JPS6013875B2 - Leg drive device in walking machines - Google Patents
Leg drive device in walking machinesInfo
- Publication number
- JPS6013875B2 JPS6013875B2 JP56007572A JP757281A JPS6013875B2 JP S6013875 B2 JPS6013875 B2 JP S6013875B2 JP 56007572 A JP56007572 A JP 56007572A JP 757281 A JP757281 A JP 757281A JP S6013875 B2 JPS6013875 B2 JP S6013875B2
- Authority
- JP
- Japan
- Prior art keywords
- drive
- drive device
- legs
- speed
- driven
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Description
【発明の詳細な説明】
本発明は、歩行機械における胸駆動装置に関するもので
ある。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a chest drive device for a walking machine.
歩行機械における左右一対の脚を駆動する場合、例えば
２本の脚で歩行するときのように左右の脚を前後逆の方
向へ同一速度で駆動するとか、左折または右折等のため
に一方の脚のストロークまたは速度を大きくするとか、
あるいは一対の脚を前後の同じ方向へ同一速度で駆動す
るなど、左右の隣を所要の関連性を保持させた状態で、
あるいは同期をとりながら駆動できることが要求される
。When driving a pair of left and right legs in a walking machine, for example, when walking with two legs, the left and right legs may be driven at the same speed in opposite directions, or one leg may be driven at the same speed to make a left or right turn. increase the stroke or speed of
Or, while maintaining the required relationship between the left and right neighbors, such as driving a pair of legs in the same direction in the front and back at the same speed,
Alternatively, it is required to be able to drive while maintaining synchronization.
本発明は、このような要求をみたすための構成が簡単な
脚駆動装置を提供しようとするもので、第１の駆動装置
により動力伝達装置を介して歩行行程及び復帰行程を繰
返す左右一対の脚を備えた歩行機械に、駆動調整用差敷
装置とこれを雛勤する第２の駆動装置とよりなる駆動調
整用差敷装置を設け、上記一対の脚を駆動する動力伝達
装置に、上記差動装置の２本の出力軸を連繋させ、この
差敷装置によって左右の脚の位相調整及び両脚の駆動速
度の制御を可能にしたことを特徴とするものである。The present invention aims to provide a leg drive device with a simple configuration to meet such requirements, and is intended to provide a leg drive device with a simple configuration, in which a pair of left and right legs repeat a walking stroke and a return stroke by a first drive device via a power transmission device. A walking machine equipped with the above-mentioned walking machine is provided with a drive adjusting insert device including a drive adjusting insert device and a second drive device that drives the drive adjusting insert device, and a power transmission device that drives the pair of legs is provided with the drive adjusting insert device including the drive adjusting insert device and a second drive device that drives the drive adjusting insert device. The two output shafts of the drive device are linked together, and the interlocking device is capable of adjusting the phase of the left and right legs and controlling the drive speed of both legs.
本発明は、上述の構成としたので、第２の駆動装置を駆
動して、駆動調整用差敷装置によって左右の隣を同位相
或いは相互に１８０度の位相差を持つ状態とした後に、
第２の駆動装置を停止して第１の駆動装置を駆動すると
「左右一対の脚を同方向に同速度で、或いは相互に逆方
向へ同速度で駆動させることができる。Since the present invention has the above-described configuration, after driving the second drive device and bringing the left and right neighbors into a state where they are in the same phase or have a phase difference of 180 degrees with each other by the drive adjustment interpolation device,
When the second drive device is stopped and the first drive device is driven, the pair of left and right legs can be driven in the same direction at the same speed, or in opposite directions at the same speed.
また、第２の駆動装置を駆動して左右の胸を同位相或い
は相互に１８０度の位相差を持つ状態とした後に第１の
駆動装置を駆動すると、駆動調整用差動装置の２本の出
力藤の速度差によって、左右の脚の同方向或いは逆方向
への駆動速度を任意に制御することができる。Furthermore, if the first drive device is driven after driving the second drive device to make the left and right chests in the same phase or have a phase difference of 180 degrees, the two differential devices for drive adjustment The driving speed of the left and right legs in the same direction or in opposite directions can be arbitrarily controlled by the speed difference between the output wheels.
本発明の実施例について詳述するに先立ち、まず、第１
図に基づいて本発明における基本的な駆動原理について
説明する。Before describing the embodiments of the present invention in detail, first, the first
The basic driving principle of the present invention will be explained based on the drawings.
第１図に示すように、機体の前後に各一対のホイール１
１，１２及び２１，２２を配置し、これらに巻掛けた無
端のチェーン（またはワイヤ等）１０を機体の前後にお
ける各一対のホイールの間から中央に引き寄せて、相互
に連結した調整ホィ−ル亀３，２３にそれぞれ巻掛け〜
上記チェーン量肌こおける左右の外側部分に脚亀，２を
取付け、チェーン１０または一方の脚を油圧や空気圧シ
リンダ等の適宜の第１の駆動装魔３によって所要のスト
ロークで前後方向に駆動可能にすると共に、駆動調整装
置４を構成する調整ホィＭル富３，２３を同様な第２の
駆動装澄富で前後方向に駆動可能に構成すると、以下に
述べるように胸軍，２を任意に駆動することができる。As shown in Figure 1, each pair of wheels 1 at the front and rear of the aircraft
1, 12 and 21, 22, and the endless chain (or wire, etc.) 10 wound around these is pulled to the center from between each pair of wheels at the front and rear of the aircraft body, and the adjustment wheels are connected to each other. Wrap around turtles 3 and 23 respectively~
The leg turtles 2 are attached to the left and right outer parts of the chain rack, and the chain 10 or one of the legs can be driven in the front-back direction with the required stroke by an appropriate first drive device 3 such as a hydraulic or pneumatic cylinder. In addition, if the adjustment wheels 3 and 23 constituting the drive adjustment device 4 are configured to be able to be driven in the front and rear direction by a similar second drive mechanism, the chest arm 2 can be adjusted arbitrarily as described below. can be driven to.
即ち〜駆動装置５による調整ホイール貴３，２３の前後
方向への駆動速度をＶｏ〜左右の胸の前後方向への駆動
速度をＶ．，Ｖ２とすると、駆動調整装置４が中立位置
にあって調整ホイール首３，２３が機体に対して固定さ
れている場合（Ｖｏ＝０）、一方の脚１が駆動装置３に
より前後方向へ駆動されると、他方の脚２は逆方向に同
一速度で駆動されることになる（Ｖ，＝−Ｖ２）。また
〜調整ホイール１３，２３を機体に対して速度Ｖｏで駆
動すると、脚翼９ ２を共にＶｏと反対の方向へ同速度
で駆動することができる。（Ｖ，＝Ｖ２＝一Ｖｏ）ばか
りでなく、脚１，２を異なる速度で同一または反対の方
向へ駆動することが可能となりト例えばＶｏ及びＶ，の
方向が同じ場合、Ｖ２＝−（Ｖ化Ｖ。That is, the driving speed of the adjustment wheels 3, 23 in the front-back direction by the drive device 5 is set to Vo, and the driving speed of the left and right chest in the front-back direction is set to V. , V2, when the drive adjustment device 4 is in the neutral position and the adjustment wheel necks 3 and 23 are fixed to the aircraft body (Vo = 0), one leg 1 is driven by the drive device 3 in the longitudinal direction. Then, the other leg 2 will be driven in the opposite direction at the same speed (V,=-V2). Moreover, when the adjustment wheels 13 and 23 are driven at a speed Vo relative to the aircraft body, both the leg wings 92 can be driven at the same speed in the direction opposite to Vo. (V, = V2 = - Vo), it is also possible to drive legs 1 and 2 at different speeds in the same or opposite directions. For example, if the directions of Vo and V are the same, V2 = - (V V.
）：−Ｖ・く１十２珠）となり、Ｖｏ＝Ｖ，であれば、
Ｖ２＝３Ｖ，となって、脚２が脚１に対し３倍の速度で
駆動されることになる。従って、脚の駆動に際して調整
ホイール１８，２３の駆動方向及び速度を選択すること
により「左右の脚１，２を所要の関連性のもとに拘束駆
動することができ、即ち両脚の位相調整及び駆動速度の
制御を行って、歩行の態様に適合した運動を与えること
が可能となる。): -V・ku12 beads), and if Vo=V, then
V2=3V, and leg 2 is driven at three times the speed of leg 1. Therefore, by selecting the driving direction and speed of the adjustment wheels 18, 23 when driving the legs, it is possible to constraint and drive the left and right legs 1, 2 with the required relationship, that is, to adjust the phase of both legs and By controlling the drive speed, it is possible to provide motion that is suitable for the walking mode.
本発明は、かかる原理に基づくもので、以上においては
その説明を簡明にするためにホイール１１，１２，２１
，２２に対して脚３，２を有する無端チェーン１０等を
巻掛けた場合について説明したが、必ずしもそのような
構成にする必要はなく、脚を固定した左右一対の脚を駆
動する動力伝達装置を、第２の駆動装置によって駆動さ
れる駆動調整装置の駆動調整用差動装置の２本の出力軸
によって連繋させ、第２の駆動装置を停止させた状態で
両脚を第１の駆動装置によって同一速度で往復駆動可能
な構成を採用することができる。The present invention is based on this principle, and in order to simplify the explanation, the wheels 11, 12, 21 are described above.
, 22 has been described in which an endless chain 10 having legs 3 and 2 is wound around it, but such a configuration is not necessarily necessary, and a power transmission device that drives a pair of left and right legs with fixed legs is also described. are linked by two output shafts of a drive adjustment differential device of a drive adjustment device driven by a second drive device, and when the second drive device is stopped, both legs are connected by the first drive device. A configuration capable of reciprocating drive at the same speed can be adopted.
即ち「例えば特関昭５３−１２３２４２号公報や特関昭
５４一２５０５５号公報に記載されているように、円板
等を回動駆動することにより左右の脚が前後に往復駆動
されるような競成を採用し また第電図に示すようにチ
ェーンまたはワイヤもロープ等を用いる場合においても
〜後方のホイール２Ｌ を２及び後方の調整ホイール２
３をそれらに巻掛けられたチヱ−ンの一部と共に省略し
「 チェーン軍餌０の一端を脚富または駆動装置８のロ
ッ門こ連結すると共にその他端をばね等によって常に引
張状態に保持させた構成とすることもできる。而して、
本発明は左右一対の脚のみを備えた歩行機械に適用でき
るのは勿論であるが、左右一対の胸を前後に複数対設け
た歩行機械にも適用することができる。In other words, ``For example, as described in Tokukan Sho 53-123242 and Tokukan Sho 54-25055, the left and right legs are reciprocated back and forth by rotating a disc or the like. Even if a chain or wire or rope is used as shown in the electrical diagram, the rear wheel 2L is 2 and the rear adjustment wheel 2 is
3 is omitted along with a part of the chain wound around them, and one end of the chain bait 0 is connected to the leg or the lock gate of the drive device 8, and the other end is always kept in tension by a spring or the like. It is also possible to have a different configuration.
The present invention can of course be applied to a walking machine having only a pair of left and right legs, but also to a walking machine having a plurality of pairs of left and right chests in the front and rear.
第２図は本発明の実施例を示すものである。FIG. 2 shows an embodiment of the invention.
この実施例における左右の脚３１９ ３２は前後のスプ
ロケット４１，５１及び４２，５２の間に巻掛けたチェ
ーン３３，３４に取付けられト必要に応じて、特開昭５
４一２５０５４号公報に開示されているように同期駆動
される上下二段のチェーンの対応位置に脚の上端を取付
け、チェーンの一方への駆動により歩行行程及び復帰行
程を繰返すものである。これらのチェーン３３，３４‘
ま、モータ等の第１の駆動装置３５により動力伝達装置
３６を介して駆動されるものであるが、その動力伝達装
置中におけるスプロケット４３，４４はそれを枝持する
回転軸４５，４６に一方クラッチ４７，亀８を介して取
付けられ、上記回転藤４５，４６上に前記スプロケツト
４１，４２が固定されている。In this embodiment, the left and right legs 319 and 32 are attached to chains 33 and 34 that are wound between the front and rear sprockets 41, 51 and 42, 52.
As disclosed in Japanese Patent No. 4-25054, the upper ends of the legs are attached to corresponding positions of two stages of upper and lower chains that are synchronously driven, and the walking stroke and return stroke are repeated by driving one of the chains. These chains 33, 34'
Well, it is driven by a first drive device 35 such as a motor via a power transmission device 36, and the sprockets 43 and 44 in the power transmission device are connected to rotating shafts 45 and 46 that support the sprockets on one side. It is attached via a clutch 47 and a hook 8, and the sprockets 41 and 42 are fixed on the rotating wheels 45 and 46.
また、駆動調整装置６０として、モータ等の第２の駆動
装置６１及びそれによって駆動される駆動調整用差動装
置６２を設け、この蓋勤装置６２の出力軸６３，６４上
のスプロケツト６５，６６と上記回転軸４５，４６上の
スプロケット６７，６８との間にチェーン６９，？０を
巻掛けている。なお、スプロケツト６７及びスプロケツ
ト６８を差動装置６２との関連において所要の方向に回
転させるためには、スプロケット６５，６６、チェーン
６９，７０及びスプロケツト６７，６８によって構成さ
れる動力伝達系の一方または双方を歯車列等と層換えれ
ばよい。従って、左右の脚３竃，３２がチヱーン３３，
３４上において相互に１８００の位相ずれをもっている
場合には、駆動装置６１を停止させた状態で駆動装置３
５を駆動すると、脚３１，３２が相互に逆の方向へ同速
度で駆動され、また駆動調整袋贋６０１こおける駆動装
置６１により左右の脚３頁，３２を同位相にした場合に
は、駆動装置３５を駆動したとき、左右の脚３１，３２
が全く同位相、同速度で駆動されることになる。Further, as the drive adjustment device 60, a second drive device 61 such as a motor and a drive adjustment differential device 62 driven by the second drive device 61 are provided. and the sprockets 67, 68 on the rotating shafts 45, 46, and the chain 69, ? 0 is wrapped around it. In order to rotate the sprocket 67 and the sprocket 68 in a desired direction in relation to the differential gear 62, one or more of the power transmission system constituted by the sprockets 65, 66, the chains 69, 70, and the sprockets 67, 68 is required. Both can be replaced with a gear train or the like. Therefore, the left and right legs 3, 32 are chain 33,
If there is a mutual phase shift of 1800 on the drive device 34, the drive device 61 is stopped and the drive device 3
5, the legs 31 and 32 are driven in opposite directions at the same speed, and when the left and right legs 3 and 32 are brought into the same phase by the drive device 61 in the drive adjustment bag counterfeit 601, When the drive device 35 is driven, the left and right legs 31, 32
are driven in exactly the same phase and at the same speed.
さらに〜駆動装置３５を駆動すると同時に駆動菱瞳６１
を駆動し、葦動装置６２の一方の出力軸を一定基準速度
で回転させることにより他方の出力軸を所要の速度で回
転させ、これによりスプロケット６７または６８ト回転
軸亀Ｓまたは４６を介して脚を駆動するとｔ胸３翼また
は３２の駆動速度を任意に制御することができる。Furthermore, at the same time as driving the driving device 35, the driving rhombus 61
By driving one of the output shafts of the reed drive device 62 at a constant reference speed, the other output shaft is rotated at a required speed. By driving the legs, the driving speed of the 3 wings or 32 T-chest can be arbitrarily controlled.
この場合〜一方クラッチ４７，亀８では駆動装置３５の
騒動速度により回転軸４５，４６に伝える最低回転速度
が定まり「駆動装置６１によりスプロケット６７または
６８を上記最低回転速度よりも高速で回転させなければ
その回転が脚に伝えられないことになるが、上記一方ク
ラッチ４？，４８をこ代えて差動機横を配設し、スプロ
ケット４３９４４の回転とスプロケット６７，６８の回
転方向に応じて加減算して回転鞄４５，４６に伝達する
ように構成すれば、上記の問題を解決することができる
。以上に詳述したところから明らかなように、本発明に
よれば第１の駆動装置により同一速度で往復駆動可能と
した脚を、第２の騒動装置で駆動される駆動調整用差敷
装置の２本の出力軸によって連繋させただけの簡単な構
成によって「左右一対の胸を各種の関連状態において、
例えば１８０度の位相差で同方向或いは逆方向に同速或
いは任意の速度比で駆動することができるので、歩行の
態様に適した運動を与えることができｔその制御も第１
、第２の駆動装置の駆動または停止のみで極めて簡単に
行うことができる。In this case, the minimum rotational speed transmitted to the rotating shafts 45 and 46 is determined by the turbulent speed of the drive device 35 for the clutch 47 and turtle 8, and the drive device 61 must rotate the sprocket 67 or 68 at a higher speed than the minimum rotational speed. The rotation of the sprocket 43944 and the direction of rotation of the sprockets 67 and 68 are added and subtracted by replacing the one-way clutches 4 and 48 and installing a differential on the side. The above-mentioned problem can be solved by arranging the same speed to be transmitted to the rotating bags 45 and 46.As is clear from the above detailed description, according to the present invention, the same speed is transmitted by the first drive device. A simple configuration in which the legs, which can be reciprocated in the In,
For example, it is possible to drive in the same direction or in opposite directions with a phase difference of 180 degrees, at the same speed, or at any speed ratio, so it is possible to provide a motion suitable for the walking mode.
, can be carried out extremely simply by only driving or stopping the second drive device.
第１図は本発明の原理を説明するための構成図、第２図
は本発明の実施例の構成図である。
亀，２？ ３１，３２……脚、３，５？ ３５，６１・
…−・駆動装置、母，６０…・・・駆動調整装置。第１
図第２図FIG. 1 is a block diagram for explaining the principle of the present invention, and FIG. 2 is a block diagram of an embodiment of the present invention. Turtle, 2? 31, 32... Legs, 3, 5? 35,61・
...--Drive device, mother, 60... Drive adjustment device. 1st
Figure 2
Claims (1)
程及び復帰行程を繰返す左右一対の脚を備えた歩行機械
に、駆動調整用差動装置とこれを駆動する第２の駆動装
置とよりなる駆動調整用差動装置を設け、上記一対の脚
を駆動する動力伝達装置に、上記差動装置の２本の出力
軸を連繋させ、この差動装置によつて左右の脚の位相調
整及び両脚の駆動速度の制御を可能にしたことを特徴と
する歩行機械における脚駆動装置。1 A walking machine equipped with a pair of left and right legs that repeat a walking stroke and a return stroke via a power transmission device by a first drive device, and a walking machine comprising a differential device for drive adjustment and a second drive device that drives the differential device. A differential device for drive adjustment is provided, and the two output shafts of the differential device are linked to a power transmission device that drives the pair of legs, and this differential device adjusts the phase of the left and right legs and adjusts the phase of both legs. A leg drive device for a walking machine, characterized in that the drive speed of the leg can be controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56007572A JPS6013875B2 (en) | 1981-01-21 | 1981-01-21 | Leg drive device in walking machines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56007572A JPS6013875B2 (en) | 1981-01-21 | 1981-01-21 | Leg drive device in walking machines |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS57121979A JPS57121979A (en) | 1982-07-29 |
| JPS6013875B2 true JPS6013875B2 (en) | 1985-04-10 |
Family
ID=11669519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP56007572A Expired JPS6013875B2 (en) | 1981-01-21 | 1981-01-21 | Leg drive device in walking machines |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6013875B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8935848B1 (en) | 2006-08-23 | 2015-01-20 | Rockwell Collins, Inc. | Method for providing near-hermetically coated integrated circuit assemblies |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111232084B (en) * | 2020-03-02 | 2021-08-31 | 广东博智林机器人有限公司 | Multi-foot walking robot |
-
1981
- 1981-01-21 JP JP56007572A patent/JPS6013875B2/en not_active Expired
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8935848B1 (en) | 2006-08-23 | 2015-01-20 | Rockwell Collins, Inc. | Method for providing near-hermetically coated integrated circuit assemblies |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS57121979A (en) | 1982-07-29 |
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