JPS61178269A - Leg section mechanism of walking machine - 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 The present invention relates to a leg mechanism for a walking machine, and particularly to a bendable leg mechanism that allows the leg of the walking machine to be easily bent relative to the main body of the machine.

Since legged machines can operate in areas and ground where wheeled or pedal-powered vehicles cannot operate, it is preferable to develop walking machines rather than wheel- or pedal-driven machines. It has long been known that there are benefits to

Therefore, numerous attempts have been made over the years to develop walking machines. However, there were so many problems in developing such a machine that to date, no satisfactory machine exists. These problems include coordinating the movements of each leg, teaching the machine how to sense its surroundings so that each foot lands correctly, and teaching the machine sense of balance so it doesn't fall. The simple fact about such matters is that walking is second nature for humans and animals, but extremely complex for computers and robots.

Computers have the ability to process enormous amounts of data and issue appropriate instructions, making controlling the legs of a walking machine a manageable problem. As a result, many researchers around the world have developed various types of walking machines.

In the patent application (1) entitled ``Walking Machine'' and filed on the same date as the present application by the applicant of the present application, it has an extending main body with six legs attached at uniform positions around the circumference. A walking machine is disclosed. As disclosed in that application, by arranging the body and six uniformly spaced legs in a walking machine, this machine has the ability to operate in the same small area as a human can operate. . However, in order to achieve this purpose, it is necessary that each leg has the ability to be drawn completely and tightly against the body while actually bending the leg towards itself.

The mechanism for doing this was hitherto unknown.

U.S. Patent Application No. 4,765, entitled "Vertical Actuator Mechanism for Walking Machine Legs" and assigned to the assignee of the present application.
No. 83 discloses the basic details of a leg mechanism for a walking machine that incorporates the idea of a pantograph by making each mechanism that drives the legs of the machine in the vertical and lateral directions independent. However, that application does not teach how to form a leg mechanism from such a pantograph structure.

OBJECTIVES It is an object of the present invention to solve the related problems by providing a walking machine with narrow sides.

A leg mechanism for a walking machine having a plurality of links arranged to constitute a pantograph mechanism, the links being able to bend with respect to each other so that the legs can be retracted into close contact with the body of the walking machine. It is a feature of the present invention to solve these problems by providing: One corollary advantage lies in the simple leg mechanism of the walking machine. Another advantage resides in the l1liI cover mechanism of the walking machine which can be retracted closely to the walking machine body. Other objects, features and attendant advantages of the present invention will become apparent to those skilled in the art from the following detailed description of a preferred embodiment constructed in accordance with the invention and taken in conjunction with the accompanying drawings in which like numbers refer to like parts. It will be clear for.

-1 According to the present invention, the pantograph mechanism has a plurality of links arranged to constitute a pantograph mechanism, and these links can be bent with respect to each other so that the legs can be contracted closely to the main body. , discloses a leg mechanism for a walking machine that allows the machine to operate in a small area similar to that in which humans can operate.

In summary, a walking machine leg mechanism constructed in accordance with the teachings of the present invention includes a frame member, a first elongated link, a first end of the first link pivotally connected to the frame member, and a pair of second elongated links. an elongate link and a foot interconnected with a first end of the second link pivotally mounted on opposite sides of the second end of the first link and positioning the first link between the second links; a pair of third elongated links, and a first end of the frame member and the first link, together with the first link between the third links. a first end of a third link that is pivotally connected to a second end of the third link, a pair of fourth elongated links, and a third link between the fourth links; a second end of a fourth link pivotally connected to an intermediate point between the end and the second link with a second link between the fourth links to position the second link between the fourth links; a pair of actuator struts; a first end of the struts that is pivotally connected to the fourth link together with a fourth link between the struts and positions the fourth link between the struts; a frame member; and a leg drive connected to the second end of the actuator post.

1) If we refer to the drawings and describe them in detail, please refer to Figures 1 and 2.
3, 4 and 7, a leg mechanism of a walking machine, generally designated 10, is shown. Leg mechanism 1
For a fuller understanding of how the 0 can be attached to the main body in combination with multiple additional identical leg mechanisms to form a complete walking machine, please refer to the said patent application [1]. Should be referred to. However, the invention is not directly related to the construction of a complete walking machine, but the present invention is directed towards a bendable leg mechanism of a walking machine in which, if desired, the leg mechanism can occupy a very small space. It's just being told.

The leg mechanism 10 includes an elongated upright leg frame 1) connected in a pivotable (not shown) manner to a walking machine body (not shown). The leg frame 1) has a pair of oppositely spaced parallel sides 14 and 15.

The pin 16 is located at the lower end of the leg frame 1) on the side 1
It is suspended between 4 and 15.

The leg mechanism 10 has a plurality of elongate links arranged in a parallelogram so that a force applied at a selected point on each of the links is transferred to the other members forming the movable legs of the mechanism. It forms a pantograph mechanism that can be transmitted to the link. More specifically, the leg mechanism 10 includes a first elongate link 17 that appears to form the thigh of the leg mechanism 10. The link 17, as indicated by the reference numeral 18, is a solid member with dogleg legs, for reasons that will become clear in the following description. Pin 16 is link 1
7 and pivotally connects the link 17 to the leg frame 1).

Leg mechanism 10 includes a second elongate link, generally designated 20, which forms the shin portion of leg mechanism 10. The link 20 is preferably made of two parts, an upper part 21 and a lower part 22, which are mirrored together in a suitable manner.

The part 21 has an upper part with a pair of opposite parallel sides 23
and 24 and is a generally U-shaped member in that the lower portion is a solid member as indicated by 25. the first ends of the sides 23 and 24 and the link 1
The second ends of 7 are pivotally connected to each other by pins 26. The sides 23 and 24 are positioned on either side of the second end of the link 17, as shown very clearly in FIGS. 2 and 7. This allows the side 2 of the link 20 to
The link 17 can be positioned between 3 and 24. The lower end of the part 22 of the link 20 forms a foot 27 of the leg mechanism 10, and the foot 27 is conveniently attached to a rubber cap 27.
It should also be noted that it has .

Leg mechanism 10 includes a pair of third elongated links 28 and 29, the first ends of which are preferably pivotally connected to frame member 11 by pins 16.

According to a preferred embodiment of the invention, link 17 is link 2
8 and 29. Links 28 and 29, as indicated by numeral 30 in FIG.
It has slightly doglegged legs for reasons that will be explained below.

The fourth side of the parallelogram is formed by a pair of elongated links 31 and 32, and the first ends of links 31 and 32 are connected to links 28 and 2 located between links 31 and 32.
With both links 9, links 28 and 2 are connected by pin 33.
9 is pivotally attached to the second end. The second ends of the links 31 and 32 are pivotally connected to the midpoint of the link 20, specifically to the part 21 of the link 2o, ie with the part 21 of the link 20 between the links 31 and 32. 1. so that link 17 can pass between sides 23 and 24 of link 20; Link 31 is connected to side 23 by a pin 34 and link 32 is connected to side 24 by another pin 35.

The arrangement of links just described forms a pantograph mechanism with various links formed in the form of a parallelogram, the corners of which are defined by the letter symbols A, B, C and D. 1 will be readily recognized by those skilled in the art.

The parallel sides of the parallelogram are indicated by dotted lines. Point B, defined by pin 16, is a fixed point on the pantograph, whereas foot 27 is its ultimate movable member.

The vertical movement of the legs 27 is controlled by a pair of actuator columns 36.
and 37, and the first ends of struts 36 and 37 are connected to the midpoint E of links 31 and 32 by struts 36 and 37.
and 37 with links 31 and 32 located between them. A single bin 38 passes through links 31 and 32 and is suspended between struts 36 and 37. Post 36
and 37 are connected to a leg actuator mechanism, generally designated 39, and a part thereof, which is connected to the leg frame 1).

More specifically, the leg actuator mechanism 39
is attached to a lead screw 42 which rotates and is attached to the leg frame 1) by a set of bearings 43 and 44, with a suitable gearing 4
It has an electric motor 40 connected by 1. Drive nut 45 is mounted on lead screw 42 such that drive nut 45 is vertically driven upwardly or downwardly by rotation of lead screw 42. The second ends of struts 36 and 37 are connected to drive nuts 45 by pins 45A and 45B, respectively.
It is pivoted to.

Although not part of the invention, the leg mechanism IO also includes the foot 27.
It includes a leg actuator mechanism, generally designated 50, for laterally driving the. The leg actuator mechanism 50 includes an electric motor 51 that directly drives a lead screw 52.
have. The electric motor 51 has a pair of pins 53A and 53
B is pivotally connected to one end of the U-shaped swing arm 53.

The other end of the swinging arm 53 is attached to the side parts 14 and 1 of the leg frame 1).
5 by a pin 54. A drive nut 55 is attached to the lead screw 52.

The link 17 of the leg mechanism 10 has a crank arm 56 extending vertically at its first end adjacent to the pin 16.
have. Similarly, links 28 and 29 are connected to pin 16
Adjacent to and at a first end thereof are vertically extending crank arms 58 and 59, respectively. link 60
The first end and pin 61 are made integrally with the drive nut 55.
and a second end connected to crank arms 58 and 59 by. Link 62 has a first end connected to one side of swing arm 53 by pin 63 and a second end connected to crank arm 56 by pin 64.

For a more complete understanding of how the leg actuator mechanism 50 controls the lateral movement of the foot 27, a document published by the applicant under the title "Horizontal Actuator Mechanism for Legs of Walking Machines" dated the same date as the present application is provided. Reference should be made to patent application (3) filed in . Reference may also be made to the aforementioned US patent applications for a more complete understanding of how the leg actuator mechanism 39 controls the up and down movement of the foot 27.

In operation, FIG. 1 shows the leg mechanism 10 in its position. Figure 5 shows how the legs 27 can be raised and extended to some extent. The advantages of the present invention are best seen when considering FIGS. 6 and 7, which show the leg mechanism 10 in a retracted position. link 20 is link 17
side part 2 of the link 20 so that it is vertically parallel to
6 and 7 that the spacing between 3 and 24 allows the link 17 to fit therebetween. Furthermore, the inner link 17 is connected to the leg drive device 3.
Since it must be possible to draw completely close to the pin 9, a dogleg leg 18 is provided so that half of the link 17 between the dogleg leg 18 and the pin 16 is under the bearing 44. It is now possible to shrink it. At this time, the dogleg leg 18 extends the remaining part of the link 17 between the dogleg leg 18 and the pin 26 to the front of the lead screw 42, and this part of the link 17 connects to the bearing 44 and the lead screw. 42 and extends vertically upward.

Since the link 20 of the leg mechanism 10 must be able to be drawn almost parallel to the link 17, its upper part is formed by sides 23 and 24, between which the dogleg leg 18 and the pin 26 are attached. The end of the link 17 between can extend.

Links 31 and 32 are attached to the outside of links 17 and 20 so that when the leg mechanism 10 is in the retracted position, links 17, 20, 31 and 32 all easily pass through each other and squeeze the same space. It is now possible to

The links 28 and 29 are positioned inside the links 31 and 32 so that the links 28 and 29 are located between the links 31 and 32 even when the leg mechanism 10 is in the retracted position. Dog-legged legs 30 on links 28 and 29 are provided to provide spacing to pins 38 connecting struts 36 and 37 to links 31 and 32. Due to the forces acting between the struts 36 and 37 and the links 31 and 32,
Pin 38 is a solid member and must extend across the entire space between posts 36 and 37. Dog-legged legs 30 on links 28 and 29 receive pins 38 in the retracted position of leg mechanism 10. It should also be noted that struts 36 and 37 are mounted on the outside of links 31 and 32, so that in the retracted position of leg mechanism 10 they occupy virtually the same space as the remaining links.

Although the present invention has been described with reference to preferred physical embodiments constructed in accordance with the invention, it will be apparent to those skilled in the art that the present invention may be susceptible to various modifications and improvements. It is therefore to be understood that the invention is not limited to the particular illustrated embodiments, but is limited only by the scope of the claims.

As described above, according to the present invention, the legs of a walking machine are provided with vertical actuators to form bendable legs, thereby providing a device that has the advantage of being able to walk in any narrow space. ing. In addition, the leg link mechanism uses a pantograph, and the vertical movement of the legs can be freely controlled by a computer.

[Brief explanation of the drawing]

FIG. 1 is a side elevational view of a leg mechanism constructed in accordance with the present invention; FIGS. 2, 3, and 4 are lines 2-2.3 of FIG.
-3 and 4-4 respectively; Figures 5 and 6 are additional side elevational views of the mechanism of Figure 1 in different positions; Figure 7 is of the leg mechanism in the retracted position; Front Front View, FIG. 8 is a rear front view taken in the direction of line 8--8 of FIG. 10... Leg mechanism, 1)... Leg frame, 1
7...First link, 20...Second link, 28
゜29... Third link, 31.32... Fourth link, 36.37... Pillar, 3/9.50...
Leg actuator mechanism, 4" 0.51...Electric motor, 56°58.59...Crank arm.

Claims (6)

[Claims] (1) a frame member; a first elongate link having a first end pivotally connected to the frame member; a pair of second elongate links positioning the first link at the frame member and having second ends interconnected to form a foot; a pair of third elongated links pivotally connected together with the first link sandwiched between;
a first end is pivotally connected with the third link sandwiched between a second end of the third link, and a second end is sandwiched between an intermediate point on the second link; a pair of fourth elongated links pivotally connected with the second link for positioning the second link therebetween; (2) The leg mechanism according to claim (1) further comprising a vertical actuator device operatively connected to the fourth link. (3) the vertical actuator device includes a pair of actuator struts, the first end of which is pivotally connected with a fourth link sandwiched between the fourth links to position the fourth link therebetween; A leg mechanism according to claim 2, comprising a leg drive connected to the frame member and the second end of the actuator post. (4) the leg drive comprises an electric motor, a lead screw driven by the electric motor, means for connecting the lead screw to the frame member for rotation about a vertical axis, and a means for connecting the lead screw to the frame member for rotation about a vertical axis; and a drive nut on the lead screw connected to the two ends. (5) the leg drive includes upper and lower bearings for supporting the lead screw relative to the frame member, and the first link has a dogleg leg; a portion of the first link between the dogleg and the first end extends below the lower bearing; and the first link from the dogleg to the second end. A leg mechanism according to claim 4, wherein the remaining portion of the leg extends in front of the lead screw. (6) further comprising a pin suspended between the first ends of the actuator struts through the fourth link, the third link having a dogleg bent leg; and the leg mechanism The leg mechanism according to claim 3, wherein a gap is created with respect to the pin in the retracted position.