JPS621679A - Walking machine - Google Patents

Abstract

PURPOSE:To make a double walking distance over a slide stroke performable as well as to make improvements in a walking rate, by coupling both first and second slide tables together, and installing each of leg devices, capable of reciprocating in the reverse direction to each other, in respective slide tables. CONSTITUTION:Two slide cylinders 24 are tightly installed in a slide table 1 of a leg device A, installing symmetrical piston rods 26 and 27, and these rods are connected to brackets 28 and 29 installed in a slide frame. Another leg device B is formed in the same way, and mutual slide tables 1 and 1' are tightly attached by a coupling body 31. These slide cylinders 24 and 24' of both leg devices A and B are operated in the reverse direction to each other, the leg device B is moved, and a leg body is extended longer and grounded, then a leg body of the leg device A is contracted. Next, these slide cylinders 24 and 24' are operated in the reverse direction to each other and the leg device A is moved. With this operation repeated, a double distance over a slide stroke is travelable in this way.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a G1 type walking machine used for the walking part of an underwater robot.

Conventional technology A conventional walking machine of this type was the Tokuko Sho 55-4195g.
No. 1, JP-A No. 59-423, etc., but these are No. 16
The outer leg device α and the inner leg device l are shown in the figure.
The movement range of the inner leg device lb is limited to the outer leg device α.

Problems to be Solved by the Invention As described above, there is a small degree of freedom in moving the legs, so one walk (one cycle) can only move with an excellent 6-9 slide stroke, which has the disadvantage of slow walking speed.

The present invention was made in view of the above circumstances, and its purpose is to make it possible to move twice the distance of the slide stroke in one walk (one cycle), and to reduce the walking distance. An object of the present invention is to provide a walking machine that is faster and contributes to improving work efficiency.

Efficient means and functions for solving the problems The present invention provides telescopic legs 9, 10, 11° 11, 12.
A first O-leg device ItA is provided on the slide table 1 so as to be reciprocally movable, and the legs 9', 1σ, I +' extend and retract.

Slide frame structure with 121 installed at the four corners 1)'fC
a second O-leg device @B reciprocatably provided on the slide table I'; a coupling means C for coupling the first O-leg device A and the second O-leg device B at the portions of the slide tables l and l'; It is configured to include a slide drive device E that operates the slide frame structure of the first leg mounting fieA and the slide frame structure D' of the second O leg mounting @H in opposite directions.9, slide drive device @H The slide structure is activated by the operation of the .

1st and 2nd leg braces @A that move Dl in opposite directions,
B's legs 9. IO, 11, 12, 9', lσ.

The next step is to land on I+', 11, and 12', complete the contraction, and repeat these steps to walk.

Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings. A stile is the first leg device, and B is the second leg device. 1st O
The leg device A is equipped with a slide table 1, and this slide table 1 is provided with sliding holes 2 and 3ti on the front and rear sides in the left-right direction, and slide bushes 4 are fixed to the sliding holes 2 and 3. I'm doing it. The slide frames 5 and 6 pass through the slide holes 2 and 3, respectively.
Support frames 7.8 are provided at both ends of the slide frame 6, and these constitute a slide frame structure Df. At the front and rear of the support frame 7.8 are leg structures 9. IO, I+
, 11 and 12 are provided.

These v4J structures 9, 10, 11, 11, 12 are fixed to the support frame 7.8 as shown in FIG.
A slide bush 14 is attached to the inner lower part of the outer cylinder 13. The inner cylinder 15 is inserted into the outer cylinder 13 in sliding contact with the slide bush 14, and the inner cylinder I5 is inserted into the outer cylinder 13.
A slide bush 16 is attached to the upper end of the outer cylinder 13 for sliding contact with the inner circumferential surface of the outer cylinder 13. 7-) at the lower end of the inner cylinder 15
+7 is provided.

The base end of a telescoping cylinder 19 is connected to the bracket 16 inside the upper end of the outer cylinder 13 with a pin 20, and the piston rod 21 of the telescoping cylinder 19 is connected to the bracket 22 at the lower end of the inner cylinder 15 with a pin 23. It is.

1ltZ slide cylinders 24 are fixedly installed on the lower surface of the slide table 1.
is equipped with left and right piston rods 26.27, and the piston rods 26.27 of the slide cylinder 24 are connected to the brackets 28.29 mounted on the slide frame 5.6.

The leg mounting @B of W and 2 has the same configuration as the above-described first leg device A, and the slide table I'U of this second leg device H
The first bow leg device B via the coupling body 31 as the coupling means C.
It is connected to the slide table 1.

That is, the first and second leg devices A and H are connected to each other via the coupling means Cf at the slide table 1.11.

The slide drive device E for the first and second O leg suspensions fA and H is shown in FIG.

Reference numeral 32 in FIG. 6 is a bo/g, and the discharge side of the pump 32 is connected to the inlet portion 34A of the diversion valve 34 via a pipe line 33'. One outlet portion 34BY”i pipe line 40 of the diverter valve 34
The ports 35B and 35C of the switching valve 35 are connected to the boat 35A of one of the switching valves 35 through the pipe 3.
6. Boat 24A of slide cylinder 24 via 37
, 24B. Also, the bow of the switching valve 35)
35D! It communicates with a tank 39 via a drain line 36.

The other outlet 340 of the diverter valve 34 is connected via a line 41 to the bows 42A of the other switching valve 42, and the bows 42B and 42C of the switching valve 42 are connected to the lines 43, 44.
i) 24A' of slide cylinder 241 through i)
, 24B', and is connected to the boat 42 of the switching valve 42.
D communicates with the drain 39 via a drain pipe 45.

Next, the operation will be explained.

If we start walking seven times from the state shown in ■ in Figure 8, then the first
The legs 9, 10 of the leg device A. I+.

12 is the landing, 2nd O leg brace & B legs 9', 10'.

+1' and +2' are in a contracted state.

Next, the slide cylinders 2 of the first and second leg devices A and H
4, 24't: The second leg device B operates in opposite directions.
(see Fig. 6) Next, extend the telescopic cylinder 19 in the second O-leg device B to move the leg 9', I O
', I 1', + 2' and land on the ground, and in the first leg fllA, the telescopic cylinder 19 is retracted and the legs 9, 10 . Reduce ++, 11, and 12 (see Figure 8■)
.

Next, 5g1 operates the slide cylinders 24 and 24' of the second leg devices tA and B in opposite directions to move the first leg device A.
Move to the left (Cause 8 ■ Reference III).

Next, the legs 9, 10, 11° 12' of the first leg device A extend and land, and the legs 91.1σ, 11 of the second leg device B
', 11, and 12' are shortened (see Figure 8 ■).

Next, the slide cylinders 24, 241 of the first and second O-legs fe@A, H are operated in opposite directions to move the second leg
Move B to the left (see Figure g) According to the above walking pattern, it is possible to move twice the distance of the slide stroke in one step (one cycle).

During the synchronization during sliding, the switching valves 35 and 42 are operated simultaneously to distribute the oil amount to seven evenly through the flow dividing valve 34, and the slide cylinders 24 and 24' are slid synchronously. Slide cylinder 2 with respect to slide cylinder 24 in the sliding direction
4' is the opposite direction.

Figure @7 shows the walking sequence.

As another embodiment of the present invention, the leg assembly wILA of the iig+ and the second leg assembly jB may be connected on the slide table 1.11 by a rotating swivel device xbo by means of coupling means C.

As shown in FIGS. 9 and 10, the swing device f160 is equipped with a swing circle 45 fixed to the table 11, and the pinion gear 47 of the hydraulic motor 48 of the swing drive device fl146 provided on the table 1 is connected to the swing circle 45. It meshes with the circle gear. 49 is oil, an electric signal transmission device, 50 is a turning angle detection sensor, and 51 is mounted equipment.

In this case, by driving the hydraulic motor 48 of the swing drive device 46, the first leg device 1ltA can be pivoted relative to the second leg device B via the pinion gear 47 and the circle gear.

As a result, it becomes possible not only to walk straight at high speed, but also to walk in turns, as shown in Figure 11, and eventually to walk in all directions without changing direction, as shown in Figure 12. Direction 8 of the first leg device 71A: Walk without changing direction).

For diagonal walking, the second leg device B is used as shown in Figure 13.
Turn only in the forward direction, move the second bulging RB completely, and walk.

Also, when walking in the lateral direction, the second leg brace f is used as shown in Fig. 14.
Only lIB turns all 90 parts and moves the second bowlegged device tB to walk.

Further, the slide drive device @E may be configured as shown in FIG. 15. That is, the discharge side of the bonder 53 is connected to the conduit 54.
The switching pulp 55 is connected to the boat 55A of the switching pulp 55 through the
Slide the boat 55C055D through conduit 57.51 to one boat of cylinder 24, 24') 24B
, 24B', slide cylinders 24, 24
The other boats 24A and 24A' are connected by a conduit 59. By switching the switching pulp 55, the slide cylinders 24 and 24' operate synchronously in opposite directions as indicated by solid line arrows (or dotted line arrows).

Effects of the Invention Since the present invention is as described above, the slide structures D and D'f are moved in opposite directions by the operation of the slide drive device E, and the second leg device A is moved.

B's leg 9.10. I+, 12.9', IO
', IF.

121 landing and contraction, and by repeating these steps, it is possible to walk.

Therefore, it is possible to move twice the distance of the slide stroke per walk (one cycle), which increases the walking speed and improves work efficiency.

In addition, the same walking motion as with conventional devices can be achieved with half the slide stroke, making it possible to make the walker smaller and lighter.

[Brief explanation of drawings]

FIG. 1 is a plan view of one embodiment of the present invention, FIG. 2 is a front view of the same,
Figure 3 is a front view of the slide table part, Figure 4 is the WJ
Figure 2 is a cross-sectional view along the tv-FTI repair, Figure 5 is a longitudinal cross-sectional view of the leg, Figure 6 is an explanatory diagram of the structure of the slide drive device, Figure 7 is a walking sequence diagram, and Figure 8 is an explanation of the walking pattern. figure,
Figure 9 is a plan view of the turning device, Figure 10 is a front view of the same, and
The 1st to 14th factors are an explanatory diagram of the operation of the walking machine, FIG. 15 is an explanatory diagram of another actual ms-like configuration of the slide drive device, and FIG. 16 is an explanatory diagram of the walking pattern of a conventional walking machine. 1.l'i! 2 side table, A is the first O-leg device, B
FiF2O3 device, C is a coupling means, D and DI are slide 7 frame structures, and E is a slide drive device.

Claims (1)

[Claims] A first leg device A includes a slide frame structure D having extendable legs 9, 10, 11, and 12 at the four corners, which is reciprocatably provided on a slide table 1, and extendable legs 9', 1.
A second leg device B includes a slide frame structure D' having 0', 11', and 12' at the four corners and is reciprocably provided on a slide table 1', a first leg device A, and a second leg device. A coupling means C for coupling B at the slide table 1, 1' portion, and a slide frame structure D of the first leg device A.
and a slide drive device E that moves the slide frame structure D' of the second leg device B in the opposite direction.