JPS6121868A - Walking leg device - Google Patents

Abstract

PURPOSE:To obtain a transporting device which can safely travel a rugged surface by artificially reproducing the feature of motion of the leg part of lizards, etc. CONSTITUTION:On the front part of a box-like body 1 having a taller head part 2, the rotary main shaft part c' of an inclined crank C having inclined shaft parts (c) which are parallel with each other, is rotatably supported by bearings 3 on the both sides of the body 1. The shaft 4 of a leg part L having a rubber soled foot I is rotatably fitted to each of the both inclined shaft parts (c) of the crank C through a slip-out preventing link 5. The central part of a phase variable arm 7 is rotatably provided 8 between the both arms of a reversed U-form arm member 6 which is provided on the ceiling inside the rear part of the body 1, and the both end parts of the arm 7 are projected out through the vertical slits 9 of the body 1, enabling their vertical positions to be reversed to each other, on the right and left outsides of the body 1. When the rotary main shaft part c' of the crank C is rotated by means of a motor 16, the leg L carries out traveling motion, enabling the body 1 to advance.

Description

DETAILED DESCRIPTION OF THE INVENTION At the end of this invention, the movement characteristics of the legs of the 11th stage of the present invention are improved by leveling the ground, skilfully walking and running, 1st, and the movement characteristics of the legs of the 11th stage are redeveloped. Regarding the configuration.

It takes 1,147 hours for a 4-ton vehicle to drive on 8 flat, leveled surfaces, but it takes 1,147 hours to drive on 8 flat, leveled surfaces, but it takes 1,147 hours to drive on 8 flat, leveled surfaces, but it takes 1,147 hours to drive on 8 flat, leveled surfaces.
In the direction of 5, it is easy to break and 1 is suitable for use, and there is also a relationship 1 that is designed for unleveled ground to reduce the weight and force.
Activities in different areas are almost impossible.

The second invention is the axle of Samoto.
There is a special L-color transporter that can be used for TI.

First purpose of the invention of Hanafuzu 2 1@1. There are plenty of engines to pull, transport equipment to launch, and fists to pull.

Objective 1i of tail 2, the highlight of the disaster in the sand 0 skyscraper of the second stage,
It is a fist that is equipped with Rohonoto transportation equipment that can be used for all the activities of Urayu.

Purpose 1 of Machine 3 is to provide suitable transportation equipment for political assistance activities in disaster areas such as Kaishin, Tsutomo, and Hong 71.

The structure achieved in accordance with the above and the drawings 11 are shown in the examples below and are explained in Figures 1-2.
Monthly book of 1 + engineering, tall head 2 and holding box.
The front part of the same month and the same book 1 (211, mutual 0) is parallel ↑ sister axis C, CX both flight'' 11 associate T Ru width ↓ rotation of taranque C! llI#C'Rikidou Ihon 1 Mangoku Te 4 without yellow tags and rotation.

As shown, the shafts of the body 11 and the shaft 1, 3, 3 (two shafts are supported, υ, both oblique shafts of the inclined crank C, C, Ct:l,
Each A non-slip rubber sole ankle 1. [and have] the selected leg part, the L force, ゛, the shaft that is fixed to the upper part of the inner twill (the force that is the force that is the shaft bearing connection with the second prevention cover 5, 5, which is a weir fit), In the case of 2, Fig. 1 A1 - catty, 3 and one remainder: 1 - iIl1
Part C, the lowest width, (1m = 8), 1 m = 8.
IJ (Remember to place it at the bottom of Book 1 (see also the figure in Part 2).

Next, in the rear version body 1 (1j・1 top wholesale, five zo F upside down U
The distance between the arms 7 and 6 (21 is shown in Fig. 2A) is the force at the center of the variable phase arm 7, which is the width of 8. Temeu τ, I's rain end part 1. i purchase i book 1 Yugaisen 1
The earthworks will be carried out by the first prince and vassal! tau
Yo 2 Monthly salary 1 1 shell - 1 gu 9 Ma υ 5 groove 9
, From 9 to the 1st direction, the above-mentioned L Aimachi bending arm 7 has a blind ring at both ends. ,i
.

One better type crank T
As shown in Figures A, B, and C, the moon part 1. L Inner shoe holes on the upper part of each 6 T: The axis of the bearing tube 44 is parallel to the shaft 1, z, and 1, 2', and 2' is parallel to the shaft 1, 2, and 2'.

Arrange the Y2 intersections as much as possible and fit them into each of the shaft bearing holes 11'11' of the F shaft bearing tube 11 11 and connect them with the screws 12] 2, but the strength of the second part is increased. Suhokatsu'l L T
1, as shown in Fig. 2 C'f 2, the bearing tube 4 Y-axis claw tube 11 and the leg shaft knitted reinforcement 13 are thinned and 14 welded to form a LCr) A4 ((, B, (Made in 4th direction, name → corner ■βL, above L @β inside) Place (P is facing 0
゜ / A thousand parts of children with a monthly salary of 1 (21, Figure 1 A,
B, C and Noshima 2 Diagram A show the following (2, samurai, toughness material).
4 on the axis for L and Goyama Riki ro) 1 move 1i1 r6 < Karocha 1-Yo Fuzu Enrei 0 Zumeru Hippo, said 2 iA heaven PV
Ill month same book 11th grade A'1
s'-2 J So trunk i book] Lower i 0 (te mackerel friend prescribed j bird bar shan's use direction 4 Echi) te □kiru yotsu (two rows of falcons 11 si terunru).

In addition, in the above configuration 8, there are 4\1, 1, 1, 1, 1, 1, 2 in the tail 1, and 15 in the body #-1, and 16 (4 in the 1). Drive source) Nohara 0 Kurumayama 17
Convert βσ to A = 2 = Y 1 - 6 ZA 18, A, rotational main shaft of oblique crank C C' - 2 Thm gear 19, Kifukux 9, and XO button connected to each thread. I am the only one, and I am equipped with the equipment and supplies for the walking leg device W.
(The walking leg device W1 of the present invention, which has the above-mentioned ferocity, Tanabata-1)
6, remove the □ of the batch saw 15 by force, and remove the leakage metal 4. Right side that makes you cry
At the same time, the leg axis X (leg 1 - upper shaft opening 4') The bottom center of the Y paste and the bottom center, ), axis)
3-pronged bow of IL upper shaft bearing tube 4 + j I L9 cold; l exit 1
゛, ([jE+, oblique Φyu C is ゛upper sound 1]
When I fall, I forcefully push my ankles outwards in front of me.
When the oblique axis C is lower A rule
-The same j, Nt 1 length of rain 3 in the garden,) rise B%
The upper part of the rib ρ axis The axis of the axis (hole 11'1 Yu is also transmitted, =: 2, =: Tsukio axis x T Rui's ankle) is,
1' to 8' in the same figure, while I was in a forward-facing posture and synchronously with my department. 1 kan\motion Σ line).

Initial, Atsushi 1 Figure B
I book 1, Sobetsu power gu two-mata moon soku■ (from the second Asahime e-ko 2,
☆, support (two feet, - ten thousand ankles lυ゛ connected to the ground e 1Ω chest 7'~8'~1'~2' in Figure 3) 1
Between 1 and 2, the relationship between the stomach feeding movement and the movement of the legs is that the ankle [maintains a constant position on the ground e], and the forward feeding distance of the torso 11 (to the front). The power of the power, one -sided 1 -month -of -the -month, one -of -a -two -car, the first -time month -of -the -month, and the two F5 crossings (one hook performed in the second world, Fig. 1, Fig. 1 Pickled J place-w +, i prefecture 4 figure (2 ho 11 middle 77111 members will be a car that performs walking exercise. Square, figure 4-
Fig. 11 is an exploded view of the walking movement synchronized with the initial decomposition of the leg axis I'm in the middle of nowhere.
, Kq, oa3, b3, c 3a and a7”, b
7゜C 100 imperial leaves, then '1. I, both ankles 1.1 Foot surface e (2 □ turret, torso 1, + adjacent de to 1] and f
): Prevented by Jou, Yo-blind and N-so.

Evening 1-, Mi-actuated dark side, Ma Ii, one ankle lr; 1
T forceri' turf surface e leprosy (- Seki, Sai also did two forkeds)
2. Fortune-telling, L Sai 8 no. Walking movements/one island speed) Kanmatata coral rBAel, t, e surface e l2k 'yr ”
e,'? F,'s foot @ + h: 'Of course, the torso 1 is running at high speed, and before the end of IJ, V
I'm going to get better. However, the spacing force of L1 body 1 Oto ground e,
'&L Elementary 5 < rxru a3 b3 C3Ahi''
a7. b7. c7's departure, pedes 1, torso 1's lofty, poor practice, 1i's worker L neck [, [1↓history eh, B away from B, X pump line 3 u1000 + 2 f , Zuru next 1;, In the case of 2 ramps of the tilted leg of Shohan W, 1 piece, the movement of the forward speed is confusing, and the force of the ``item'' is hit with the reverse jaw, 1 Tsukasa 8 calls (2, month 1 Tsuji fusho, 1 rear part 1; dead craftsman 5 this one leg ■no, ゛ni history & mine scarcity Hi-'t-zr7
Mae□i Gin and IJ opposite Iri'1 (:ItoJ・1'
11. Stroke-s', s' (From the second, the first block is rx to rxl + the slope force, and the second walking push device L. W I ;J can easily perform backward walking movement and backward running linear movement around ζ'.

1 Hakuguchi τ, Atsushi 1 Figure E, Hoshida walking #6 ρ device w, Karloma, antenna 20 sends and receives control signals to device 21
The cable is connected to the phase variable arm 7 and the bearings IQ at both ends.

+ 08 vertical position l: difference length 7mm 11', L type 2 run '2T with long shaft parts 1, 1-2 in both bearings 1°708 each, At the same time as the pre-soaking phase for the lunar part of the leg pt', t' and the L part bearing hole 11'+'ll'-2 sinks, the foot ankle 1. L - Each of the 0 stones-like circular trajectory, the front and back of the thread spring, the left ankle 1, the left ankle 1, the left ankle 1, the left ankle 1, the j 8 etc.
How to change the length of steps (two related steps)
The second fraudulent walking leg device W! 70'' to ``Mai Jiang Phase Variable'') Down (Sura ni Me Jin two quick turns and go to 7 臥工■ Like a chestnut, this Ling Ming walking cape device W1, Yang Go Bao 1
The ankle 1 and the trunk axis are turned downward and back (1 island rotation action causes Fl 1 and Luo Jin to be delayed, so the arrow action and L' 1 grass cover and bamboo are delayed). When I started working out my strength, I thrust forward with a kick in the mouth of Yuzumasan and Tadaina Omi.
P#roV, why do you complain about it?'? If the obstacle force ζ' is met, it may also be slippery.
h y - r t, kneel - 1 no kusu js anus otto leg - neck 1 push Ishi Nobizumi - mimaki e (1 bite (1 included) and pull the torso 1 forward, strong pulling force and 〕Transport it with 1 moon bean of the text /
: There are a lot of differences between the two, so let's talk about it. Followers: Walking leg device W1 of the present invention;
Non-woven television camera 23 and Ll L on head 2, A month 1
Hou 1 2 a.・Nosuru 24 I in 1] Release, 7 ((Suga)
25 and my, ・r い ん ・bu, front
Kototsukai system Nyuto rumor device (Andare 20 Receiving device 21
・Since the body fin is broken, the rotating main shaft part of Tomai's slope 2c, c'1, c'1, etc. Appointment 2 99 Gisuke I
l /
Z connection, synchronous rotation drive source 26 (7) @ movement (secondary use)
8's rotational axis part c/, c/ and arrow p, p direction l? 5
The synchronous rotation 7 is carried out at the front and back of the torso 1 as shown in the figure 41. Second, all four diagrams in Fig. 5 B, 09 dotted line rod-shaped frame, each in h (two can be shown). 4 Rotational position of crank C 96 If delayed, synchronous rotation 1 1 r, 11 Et 1 part L L] Walking movement 6' Fig. 4 a1 b1' cl In the case of cl, the legs in the rear position, Lt7) Walking Erection II + Shizu a3.b3
．． I will be in charge of c3, but this is the same operation diagram of IJ in January:
The group continues and goes to 7.

In addition, the same figure and the handwriting] 1 Y blind sheep observation color according to the 1st grade, the above-mentioned gait movement and 1 ts per minute Always in fL position (: front and back @reka's ankle 1 1
7' to touch the ground forcefully: Me, during the above walking movement, the body part 1 is completed, 'l-['-1' direction] 2ζ 賎尤1
There are 4 and 4 and 4 and b and .

The book is placed in front of the book 1. The servo fired repeatedly in the system-9-222
2, the boat (if it is a two-way boat, 1, the main body 11 go front side O, R
Himebe L, the leg between L and L is the axis of Zo゛ψshi and the direction around Zuno J\ is changed (Example 3) as shown in Figure 6 A and B Walking legs 1iWl'i, front walking bamboo legs drying Wka, et al.ヱArchive 28
．． 28 Late shift 7: 7th day, summer month body 1.1 Each p has a shaft bearing Ch trouble link C7C rotating main shaft Ikudo.

c', 8-, key abonx9. The drive shafts 27, 27, which were perpendicular to each other when the CI was rotated, and the drive shaft 291, which was orthogonal to the direction of the axis of the central fuselage 1', contained a system error.
KA'MaeJ 已月目J,J Salary 1. 7: L joint 30' 301: 7: L joint 30' 301: 7: L joint 30' 301: 7: L joint 30' 301: 7: L joint 30' 301: 7: L joint 30' 301: 7: L joint 30' 301: L', 1 joint axis 1. IA
Face (: Entaterashi 1st arm 3.j, 3 + tip part, central body 1', appropriate Saikuretsu system r&, (2 luck system Akutaotata Pooh motor 22.22 each $11 lips) 32, 32 part), there is a boil tank 3333 and an auxiliary rod 34 on both ends.
At 34, they wither and die.

In addition, the front and rear torso 1 each No. The above walking leg device W''1, the synchronous rotation drive source in the central trunk body 1', is adjusted so that it runs directly. Rotation 1 drive shaft 29 0 silence
'Universal pull-joint 30, 30 points Y front and rear torso A 41.1 point, 11 pot) Must be left straight A crank C-,
, C + Ni, there is a worker who is standing in the way of tears.
Sarrejoint 30 30 each joint center j, Jno,
Premise fuselage 1.

] The center body of the monkey, the central trunk of the mountain, Shinyama Hamanan, 1.
;Shiki Kaihonchu ZA) te 7, the front is the torso], 1 the center of each Buddha's torso axis 1' A to the torso axis 7 parts in the axis - and freedom (this provision □9≦- Y', there is Takashi Saiji who writes.

Sogote'', 4 scratches, 1 fire, +, system L (7) Due to the operation,
17) $'
l Sand #32, 32 Higi] After 4 winter movement 11゛, continuous opening P rod in the anus 34, 34') Movement I: Yotsu,
Front and back lunar body 1.1 Each fixed arm 31. 31 ho front again 1
The 6 threads that are pushed backwards, the center trunk of each of the 1st and 1st summer months of the previous month, and the shaft meat that is laid out on the trunk axis, and the front and back legs are attached to the same section. The vertical direction of each of L, L, and L is also tilted.

Also, - the front and rear legs, L, L, L, each move in the same direction as the direction of travel.
Legs L, L/-t-'Punishment part 1.1 and Shiba Sara's support + ten thousand side (dual relationship, the change of direction of the rear small turn towards Z is performed.In the two cases , Rebotar 22
22 Control culm 32 32 Each 〃 seriform, heavy gradient 1 extraction, ``Friend, kitcl'', this! , it is possible to move from one position to the other by a turning walking movement, and the ability to change the direction of the second walking leg (iW) is the most expensive of the $11-month implementation fee 1j.

In addition, the second walking leg embankment position W' ■ Naoho gait straight beginning) 8 Tomaru and swim 11 points are the same as in the case of the gait 1 push position W' of the above-mentioned practice 12. In the movement, Pfukoma base non-example, "detailed one poem a and 'ei] plot to run out of points, both claws 1 ro.

[Brief explanation of drawings]

Figure 1 A) is a front view of the walking leg device W, Figure B1 is a side view, Figure C1 is a construction view, Figure D11 is a-a of Figure B.
Sectional view, b-vi back view of E11100 in the same figure. Figure 2 A11 operation 4Jt perspective view, Figure BIA leg main part shaft bearing plate arrangement, Figure C1τ leg upper gloss bearing tube arrangement diagram, Figure C'l axis S (tube and leg Figure 3, 1 Kogyoharae map, Figure 4, 1 walking separation map, the same figure a] ~ a811 the same square figure,
Figures b1 to b81 are a top view of the same circumference. Figure 5 A (perspective view of the walking leg device W') Figure B1 is a perspective view of the internal structure of the construction. Figure 6 A1 is a perspective view of the beam walking leg technique @W; ′ Central body, 2. Head, 3. Bearing, 4
! Fill water pipe, 4'! ! ! Hole, 5 Pull-out prevention bolt, 6 Inverted U-shape, 7 Phase variable arm, 8 Center plate, 9.
・Skin groove,] o Shaft, text, 11 Bearing tube, 11'・Bearing hole, 12 Plate plate prevention ring, 13 ・Leg shaft bucket, 14・
・Angle, 15...Battery,]C6・Lockter,
+7-i, motion am, ]s =-N3==!
E; 4w゛a, 19・Nei kettle N°′a, 20zuntea, 21 ・ 'jj-GL*, 22 ・
...
・TV camera, 24 ・Nozzle, 25 Discharge 71 (tube, 26...ID period rotational drive source, 27 Driving shaft, 28 @
View, 29, Drive shaft, 30 Any purple point,
31 ・Keep watching! Address, 32... Control J8.33 - Hole link, 34... Rod. C @ diagonal rank, C - oblique axis part, C' rotation 1 axis, e - ground, f - row direction, 9 key axes, h - squint hit, wax rectangular frame, I... axis line, J Feeding t(・, L・Leg, [ankle, p・・rotation direction, S stopper S/・ston/mar, ■・
・L stiffness rank, t long @ evil, t' short axis, v - bifurcated leg, w, w', v; - walking leg bank! , x-m axis, y4-made line 43.2 Ti, line, 2' - parallel line. Fig. 5 Fig. 6 Procedural Divine Book (Wanmin) November 2, 881059' Pf Permissions Office Commissioner Exhibition History 1, - Indication of the matter Ito Concave f (] 1959 Patent Gensei No. 139
785 No. 2 Name of the invention Walking leg device 3, relationship between the proceedings and the guardian who completes the duties Patent applicant Idama pJT 7-7-7-5, Minami-Aoyama, Nagisa-Rin-ku, Tokyo
, the title of the amendment (k) ``Drawings'', (2)... Column j-(3) of the description of the date and month of Itoda's writing, ``Drawings'' in the description 4 days Month column” 6. Correction details

Claims (1)

[Scope of Claims] 1. A rotating main shaft of an inclined crank having mutually parallel oblique shaft portions on both sides is supported at an appropriate position in the body so that both oblique shaft portions rotate on the left and right sides of the body, and a leg portion is attached to each of the oblique shaft portions. The short shaft of an L-shaped crank is connected to the upper part of the crank and one end of the long shaft is connected to each of the upper and lower phase variable arms on the left and right sides of the body parallel to the bearing center line of the main shaft of the tilted crank. A walking leg device that is fitted into a bearing hole whose center line intersects with the center line of the oblique shaft bearing or a parallel line thereof, and is connected to the rotational main shaft of the inclined crank and an appropriate rotational drive source. 2. The walking leg device according to claim 1, wherein the upper part of the downwardly-opening forked leg is connected to the rear half of the body so that the forked leg can swing back and forth at a predetermined angle on the lower side of the body. 3. The walking leg device according to claim 1, wherein the rotating main shaft portions of the inclined cranks disposed at the front and rear of the body are connected to an appropriate synchronous rotation drive source. 4 The front fuselage and rear fuselage, each bearing a tilting crank, are connected to the front and rear of the center fuselage on mutually parallel axis lines, and the two driving shafts are orthogonally connected to the rotating main shafts of both the front and rear tilting cranks via gearboxes. , the two ends of the drive shaft arranged in the direction of the trunk axis of the central fuselage are connected by a universal joint arranged so that the connection center is on the connecting axis of the respective fuselages, and the front fuselage and rear fuselage Claim 1: The vehicle is connected to the flight control system through an appropriate control mechanism such that the axis is bent in the same direction as the trunk axis of the central fuselage.
Walking leg device as described in section.