JPS60131175A - Walking device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (A) Field of Industrial Application The present invention is applicable to new conveyance and transport devices, locomotives, etc. in place of East Chairs and other self-propelled vehicles.6.
It is related to.

(B) Prior Art Conventionally, this type of walking device has been equipped with a drive machine using a separate servo motor for each joint, and the mutual movement of each joint has been comprehensively controlled by a microcomputer, etc., to perform the walking motion. There is. Therefore, the servo motor is required to have an output to support the weight of the main body as well as the output of the binary star, and as a result, not only is a high output servo motor required, but also the output for driving each joint. In order to mutually emphasize the servo motors, complex cooperative control using a microcomputer or the like must be performed. the result,
These control systems are expensive and require maintenance.

(c) Purpose: The invention was made by focusing on the above-mentioned situation, and it is possible to emphasize the relative position of each joint without the need to provide a drive source such as a servo motor in the joint section. In addition, since the drive source does not require a weight support function, there is no need to use a human-powered motor, etc. as the drive source, and the system is reliable due to the in-cylinder configuration and control function alone. An object of the present invention is to provide a walking device that allows the user to perform a walking motion.

) The present invention is designed to achieve this objective. A non-portion and a grounding member corresponding to a foot are connected by a 3-joint W-row quadrilateral walking leg link, and the movement of the grounding member is traced to a rolling element in relation to this walking leg link. The present invention is characterized in that a mechanism is provided to cause the walking leg link to perform a walking motion by rolling the transfer element along a load supporting surface of a guide member supported by the base.

゛Furthermore, at least two sets of the grounding member, the walking leg link, and the trace a structure are provided on a common base, and the rolling element of each trace mechanism is connected to a common drive source via a differential mechanism. It is characterized by being connected to.

(e) Examples Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

A pair of grounding members 2a and 2b are connected to a common base l via walking leg links 3a and 3b, respectively. The base l is a member corresponding to the waist of a robot, etc., and includes a longitudinally elongated frame 4, a central plate 5 hanging from the center of the frame 4, and attached to both sides of the central plate 5. Side plates 6a', 6
'b. In addition, the grounding members 2a and 2b are
It is a plate-like thing that corresponds to the legs of a robot, etc., and there is a Brakefu on its F side!・I like 7. The walking leg links 3a, 3b are of a three-joint parallelogram type, and specifically, the ends are attached to the frame 4 of the base l with shafts 8a, 8b,
Two parallel J: part link members lla, Ilb, 12a, j2 b pivotally connected via 9a, 9b,
Two parallel lower H'4i link members 15a, 15b are connected to the do end of 12b via a shaft 13, and the lower ends are pivotally connected to the brackets 7 of the grounding members 2a, 2b via @14.
, 16a, 16b and these drink members/<15a
, 15b, 16a, 16b and intermediate link members 17a, 17b that are horizontally suspended between the connecting portions of the two-part link members 11a, 'llb, 12a, 12b. Furthermore, tracing mechanisms 18a and 18b are provided in association with each of these walking leg links 3a and 3b. The tracing mechanisms 18a, 18b are for causing the rollers 19a, 19b, which are rolling elements, to trace the movement of the grounding members 2a, 2b with respect to the base 1, and specifically include the following: 15b, 16a, 16b and 1
First link members 21a, 21b are provided in row 17 and have their lower ends connected to the shafts 9a, 9b, and are provided parallel to the upper link members lla, llb, 12a, 12a and have their L ends connected to the first link members. 21a,'2 l
b via a shaft 22, and the lower end is connected to the shaft 22 at an intermediate position between the lower link members 16a, 1.6b.
3, and the rollers 19a, 19b are pivoted at intermediate positions between the second link members 24a, 24b. Further, a guide member 27 having a full load support surface 25 and a foot puller load support surface 26 is provided on the base 1, and the rollers 19a, 19 are guided along the load support surface 25.26.
By rolling the walking leg links 3a, 3
(b) to perform walking motions. To be more specific, the guide member 27 is a wing plate-shaped member that protrudes substantially parallel to both sides of the lower end of the base l, and has a full load supporting surface 25 parallel to the road surface G on the lower surface side. It also has two load-bearing surfaces 26 on its two sides, on which the rollers 19a and 19b roll. Although not shown,
The rollers 19a and 19b are configured so that they are always in contact with the guide member 27 and are transferred without coming apart. and,
The roller 19a is mounted on the base 1.

A single drive source 28 for rotationally driving 19b is provided,
The rollers 19a and 19b are connected to this drive source 28 via a differential mechanism 29. Specifically, the differential mechanism 29 pivotally attaches a plurality of planetary bevel gears 32 to a wheel 31 that is rotationally driven by the drive source 28, and also aligns these planetary bevel gears 32 so that their axes are aligned with each other. The bevel gears 33a and 33b are aligned and meshed with the bevel gears 33a and 33b arranged oppositely, so that the bevel teeth 1U33a and 33b can rotate independently of each other. Then, the rotational force of one bevel gear 33a is transferred to spur gears 34a, 35a, 3
6a, 37a, 38a to one roller 19a, and the rotational force of the bevel gear 33b is transmitted to the other rollers 34b, 35b, 36b.

He is trying to transmit it to the other roller 19b via 37b and 38b.

Next, the operation of this embodiment will be explained. first.

The rotation of the motor 28 is controlled by the differential mechanism 29 and the spur tooth medium 34a.
, 34-b, to 38a, 38b to each roller 19a, 19b.
9a and 19b are rotationally driven. However, the roller 1
When 9a and 19b are in contact with the full load supporting surface 25 of the guide member 27, the pressing force due to the weight of the base 1 is applied to the roller 1.
9a.

19b and the full load supporting surface 25, the rollers 19a, 19b roll and move on this full load supporting surface 25. As the rollers 19a, 19b move, the grounding members 2a, 2b connected by the walking foot links 3a, 3b move towards the roller 19a.

The movement is parallel to, and magnified by, the movement of 19b. These movements are as described above based on the base l, but in reality, the grounding members 2a and 2b are fixed on the grounding surface G, and the base l moves relative to the grounding members 2a and 2b. Become. As a result of such movement, for example, when the roller 19a moves to the rear end 27c of the guide member 27 and no longer supports the weight of the base 1, the load applied to the roller 19a decreases, so that the differential mechanism 29 The other roller 19 is in rolling contact with the full load bearing surface 25 due to its action.
Since the movement of b is stopped, the load on the roller 19 is reduced.
a is driven at high speed, rolls on the acclimatized load supporting surface 26 of this guide member 27, and moves forward. As a result, the planet driven by this a-ra 19a, that is, the grounding member 2a, moves forward. And again guide member 2
The load of the base l is now supported by the stone surface 7, and the high speed drive of the roller 19a by the action of the differential mechanism 29 is stopped and the roller 19a is driven at a normal speed.

The walking motion caused by these movements is performed by the walking foot links 3a and 3b.
Figures 3 to 10 mainly depict the movements of the robot. First, in FIG. 3, the grounding members 2a, 2b of both walking leg links 3a, 3t) support the weight of the base 1, and in this state, one roller 19a moves near the rear end of the guide member 27. has reached. FIG. 4 shows the walking leg link 3.
This figure shows the state of the link 3a and the grounding member 2a when the roller 19a of FIG. 5 to 8 sequentially show the movement of the grounding member 2a that has been pulled upward away from the road surface G. In this case, this grounding member 2a and the corresponding grounding member 2ai are shown in sequence. The weight of the small foot link 3a is supported by the foot support surface 26 of the kite member 27 via the roller 19a. and,
The grounding member 2a is grounded in the state shown in FIG. 9, and thereafter,
Both of the ground contacting members 2a and 2b are driven at a constant speed, and after passing through the state shown in FIG. 10, a state similar to that shown in FIG. 3 is reached, and this movement is repeated.

In this way, the walking motion can be performed. In this device, the movement of the grounding members 2a, 2b is traced by the rollers 19a, 19b, and the rollers 19a, 19b are controlled by the load of the kite member 27. Support surface 2
5. Step into inferior foot licks 3a, 3b by rolling along 26? (2) Since the link is made to move, there is no need to provide a drive source for each joint of the link. Therefore, it is possible to simplify the structure, and also eliminates the need for complex cooperative control using computers, etc., thereby simplifying the control system. Furthermore, when the grounding members 2a, 2b are in contact with the road surface G, the claws of the base l are spaced apart, and when the grounding members 2a, 2b are apart from the road surface G, the base members 2a, 2b and The weight of the leg links 3a and 3b is supported by the load of the member 27 provided in the nol portion 1. This eliminates the need to support the above-mentioned market with the output of the drive fJJ source, such as when a drive source is provided for each joint, and the motor 28 receives only the output of the binary star. will be required. Therefore, the drive source can be significantly downsized++
This makes it possible to perform idle rotation with extremely high efficiency.

Further, two sets of the grounding members 2a, 2b, walking foot links 3a, 3b described in Iij and toshi trace mechanisms 18a8b described in Di+ are provided for the common base l, and each trace mechanism 18a, 18b (7) transfer element. 19a, 19
b is connected to the common motor 28 via the differential mechanism 29, so that the grounding member 2a or 2b separated from the road surface G can be quickly moved forward. therefore,
It is possible to perform agile recessive motion using a small output motor 28.

In addition, in the above-mentioned embodiment, a case was explained in which two sets of grounding members, walking foot links, and tracing mechanisms were provided on a common base, but the present invention is not necessarily limited to such a structure. For example, three or more sets of each element may be provided. Further, the transfer element is not limited to a roller, but may be a gear, for example. In this case, rack-shaped teeth are cut into the load-bearing surface of the guide member.

Further, the tracing mechanism is of course not limited to that of the embodiment described above, and may be of the type shown in FIG. 11 or FIG. 12, for example. That is, the 111th Δ
The tracing mechanism 18a'' shown in FIG. Link member 42 who decided to buy
A link member 43a is provided parallel to the link member 42a and has its lower end pivoted to one end of the link member 41a, and a link member 43a is provided parallel to the link member 41a and has its north end pivoted to the link member 43a. It also includes a link member 44a whose lower end is pivotally connected to the extending end of the upper link member 12a of the walking leg link 3a, and a roller 19a serving as a transfer element whose lower end is pivotally connected to the pivoting portion of both link members 43a and 44a described in n1j. It becomes. However, in this case,
It is necessary to arrange the guide member 27 upside down compared to the previous embodiment. Furthermore, the tracing mechanism 18a shown in FIG.
゛ is a partial link member z<l of the walking leg link 3a.
The lower end is provided parallel to the walking leg link 3a and 12a.
The link member 51a is pivotally connected to the extending end of the lower link member 15a, and the lower link member y<15 a
The north end is parallel to the two-part link member lla.
The north end is pivotally connected to the lower end of the link member 5.
The link member 52a is pivotally connected to one end of -1 of 1a, and a roller 19a, which is a rolling element, is pivotally connected to the connecting portion of both link members 51a and 52a.

Furthermore, the use of the present walking device is not limited to robots, but can also be applied to transportation or transportation devices such as heavy chairs.

Note that the invention described in claim 1 includes an embodiment in which the differential mechanism is removed from the illustrated embodiment and each transfer element is driven independently by a different drive source. It is something.

(F) Effect Since the present invention has the above-described configuration, there is no need to provide a drive source such as a servo motor for each joint, and no control means such as a microcomputer is required to mutually emphasize and emphasize each joint. In addition, since the drive source does not require a nail support function, there is no need to use a high-output motor as the drive source, and reliable walking motion can be achieved with only a simple configuration and control function. A walking device can be provided.

[Brief explanation of drawings]

Fig. 1 to Fig. 10 show one embodiment of the present invention, Fig. 1 is a partially omitted view of the 1st floor, Fig. 2 is a partially cutaway side view,
FIG. 3 to FIG. 10 are action explanatory diagrams. Figure 11, @
FIG. 12 is a schematic explanatory diagram showing other embodiments of the present invention. 1... Base parts 2a, 2b... Grounding members 3a, 3b... Degrading foot links 18a, 18b, 18a'1.8a"... Tracing mechanisms 19a, 19b... Rollers 25...Load supporting surface (full load supporting surface) 26...Load supporting surface (foot habit)
-Load supporting surface) 27...Guide member 28...Drive! flit (motor) 29... Differential mechanism agent Sif R. Hiroshi Akazawa Figure 1 Figure 3 Figure 5 Figure 4 Figure 2f7.7 Figure. Figure 8 Figure 10

Claims (2)

[Claims] (1) A base corresponding to the waist, a grounding member corresponding to the foot,
A three-joint quadrilateral type link that connects the grounding member to the base; a tracing mechanism that causes a rolling element to trace the movement of the grounding member with respect to the base; a kite member having a load supporting surface with which the transfer element rolls, and the walking leg link is caused to perform a walking motion by rolling the transfer element along the load supporting surface of the guide member. A walking device characterized by comprising: (2) a base corresponding to the waist, a grounding member corresponding to the foot,
A three-joint parallelogram type walking leg link that connects the grounding member to the base; an I-race mechanism that causes a rolling element to trace the movement of the grounding member relative to the base; a guide member having a load-bearing surface on which r- rolls, and the roller is rolled along the load-bearing surface of the kite member (by +
ii) A walking device configured to cause the walking leg link to perform a walking motion, wherein the grounding member, the walking leg link, and the torsion mechanism are provided in at least two sets at the base of the leg. , each trace!a, and the rolling element of the disaster are connected to a common drive source via a differential mechanism.