JPS5957074A - Three-dimensional moving machine - Google Patents

Abstract

PURPOSE:To easily move a machine body and simplify the control of traveling legs by providing a steering control unit that can be set in both full direction mode and rotary mode. CONSTITUTION:A full directional moving mechanism consisting of wheels 4 that run on a flat running surface and a steering control unit 5 that controls the running direction by the wheels 4 is provided in a machine body 1 together with traveling legs 3 that ascends and descends the stairs, etc. The steering control unit secures steering worm wheels 9a to 9d on the upper end of the steering shaft at the four corners of the machine body 1 and engages steering worm gears 12a and 12b provided on the rotary shaft 11 of a motor 10 with the front two-wheel worm wheels 9a and 9b and steering worm gears 15c and 15d provided on the rotary shaft 14 of a motor 13 with the rear two-wheel worm wheels 9c and 9d.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is not limited to running on a flat running surface;
This relates to a three-dimensional mobile machine that can climb and descend stairs, steps, and steep slopes.

This type of six-dimensional mobile machine needs to be configured to be able to run at high speed along a free route on a flat running surface, and to be able to climb and descend stairs stably.

However, the various three-dimensional moving machines that have already been proposed do not necessarily satisfy these requirements, and are particularly designed to run on flat running surfaces and stairs, etc. using a single moving mechanism. With mobile machines, it is difficult to obtain satisfactory operation on both flat running surfaces and stairs, and it is common that some restrictions are added to some of the functions. . Furthermore, even when a flat running surface running mechanism and a climbing mechanism such as stairs are provided separately, it is desirable that both mechanisms be able to effectively perform their respective functions through an organic combination. No mobile machine has been proposed that is satisfactory in these respects.

The present invention aims to provide a six-dimensional moving machine that satisfies the above-mentioned requirements.A single wheel for driving the machine is provided at a corner of the machine body, and at least one wheel is attached to a steering shaft supporting each wheel. By providing a steering control device that can be set to an omnidirectional mode in which all wheels are turned in any direction of travel, and a rotation mode in which all wheels are directed in the circumferential direction around the center of rotation of the aircraft, omnidirectional A locomotive mechanism, comprising at least six walking legs each at the front and rear of the aircraft at approximately equal intervals, each of which is inconveniently located above the ground contact surface of the wheels. The device is characterized in that it is constructed so that it can be held in the position where it is used.

Embodiments of the present invention will be described in detail below with reference to the drawings.

FIG. 1 shows an outline of a six-dimensional mobile machine according to the present invention, in which a machine body 1 is equipped with wheels 4 for running on a flat running surface and a steering control device 5 (for controlling the running direction of these wheels). 3), and a walking mechanism 3 for climbing stairs, steps, steep slopes, etc.

As shown in FIGS. 2 to 4, the omnidirectional movement mechanism 2 has steering shafts 7 rotatably disposed vertically at the four corners of the aircraft body 1, and protrudes laterally from the lower ends of these steering shafts 7. The wheel 4 is attached to a wheel shaft 8, and the steering shaft 7 is provided with a steering control device as described below.

As shown in FIG. 6, this steering control device has steering ohm wheels 9α to 9d fixed to the upper ends of the steering shaft 7 at the four corners of the aircraft body l, and two front worm wheels 9α and 9b. A steering worm 12a is provided on the rotating shaft ll of the motor 10.

At the same time, the steering wheels 15C and 15d provided on the rotating shaft 14 of the motor 130 are engaged with the rear two worm wheels 9c and gd.

These systems simultaneously rotate the steering axes of two front wheels and two rear wheels while keeping the left and right wheels in the same direction. As the above-mentioned steering rotation means, other appropriate means using a chain or the like may be employed.

Therefore, the above-mentioned steering worm wheels 9α to 9
A pair of worm wheels g located on the diagonal side of d
A and 9d are provided with a clutch (not shown) τ1 which can be freely engaged and disengaged between the steering shaft 7 and the steering shaft 7 to which it is attached.

In addition, worm wheels 16 a and 16 d for driving the wheels are fixed to the upper ends of the drive shafts of the wheels passing through the centers of the steering shafts 7 and 1 located on the diagonal sides, and motors are respectively attached to these worm wheels. Wheel drive worms 19α and 19d rotated by 17 and 18 are engaged with each other.

In the omnidirectional movement mechanism 2 having such a configuration,
The mobile machine can be driven in at least an omnidirectional mode and a rotational mode, as described below, and can also be driven in a motor vehicle mode.

That is, in the omnidirectional mode, the motor 10 changes direction while keeping the two front wheels and the two rear wheels facing the same direction.
, 13 by the same amount in the same steering direction, all wheels 4
4A, or to any direction as shown in FIG. be able to.

Furthermore, if the motor 13 is stopped with the rear two wheels pointing straight ahead, and the direction of only the front two wheels is changed by the motor 10, the steering method similar to that of a general automobile can be used, as shown in FIG. 4C. That is, the vehicle can be driven in car mode.

When rotating the body of a mobile body at a fixed position in the rotation mode, first, the rotation of the motors 10 and 13 moves the wheels of a pair of diagonally positioned steering shafts attached to the worm wheels 9α and 9d to the center of rotation of the body. In this state, disengage the clutch between the steering shaft and the worm wheels 9α, 9d,
Then layer motor 1o.

By rotating 13, only the steering shafts attached to the Shiraohm wheel 975°9C are rotated, and the wheels attached to them are directed in a circumferential direction that aligns with the center of rotation of the aircraft body. The fourth diagram assumes this state, and with the wheels oriented in this manner, the motors 13 are stopped and the clutches are engaged, thereby locking the steering shafts of each wheel. Ru.

In the above, an example of an omnidirectional movement mechanism is explained.
However, the present invention is not limited to the mechanism described above; the steering shaft that supports each wheel has at least an omnidirectional mode in which all wheels are turned in an arbitrary direction of travel, and an omnidirectional mode in which all wheels are rotated in the direction of rotation of the aircraft. A configurable steering control device (for example, see Japanese Patent Laid-Open No. 131462/1983) may be provided.

On the other hand, as shown in FIGS. 1 and 5, there are at least 3 walking legs 21 each at the front and rear of the machine body, as shown in FIGS.
(1, 21A, 21C and 2261, 22+6
, 220 ; are arranged at approximately equal intervals, and are constructed by providing a leg movement mechanism 23 that causes each walking leg to perform a walking motion.

Each of the walking legs includes a base rod pivotally connected to the body 1 and a tip rod 25 pivoted to the tip of the base rod, and a grounding member 26 is provided at the tip of the tip of the tip. The base rod 24 of each walking leg is pivoted by a drive motor (not shown) in the leg movement mechanism 23 provided in the body 1, independently for each walking leg, or by simultaneously driving a plurality of walking legs. Rotation drive oJ Ht was applied to the landing point 27, and the tip lever 25
A driving rod 28 pivotally attached to the base end thereof is connected to a piston of a driving cylinder 29 provided on the fuselage 1, so that the driving rod 28 can be rotatably driven around a pivot shaft 30 relative to the base rod 24.

Therefore, each walking leg can perform a walking motion, that is, a walking stroke in which the aircraft 1 is moved forward with the grounding members 26 in contact with the ground, and a walking stroke in which the walking legs are moved in a state in which the grounding members 26 are lifted off the ground. The starting end position 1-i of the walking stroke, .

The direction of the grounding member 26 can be controlled so that it always faces in one direction in response to the movement of the walking leg, or in the direction of gravity. It can also be fixedly attached as a directional device.

The walking mechanism 3 having the above configuration can be made to perform walking motion using the above-mentioned drive motor and drive cylinder, but if six walking legs are provided at the front and rear of the aircraft body 1, the following mode will be used. Walking exercise is effective for stable walking.

In other words, for example, when going up and down stairs, etc., it is necessary to use either 6
A walking movement in which one foot touches the ground and performs a walking stroke, and the other six feet simultaneously perform a return stroke is suitable. Specifically, the front central walking leg 21b and the rear left and right walking legs 22α
and 22C perform walking movements at the same timing, and the other six legs are controlled so that they perform walking movements at the same timing in opposite phases. In addition, when the weight on the lower walking leg is large, such as when going up and down steep stairs or steep slopes, it is appropriate to perform a walking motion in which both of the lower walking legs are always in contact with the ground. In order to stabilize the aircraft, it is desirable to always keep two of the front walking legs in contact with the ground.Specifically, when walking with the front walking legs 21α, 21b and the rear walking legs 22α, 22C in contact with the ground, Leg 21c,
22b is restored, then walking legs 21α and 21C.

2215, 22 Walking leg 21 h with C in contact with the ground
, 22α is restored, and walking leg 21 b ,
21 C, 22α, 22b are in contact with the ground, walking leg 2j
α, 22C is restored.

As a result, the walking speed becomes slightly slower, but stable walking can be achieved.

Furthermore, when the above-mentioned omnidirectional movement mechanism 2 runs on a flat running surface, each of the walking legs is stored and held in an unused position above the ground contact surface of the car @ 4, as shown by the solid line in Fig. 6. It has been constructed as possible.

Furthermore, each of the above walking legs or the central walking leg 2 Summer 11
The grounding member 26 at 22h is shown in FIG.
It! , 1. ! ! It can be replaced with the manibulator hand 31, and its walking legs 21b, 22
It can also be used as a manipulator configured so that b can perform the necessary movements as a manipulator. In particular, the central walking leg 21b,
If the 22 h is made to be able to move left and right as a manipulator, when going up and down the steep stairs and slopes mentioned above,
It is also possible to shift the ground contact positions of these walking legs to the left or right to stabilize the aircraft 1.

Note that the walking mechanism is not limited to the above-mentioned configuration, but can be configured to have similar functions by using a link mechanism or other mechanisms, and four or more walking legs are provided at the front and rear. You can also do that.

The six-dimensional moving machine described in detail above can run on a flat surface (4); the door can run on a free path at high speed with an omnidirectional movement mechanism (6° = ti);
Furthermore, while it is possible to stably climb up and down stairs etc. using a walking mechanism, it is particularly possible to move the bonds to the desired position using an omnidirectional mode in an omnidirectional movement mechanism. Since the rotation mode allows the aircraft to be oriented in any direction, it is extremely easy to move the aircraft to the optimal position for climbing stairs, etc. using the walking mechanism. Control of the walking legs can be made relatively simple.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an embodiment of a mobile machine according to the present invention;
Fig. 2 is a perspective view showing the general configuration of the omnidirectional movement mechanism, Fig. 6 is a plan view showing the configuration of the steering control device, and Figs. 4A to 4D show various travel modes in the omnidirectional movement mechanism. Ω explanatory diagram, FIG. 5 is a schematic configuration factor of the walking mechanism, and FIG. 6 is a side one-angle view showing the unstable state of the walking mechanism in the above-mentioned mobile machine. 1... Airframe, 2... Omnidirectional movement mechanism, 4...
・Wheels, 5... Steering control device, 7...
- Steering axis, 21α~21c, 22α~22C-fist bone walking leg. 42 MIWA Rattan 3 Figure 4, 4 B D

Claims (1)

[Claims] 1. Wheels are installed in the corners of the aircraft to drive the aircraft, and the steering shaft that supports each wheel is equipped with an omnidirectional mode that turns at least all the wheels in an arbitrary direction of travel, and a steering wheel that rotates all the wheels around the center of rotation of the aircraft. By providing a steering control device that can be set to a rotation mode directed in the circumferential direction of the aircraft, an omnidirectional movement mechanism is constructed, and the above-mentioned aircraft performs at least three walking movements in the front and rear directions. A six-dimensional mobile machine, characterized in that walking legs are arranged at approximately equal intervals, and each of these walking legs can be held in an unused position above the ground contact surface of the wheels.