JPS639348Y2 - - Google Patents

Description

[Detailed explanation of the idea] The present invention relates to a walking robot.

2. Description of the Related Art It is well known that there are robots, such as toys or industrial equipment, that move in imitation of human walking motions. However, the mechanism of this conventional robot is extremely complicated, and as a result, the robot as a whole has to be large in size, and its walking motion is unstable.

In view of the above drawbacks, the present invention aims to provide a walking robot that is compact and capable of stable walking.

Hereinafter, the present invention will be explained based on drawings showing embodiments thereof.

FIG. 1 is a perspective view showing one embodiment of the present invention. In the figure, drive plates 2 and 3 are fixed to both ends of the intermediate shaft 1, and leg devices 6 and 7 are rotatably attached to both ends of the drive plate 2 via support shafts 2a and 2b, respectively. Similarly, leg devices 8 and 9 are rotatably attached to both ends of the drive plate 3. Regarding the support shafts of the drive plate 3, only the support shaft 3b for the leg device 9 is shown.

The leg device 6 has a drive plate 2 as shown in FIG.
Walking legs 1 rotatably attached to (Fig. 1)
0 and guide grooves 11a and 11b provided in the guide member 13 fixed to the lower part of the walking leg 10.
and an inclined guide groove 12 extending diagonally upward from the lower end of the guide groove 11a, and a slide leg 15 having guide pins 14a and 14b that fit into the guide grooves 11a, 11b or 12 and are movable within those grooves,
A moving surface 16 fixed to the lower end of the sliding leg 15
and a contact surface member 17 that comes into contact with the. still,
The guide grooves 11a and 11b extend substantially in the direction of gravity so that when the contact surface member 17 is separated from the moving surface 16, the slide leg 15 and the contact surface member 17 can easily slide under their own weight. In the figure, the contact surface member 17 is shown in contact with the horizontal moving surface 16, so the slide leg 15 is in contact with the walking leg 10.
Either one or both of the guide pins 14a and 14b are simultaneously connected to the guide groove 11a or 11b.
in a position regulated by the upper edge of the walking leg 1
When 0 starts walking (details will be explained later),
The contact surface member 17 is separated from the moving surface 16, but at that time, the guide pins 14a and 14b are
5 and the guide groove 11 due to the weight of the contact surface member 17.
a, 11b, and reach a position where one or both of them are regulated by the lower ends of those grooves (hereinafter, this position will be referred to as the neutral position of the guide pins 14a, 14b). In this way, guide pin 1
4a moves within a certain range of the guide groove 11a, and the inclined guide groove 12 extends from the lower end of the guide groove 11a within the movement range. Reference numerals 18a and 18b are separation prevention members fixed to the upper ends of the guide pins 14a and 14b, respectively, and the separation prevention members 18a and 18b prevent the guide member 13 and the slide leg 15 from separating.

The configuration of the leg device 6 is as described above, but the configuration of the leg device 7 in FIG. 1 is exactly the same,
On the other hand, regarding the leg devices 8 and 9, the guide member 1
3' has a symmetrical shape to the guide plate 13 of the leg devices 6, 7, but other members are exactly the same as the leg devices 6, 7.

The leg device 6 and the leg device 7 are the respective walking legs 1.
The pulleys P6 and P7 are connected by a belt BE1 stretched between the pulleys P6 and P7 fixed to the upper part of the
The leg device 8 and the leg device 9 are connected to a pulley P8 in the same way.
and P9 are connected by a belt BE2 stretched between them. However, these belts BE1,
BE2 is stretched after each contact surface member 17 is uniformly aligned.

The means for driving the drive plates 2, 3 and thus the leg devices 6, 7, 8, 9 connected to the intermediate shaft 1 are rotatable means mounted on the intermediate shaft 1 so as to be rotatable about the shaft. An arm 19, a motor (drive device) 20 fixed to the tip of the rotating arm, and a sprocket (transmission wheel) on the output shaft of the motor 20.
21 and a chain (winding member) 23 that is stretched between a sprocket (transmission wheel) 22 fixed on the intermediate shaft 1. The combination of the transmission wheel and the wrapping member is not limited to a sprocket and a chain, but may be a conventionally known wrapping transmission device such as a pulley and a belt.

The output shaft of the motor 20 rotates at a constant rotational speed in a clockwise direction when viewed from the axial direction.
In that case, the chain 23 moves in the direction of arrow A.
Here, since the sprocket 22 on the intermediate shaft 1 is fixed to the intermediate shaft 1, even if the motor 20 rotates, the rotational moment on the leg devices 6 and 8 with the leg devices 7 and 9 as the fulcrum is large. , the pivot arm 19 carrying the motor 20 moves around the intermediate shaft 1 in the direction of arrow B.
Rotate in the direction. When the motor 20 rotates to a certain position due to the rotation of the rotation arm 19, the clockwise rotation moment on the motor 20 side using the leg devices 7 and 9 as a fulcrum becomes larger than the counterclockwise rotation moment on the leg devices 6 and 8 side. Therefore, the rotation of the motor 20 causes the drive plates 2 and 3 to rotate in the direction of arrow C around the support shafts 2b and 3b, thereby causing the leg devices 6 and 8 to rise above the leg devices 7 and 9 and further forward. Move to. In this case, the moving leg devices 6, 8 include pulleys P6,
Belt BE1 stretched on P7 or P8, P9,
Since they are connected to the leg devices 7 and 9 by the BEs 2, friction between the pulleys and belts will not cause irregularities in the moving contact surface member 17.

By repeating the above operations, the robot will walk and move, and the state of the walking movement will be diagrammatically shown and explained below.

FIG. 3 sequentially shows the states of a robot walking on a horizontal surface, and the robot operates and moves in the order of ~ in the figure. Although only the leg devices 6, 7 and the drive plate 2 are shown in the figure, the leg devices 8, 9 and the drive plate 3 in FIG.
The leg device 6, the leg device 7, and the drive plate 3 move in the same manner as the drive plate 2, respectively.

In FIG. 3, the pivoting arm 19 supported by the leg arrangements 6 and 7 via the drive plate 2 is
When the motor 20 starts rotating, it begins to rotate in the B direction. As the arm 19 rotates, the motor 20 gradually moves, and when it reaches a certain position (see figure), the clockwise rotational moment on the motor 20 side with the leg device 7 as a fulcrum becomes greater than the counterclockwise rotational moment on the leg device 6 side. The drive plate 2 begins to rotate around the support shaft 2b due to the rotation of the motor 20, and at the same time, the leg device 6 leaves the moving surface 16 (see figure), and continues to rotate due to the motor 20. After passing through the intermediate position (see figure), the leg device 6 that moves according to the drive plate 2 descends toward the moving surface 16 due to its own weight (
figure). In this case, the motor 2 with the leg device 7 as a fulcrum
The rotational moment on the 0 side is counterclockwise, and the leg device 6
It acts as a brake that allows the vehicle to descend slowly. The arm 19, which was tilted toward the leg device 7 when the leg device 6 came into contact with the moving surface 16, continues to rotate in the direction B by the rotation of the motor 20 (see figure), resulting in the state shown in the figure. The state returns to the same state as (Figure). however,
As can be seen from the above explanation, the robot in the figure has moved by the length of the drive plate 2 compared to the state in the figure.

By repeating the above operations, the robot walks on the moving surface 16.

The walking mode of the robot has been described above in the case where the moving surface is a horizontal plane. In this case, the leg devices 6, 7, 8, and 9 themselves operate as follows. Incidentally, since the operations of these leg devices are all the same, the following explanation will be given only for the leg device 6.

When the leg device 6 is lifted upward from the contact surface state shown in FIG. 2 and the contact surface member 17 is separated from the moving surface 16, the guide pins 14a and 14b are It moves downward within the guide grooves 11a and 11b and comes to rest at a position regulated by the lower ends of those grooves, that is, a neutral position. When the contact surface member 17 contacts the moving surface 16 again, the guide member 13 fixed to the walking leg 10 moves downward with respect to the slide leg 15, and the guide pins 14a and 14b relatively move into the guide grooves 11a and 11b. and eventually return to the state shown. That is, when the robot walks on a horizontal surface, that is, when the contact surface member 17 repeatedly contacts and separates from the horizontal surface, the slide leg 15 is moved by the force of gravity that causes the guide grooves 11a and 11b to extend relative to the walking leg 10. It slides back and forth in the direction. that time,
The contact surface member 17 always maintains a horizontal state.

As shown in FIG. 4, when the leg device 6 moves in the direction of arrow D on the inclined moving surface 36, if the contact surface member 17 is spaced apart from the moving surface 36, the guide pins 14a and 14b are moved as described above. As shown, the slide leg 15 and the contact surface member 17 are in a neutral position due to their own weight, and the contact surface member 17 is in a horizontal state. Leg device 6
When the contact surface member 17 descends and comes into contact with the inclined moving surface 36, a vertical force is first applied to the heel portion 17a of the contact surface member 17, and this causes the upper guide pin 14a to move into the inclined guide groove 12. enter. When the leg device 6 further descends, the guide pin 14a
moves within the guide groove 12, and in response, the contact surface member 17 tilts until it uniformly contacts the moving surface 36. In this way, even with respect to the inclined moving surface 36, the walking legs 10 can be maintained vertically by the tilting of the contact surface member 17 and the sliding legs 15, so that the entire robot will not fall in the direction of the inclination.

Although FIG. 4 shows the case where the robot descends a slope, the robot can ascend the slope by changing the rotation direction of the motor 20 or by changing the inclined guide groove 12 from the right inclined position shown in FIG. 4 to the left inclined position. Needless to say, it can be done.

Furthermore, in this example, guide members 13 and slide legs 15 are provided at the bottom of the walking legs 10 in order to enable the robot to walk on slopes, but if the robot is to walk only on horizontal surfaces, leg 1
Alternatively, the contact surface member 17 may be attached directly to the contact surface member 17.

FIG. 5 shows another embodiment of the present invention, in which the motor 20 is not used as the drive device, but the rotational force generated when a person 50 pedals 51 is used as the drive source. In this case, the rotational force obtained by pedaling the pedals 51 is unstable compared to the rotational force of the motor, and therefore the walking legs 10 that perform walking movements are likely to be uneven.
As described above, this phenomenon is extremely effectively prevented by the action of the pulley P and belt BE.
In this figure, the same reference numerals as those shown in FIG. 1 indicate the same members, and in this example, a contact surface member 17 is attached directly to the walking leg 10. Reference numeral 52 denotes a speed reducer for appropriately reducing the rotational force obtained from the pedal 51.

As described above, according to the present invention, the robot has a very simple configuration in which it walks according to the movement of a rotating arm placed at an intermediate position between several walking legs. and the leg device or walking leg that leaves the moving surface perform a walking motion while maintaining balance.

Therefore, the robot can be manufactured compactly as a whole, and its walking motion is very stable.

[Brief explanation of the drawing]

Fig. 1 is a perspective view of a walking robot showing one embodiment of the present invention, Fig. 2 is a perspective view showing the leg device 6 in Fig. 1, and Fig. 3 shows the walking mode of the walking robot on a horizontal plane. FIG. 4 is a side view showing the leg device 6 in contact with a slope, and FIG. 5 is a side view showing another embodiment of the present invention. 22... Transmission wheel (sprocket), 1... Intermediate shaft, 2, 3... Drive plate, 10... Walking leg, 20...
...Drive device (motor), 50...Drive device (person)
51... Drive device (pedal), 19... Rotating arm, 21... Transmission wheel (sprocket), 23...
Wrap member (chain).

Claims (1)

[Scope of utility model registration request] An intermediate shaft to which a transmission wheel is fixed, a drive plate fixed to both ends of the intermediate shaft, walking legs rotatably attached to both ends of the drive plate, and walking legs rotatably attached to the intermediate shaft. It is characterized by having a rotating arm having a drive device at its tip, and a winding member disposed between a transmission wheel attached to an output shaft of the drive device and a transmission wheel fixed to the intermediate shaft. A walking robot.