JPS59179463A - Four-leg walking machine - Google Patents

Abstract

PURPOSE:To provide a four-leg walking machine in simple construction by furnishing four legs capable of relative displacement in vertical direction, equipping them with possibility of shifting the center of gravity, and thereby eliminating excessive degree of freedom. CONSTITUTION:This four-leg walking machine has two rigid frames 2, 3, which are formed separately and capble of relative displacement. These frames 2, 3 are coupled together through an expansion frame 4. Legs 5, 6, 7, 8 are displaceable in the vertical direction with respect to each of the frames 2, 3 to which they are fixed, and this vertical motion of each leg is driven by either of the motors 11, 12, 13, 14 mounted on the frames 2, 3. Further is installed a balance 23, which is rotatable round a rotary shaft 22 and capable of relative rotational displacement with the body 21. This balance 23 is to restrict location of the center of gravity of this four-leg walking machine, and its rotational position will determine the center of gravity.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a walking machine such as a robot or a riding machine, and particularly to a mobile machine that is advantageous when moving on uneven ground or the lunar surface.

The minimum conditions that must be met for a mobile machine to move over uneven ground are (a) - The main body can always be kept horizontal with respect to the entire gravity direction, and ([1] the machine can move at any position on a flat surface. It means that you can move the body in any direction.

Conventionally, there have been multilegged walking machines such as robot walking devices that have mechanisms with four or more legs similar to animal legs to perform walking motions, but they generally lack stability. In particular, when walking on uneven ground, as the feet move, the base supported by the feet tilts or swings up and down, back and forth, or left and right. When loading and transporting goods on a bicycle, there is a problem in that it is difficult to move the goods while maintaining a constant vertical position regardless of the topography of the walking surface, and a solution to this problem is desired. ing. Furthermore, as for the moving machine Jiyumaro, basically, as shown in Fig. 1, the simplest three-wheeled moving ff1l+ machine will be explained as an example.
The requirements are one degree of freedom for steering, one degree of freedom for rotational drive of the steering wheel, one degree of freedom for vertical movement of the body, and three degrees of freedom for rotation of the body about its three-dimensional axis. 6 degrees of freedom in total, or 1 degree of freedom for steering, 1 degree of freedom for rotational drive of the steering wheel, 3 degrees of freedom for vertical movement of each wheel, and 1 degree of freedom for rotation of the main body. it
Six degrees of freedom are required (in the drawings, [phase] represents degrees of freedom; the same applies hereinafter).

However, conventional multilegged walking machines satisfy sufficient conditions.
In general, 8 legs have 3 degrees of freedom located at points in three-dimensional coordinates in space, and for n legs - C total 3.
n Coordinated control of Yamamaro.

However, with this conventional method, although it is possible to select scaffolds at a microscopic level, the walking speed is extremely slow and the accuracy is low.
t 3 n driving devices (for example, motors) are required, the structure is complicated, and control is extremely complicated. Furthermore, cooperative control of eight legs is required during steering, and there is a desire to develop improved technology for these points.

This invention was made in view of the circumstances mentioned in item 11 above, and easily satisfies the minimum requirements for a walking machine.
A wheeled mobile machine can move freely to any place, giving it freedom 1. The structure is simple with less a and 8
The coordination control of the legs is extremely 11! 1. You can simply walk, walk) Mokkou is high and you can move to any position,
The purpose of this invention is to provide a four-legged walking machine.

Corresponding to this purpose, the quadrupedal walking machine of the present invention includes at least two frames that are movable relative to each other, and an extendable and retractable frame that is pivotally connected to both frames at pivot points near both ends. a frame, and a total of four legs that can be displaceable relative to the frame to which the pivot point is attached to both frames;
It is also characterized by being constructed so that the center of gravity can be moved.

Hereinafter, details of the present invention will be explained with reference to the drawings showing one embodiment.

In FIGS. 2, 3, and 4, reference numeral a3 indicates a quadrupedal walking machine, and the quadrupedal walking machine 1 consists of two rigid frames 2. The two frames 2.3 are connected to a telescopic frame 4'c.

Frame 2.3 has legs 5.6.7 near both ends, respectively.
．． 8 is taken ζj (pulled. Legs 5, 6, 7, 8 are taken respectively [1F for the pulled frame 2.3
With the relative displacement IJ function, each vertical movement is 〔I norm 2
．． Motors fixed to 3 11.12.13, and 14
is driven by.

The telescopic rule 1\4 is pivotally connected to the medium heat section of the frame 2.3 at pivot points 15.16 near both ends. The telescopic frame 4 includes a first part 17 and a second part 1 connected by a telescopic drive device 19 including, for example, a piston-cylinder mechanism and a
It consists of 8 parts and is expandable and contractable as a whole.

The main body (for example, driver's seat) 21 is installed in the telescopic rule \4 ().
The main body 21 is driven by a motor 24 and rotates about the rotation axis 22 with respect to the elongated frame 4 . However, this function is not directly related to walking.

Further, a balance weight 23 h%Q is mounted which is rotatable about the rotating shaft 22 and can be rotationally displaced relative to the main body 21 . This vernonce weight 23 is for regulating the position of the center of gravity of the four-legged walking machine, and the position of the center of gravity of the four-legged walking machine is determined by the rotational position of the weight 23.

It was configured like this. The walking motion of the monopedal walking machine 1 is performed as follows.

As shown in FIG. 5, first, motors 11, 12, 13.
14, and the feet 6.7 and 8 depending on the height of the grounding point.
After touching the ground so that the main body 21 is horizontal and using it as a standing foot to support the main body 21, rotate the balance weight 23 to the opposite side of the foot 5 to form a triangle with the grounding point of the foot 6, 7, and 8 as the apex. The center of gravity of the quadrupedal walking machine 1 is positioned within the vertical projection plane of (Fig. 5a).

Next, raise leg 5 and take a playful step. When the telescopic frame 4 is extended in this state, the frame 2 is rotated around the grounding point of the foot 6, and therefore the foot 5 is also displaced.
Figure b).

Next, after the feet 5.6 and 8 are grounded and used as standing feet to support the IIC body 21, the balance weight 23 is rotated to the opposite side of the foot 7, and the grounding point of the feet 5.6.8 is set as the apex. Position the center of gravity of the quadrupedal walking machine 1 within the vertical projection plane of the triangle, and then raise the legs 7 (referred to as idle legs). When the telescopic frame 4 is contracted in this state, the frame 3 will raise the grounding point of the legs 8. rotationally displaced around the center, and therefore the foot 7 is displaced (fifth
Figure C).

Next, after keeping feet 5.6 and 7 from touching the ground to support the main body 21, the balance weight 23 is rotated to the opposite side of foot 8, and the grounding point of feet 5.6.7 is taken as the apex. The center of gravity of the quadrupedal walking machine 1 is located within the vertical projection plane of the triangle, and then the legs 8 are raised to become idle legs (FIG. 5C). When the telescopic frame 4 is contracted in this state, the frame 3 is rotated around the grounding point of the foot 7, and therefore the foot 8 is also displaced J.
(Figure 5d).

Next, after 7 and B are grounded to form 4 legs that support the main body 21, the balance weight 23 is rotated to the opposite side of the leg 60, and a triangle is formed with the grounding point of the leg 5, 7, and 8 as the apex. Position the center of gravity of the quadruped walking machine 1 within the vertical projection plane of , and then raise the legs 6 to make them idle legs (Fig. 5 d). This state C
When the telescopic frame 4 is extended, the frame 2 is rotated around the grounding point of the foot 5, and the foot 6 is also displaced, returning to the state shown in Fig. 5a at the position moved by one step. In the end, quadrupedal walking machine 1 takes one step.

In (), the above steps are repeated for the next walking motion.

However, since the above sequence is repeated and moves slightly to the left, for example, 5, 7, 8.6 is followed by 6, 8,
7.5, and consider this as one set.

The direction of the main body 21 can be adjusted as necessary using the drive device 19 and the motors 11, 12, 13, 14 . , by driving.

The degrees of freedom of this quadrupedal walking machine 1 are 5.6.7 for the four legs,
and 4 degrees of freedom to move up and down 8, telescopic frame 4
1 degree of freedom for driving the body 21 to extend and contract, and 1 degree of freedom for moving the main body 21 in any direction, totaling t16 degrees of freedom. The rotation of the balance weight 23 for positioning the center of gravity can be achieved by using, for example, a link mechanism to remove the rotation of the base leg, so an extra degree of freedom is not necessarily required. During operation, the main body 21 does not move downward by -L, so it is easy to drive and load cargo, and it is also energy efficient.

According to this invention, as is clear from 31 Akira of 1st Sat.
It easily satisfies the minimum requirements for a walking machine, allows it to move freely to places where wheeled mobile machines would not go, has less free I decay, has a simple structure, and makes the cooperative control of the platform extremely simple. It is possible to obtain a quadrupedal walking machine that has a high walking speed and can move to any desired position.

[Brief explanation of the drawing]

Fig. 1 is a perspective explanatory view showing the degree of freedom of a wheeled mobile machine, Fig. 2 is a plan view illustrating a quadrupedal walking machine according to an embodiment of the present invention, and Fig. 3 is a plan view of a quadrupedal walking machine according to an embodiment of the present invention. FIG. 4 is a perspective view showing a four-legged walking machine, and FIG. 5 is an explanatory drawing showing a sequence of walking motions. 1... Quadruped walking machine 2.3... Frame 4
...Telescopic Freno＼ 5.6.7, Bψ foot 11
．． 12.13.14.24...Motor 19...
- Telescopic drive device 21...Main body 23...Balance weight Fig. 1 (a) (b) Fig. 3\5 Fig. 4 Fig. 5

Claims (1)

[Claims] at least two frames that are movable relative to each other;
A telescoping frame is pivotally connected to both frames at pivot points near both ends and is extendable and retractable; A four-legged walking machine characterized by being equipped with a total of four wooden legs that are capable of relative displacement, and constructed so that the center of gravity can be moved.