction of a few, the support leg 5 can move in all directions. Therefore, in FIG. 1, four of the rotary support telescopic legs 7 mounted on the base 8 are grounded, and the other three are moved to a desired direction a and grounded. Grounded to 3
One of the stands 7B is moved in the same direction a to be grounded,
Next, one of the remaining two units, 7C, is
By moving the table 7D in the same direction a, one step can be performed with a total of four movements.

In the second embodiment, six rotary support telescopic legs 7 shown in FIG. 2 are used, and three operating arms 1 of each rotary support telescopic leg 7,
One of the working arms 2, 3, for example, the mounting portion 6 at the upper end of 1 is concentrated in the central portion of the base 8 and the mounting portions 6, 6 at the upper ends of the other two working arms 2, 3 are The operating arms 3 and 2 of the adjoining rotary support telescopic legs 7 are formed by adjoining the mounting portions 6 and 6 of their upper ends so that they are V-shaped.

The walking operation of the above-mentioned walking type moving mechanism is the first
Similar to the embodiment, by extending and contracting the three actuating arms 1, 2, and 3, every other one of the three rotating support telescopic legs 7 is moved in a desired direction to be grounded, and then the remaining three units are moved 2 You can make one step forward in motion.

The moving mechanism main body of the first embodiment is shown as having four rotary support telescopic legs 7 and six in the second embodiment, but it is not limited to four and six. Although not shown, five units may be used. In this case, one of the rotary support telescopic legs 7 can be moved once, and then the remaining four can be moved one step by three movements of moving two by two.

FIG. 4 shows a mechanism capable of performing the same operation as that of the rotary support telescopic leg 7 of FIG. 2, in which a column 1 having bearings 11 for the rotary shaft 10 on the upper ends of the disk 9 on both ends in diameter.
2, the rotating shaft 10 is provided with a bearing 15 at a bottom side 14 of a small frame 13 which is rotatable in the central portion of the rotating shaft 10 and orthogonal to the rotating shaft 10, and large frames 16 on both outer sides thereof. A bearing 17 that is rotatable in the same direction as the rotation direction of the small frame 13 is provided, a support piece 19 having bearings 18 of the pistons 1a and 1c is pivotally supported on the bearing 17, and a piston 1b is provided at the upper end of the small frame 13. Bearing 18 is attached to the piston 1
Three-dimensional rotation is possible for a, 1b, and 1c.

[0014]

According to the first aspect of the present invention, since the four rotary support telescopic legs can freely move without being supported by the legs of the upper and lower triangular frames as in the prior art, the degree of freedom of movement is high. Moreover, since the upper and lower triangular frames are not necessary, the height of the moving mechanism can be reduced, and the moving mechanism can be used in a place of low height. According to the invention of claim 2, in addition to the effect of the invention of claim 1, since the six rotary support telescopic legs are divided into two groups and can be moved by two movements of each group, it is possible to walk quickly.

[Brief description of drawings]

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

FIG. 2 is a perspective view of a rotary support telescopic leg.

FIG. 3 is a perspective view showing a second embodiment of the same.

FIG. 4 is a perspective view showing another embodiment of the rotary support telescopic leg.

5A is a perspective view showing a conventional example, FIG. 5B is a plan view showing another conventional example, and FIG. 5C is a front view of FIG.

FIG. 6 is a perspective view showing a conventional example in a simple manner.

7A to 7D are explanatory views of a moving method of the conventional example shown in FIG.

8 (E) to (L) are explanatory views of a moving method of the conventional example shown in FIG.

[Explanation of symbols]

 1 Working Arm 2 Working Arm 3 Working Arm 5 Support Leg 6 Mounting Part 7 Rotation Support Telescopic Leg 8 Base

Claims (2)

[Claims] 1. Three telescopic actuating arms (1),
(4) Rotating support telescopic legs (7) rotatably supported at the lower ends of (2) and (3) on a support leg body (5) are provided in respective operating arms (1), (2) and (3). A walking-type moving mechanism that uses rotary support telescopic legs that are rotatably attached to a base (8) with their upper ends spaced apart. 2. Three telescopic actuating arms (1),
Six rotary support telescopic legs (7) whose lower ends (2) and (3) are rotatably supported by a support leg (5) are attached to a rotatable mounting portion of one upper end of each working arm ( 6) is concentrated in the central part of the base (8), and the rotatable attachment parts (6) and (6) at the upper ends of the other two operating arms are arranged so that the operating arms open in a V shape. A walking type moving mechanism that uses rotating support telescopic legs installed adjacent to each other.