JPS63237882A - Shifter - 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 Field of the Invention The present invention relates to a moving device used for moving various FI devices, robot devices, etc., and more specifically, a leg mechanism of the moving device and a drive device for the leg mechanism. The present invention relates to an actuator mounting structure.

Prior Art A conventional moving device is known, for example, as shown in FIG. 7, 18+, (b). As shown in the figure, each of the movable bags fiA, B has a plurality of leg bodies 4, 4.
Equipped with ..., cough each leg 4.4. ... are driven alternately by actuators (not shown) mounted inside the main body 1 to walk and move.

In this case, a leg mechanism is constituted by the leg body 43 actuator and the like.

Problems with the Prior Art However, in the moving devices A and B, each leg 4.4.・
...and the actuator are each directly assembled and attached to the main body 1, so it has a so-called integrated assembly structure. Therefore, when changing the number of leg mechanisms or dimensions such as the distance between legs, the arrangement of the leg mechanisms must be changed. This necessitates a change in the design of the entire moving device, and furthermore, especially when increasing the number of leg mechanisms or shortening the dimension between the legs, machining and assembly work become complicated.
There is a problem that work efficiency decreases.

Purpose of the Invention The present invention was devised in view of the above-mentioned circumstances, and is easy to change the design when changing the number of leg mechanisms or dimensions such as the distance between the legs, and is also easy to use during processing and assembly work. It is an object of the present invention to provide a moving device having a structure capable of improving efficiency and further downsizing the entire device.

Structure of the Invention In order to achieve the above object, the main means adopted by the present invention is to unitize a plurality of leg mechanisms each having a drive actuator, and to establish a correspondence relationship between each of the units. This is a moving device in which the driving actuator having a certain degree of freedom is mounted so that its longitudinal axis can be appropriately eccentrically placed inside the moving device main body.

Effects of the Invention Since a plurality of leg mechanisms each have a driving actuator and are unitized, various types of moving devices can be easily assembled by simply setting each leg mechanism on the main frame of the moving device, for example. be able to. In addition, when each of the above units is attached to the main body of the moving device, the longitudinal axes of the driving actuator with corresponding degrees of freedom do not interfere with each other, so the main body when viewed in the longitudinal direction of the driving actuator You can reduce the width of the frame.

Below, embodiments embodying the present invention will be described with reference to the accompanying drawings to provide an understanding of the present invention.

It should be noted that the following examples are examples embodying the present invention, and are not intended to limit the technical scope of the present invention.

Here, FIG. 1 shows a moving device according to an embodiment of the present invention. Arrow side view,
The same figure (C) is a side view taken in the direction of arrow E in the figure tal, FIG. 2 is an explanatory diagram of the unitized leg mechanism used in the above-mentioned moving device, and FIG. 3 (al to ff) is the above-mentioned embodiment. 4(a), Cb), FIG. 5 tag, (b),
6(a) and 6(b) are a plan view and a side view, respectively, of a moving device according to another embodiment of the present invention.

The mobile device C according to this embodiment is shown in FIG. 1(a).

('bl, (As shown in C1 and FIG. 2, a leg body 11. 11,・
... (6 sets) are a plurality of disassembleable blocks 13, 13 . . . that constitute the main body 12. ...(6+lI) (see Figure 2) are attached to each side.

The inside and upper end of the second link 7 of the leg body 11 have a first link.
Second motor M1. M2 is attached, and inside the block 13, the blocks 13, 13 . When assembling the main body 12 of the moving device C, the opposing blocks 13.
13, the third degree of freedom corresponds to each other. Fourth
Motor (drive actuator) M3. M Now is the third time
．． The fourth motors M3 and M are mounted eccentrically in the longitudinal direction of the main body 12 so that their longitudinal axes do not interfere with each other in the upper and lower chambers of the main body 12 (see Fig. 2). reference).

In this case, the leg body 11. Block 13. 1st 2nd. Third. Fourth motor MI, M2, M3. A leg mechanism F is constructed by unitizing M4 and the like.

The first motor M1 described above rotates the wheels 5 and drives the moving device C.
The second motor M2 is used to rotate the wheels 5 about the axis 14 and determine the running direction of the moving device C.

The third motor M3 is for driving the second joint 9;
The second link 7 is configured to rotate around the second joint 9 by the rotation of the motor M3.

The fourth motor M1 described above is for driving the first joint 8, and is configured to rotate the first link 6 around the first joint 8 by rotation of the fourth motor M4.

The third and fourth motor M3 of the block 13. M4 is the second leg body 11. The lifting and lowering movement of the wheels 5 is realized by rotating each of the first links 7.6.

With the mobile device C having the above configuration, for example, Fig. 3 fJl)
When straddling the obstacle wall W shown in FIG. 1 without damaging it, the first wheel 5 is lifted up, and the second and last wheels 5 from the front are moved forward, as shown in FIG. 3(b). In this case, it is also possible to improve the balance of the entire moving device C.

Next, as shown in Fig. 3 (C1), the first wheel 5 is landed in front of the obstacle wall W, and the first and last tuns v15 support the ffi%t of the device, and the center east*5 is placed in front of the obstacle wall W. Lift it above the wall W and rotate the first and last wheels 5 to move the ζ device forward.

Next, as shown in FIG. 3+dl, when the rearmost wheel 5 approaches the obstacle wall W, the running of the device is temporarily stopped and the middle wheel 5 is lowered.1. As shown in FIG. 3 (8), the first wheel 5
It also supports the entire device and lifts the rearmost wheel 5.

Moving forward in this state, when the last wheel 5 passes the obstacle wall W, as shown in FIG. 3(f), the last wheel 5 is lowered and all wheels 5 land on the obstacle wall. Completely straddle the W.

In addition, when changing direction, the second motor M
, to change the direction of the wheels 5 and change the running direction of the entire device, or to turn the first two wheels in the direction of the letter "C" and the last two wheels while the machine is stopped. It is possible to perform a spin turn in which the two wheels are set in an inverted "V" direction and all running wheels are rotated in the same direction to change direction.

Since the moving device C is configured as described above, when designing the moving device C, the unitized landing gear tIF is
It is sufficient to design each unit, and manufacturing and assembly operations can be carried out in units of units, making it possible to improve the efficiency and reduce costs of processing and assembly operations.

In addition, the dimensions of the main body 12 of the moving device C are changed by each leg mechanism F,
This can be easily done by installing spacers 15, 16 between F, ... (see Fig. 4 (a), Φ)), so it is possible to prevent the increase in the size of the loaded object or the change in the dimensions between the legs 11, 11. Can be easily dealt with.

Furthermore, in the above embodiment, the 6-leg, 6-wheel moving device C is realized with 6 sets of leg mechanisms F, but the 2 sets of leg mechanisms + IF in the center are removed (FIG. 5(a)).

(see bl), by attaching spacers 17.17 instead of the two sets of leg mechanisms F in the center (see Fig.
It is also possible to use it as a moving device with four wheels.

Further, in the above-mentioned moving device C, the third.
Fourth motor M3. M◆ is the third. 4th motor M3
, M are arranged so that they do not interfere with each other at the top and bottom positions inside the main body 12, /11, respectively, so that the leg mechanisms F can be assembled compactly even if they are placed opposite each other. is possible.

Effects of the Invention As described above, the present invention unitizes a plurality of leg mechanisms each having a drive actuator, and also connects the drive actuators with degrees of freedom corresponding to each other in the longitudinal direction of each unit. Since this is a moving device that is installed so that the axis of the moving device can be placed in an appropriately eccentric state inside the main body of the moving device, when changing the number of legs v1 or changing dimensions such as the dimension between legs, etc. It is possible to provide a moving device having a structure that allows easy design changes, improves work efficiency in processing and assembly work, and further downsizes the entire device.

[Brief explanation of drawings]

FIG. 1 shows a moving device according to an embodiment of the present invention, in which (δ) is a plan view with the upper cover partially cut away, and (bl is the direction indicated by arrow D in FIG. 1(a)). Side view, same figure tc
+ indicates a side view in the direction of arrow E in the same figure (a), figure 2 a side view in the cross direction, figure 4 fan, Cbl, figure 5 (al, (b)
, FIG. 6+a), (bl is a plan view and a side view of a moving device according to another embodiment of the present invention, respectively, and the 71st KIta
) and (b) are perspective views of conventional moving devices, respectively. (Explanation of symbols) 11... Leg body 13... Block MI
, M2 + M3 + MI... 1st. Second. Third. Fourth motor C...Movement device F...Leg mechanism.

Claims (1)

[Scope of Claims] A plurality of leg mechanisms each having a drive actuator are unitized, and the drive actuators have degrees of freedom corresponding to each other in each unit, and the longitudinal axis thereof is a moving device. A moving device characterized in that it is attached so that it can be placed in an appropriately eccentric state inside a main body.