1309596 九、發明說明： 【發明所屬之技術領域】1309596 IX. Description of the invention: [Technical field to which the invention belongs]
本發明係關於一種走型機3|人 A 例态人，尤指一適用於玩具產 業、機器人產業以及益智教具產業、...等領域之機器人足 部裝置以及包含該足部裝置之懸臂式四足機器人設計。 【先前技術】 …，乃甚至是工業 ’因此，機器人的 一直佔有重要的地 機器人無論是在家用或休閒娛樂用 用途等等，均佔有莫大的重要性及商機 研發技術，在各國機械領域之發展上， 位。 在已知之四足機器人設計領域中，目前大部份的四足 機器人㈣機構主要是以連桿機構或㈣桿機構等設計， 惟前述具有連桿或導式傳動機構之足型機器人於地面 上灯進4，其結構體會呈現左右偏擺或上下浮動之現象， ::丁走時平衡狀態差’加以現有機構之控制方法仍然略顯 笨拙H ’該些四足機器人在行走時，無法保持水平的 安態直線行進，更不用說要做旋轉、後退的動作，以及行 ^於崎^平的路面等複雜動作，即便有電腦來控制其足 ::步幅’但所能達成機身行走時必要平衡效果仍然不甚 二：因& ’如何改善四足機器運動平穩性為目前機器人 又° 之—項重要課題。 來帶2 1述足㈣^人巾使狀連桿機構係利用連桿 每-件二―足部機構作跨步行走之動件，而該連桿機構 ’’、、竭放式設計，暴露於外界，此種設計存在有防塵 1309596 及防水效果差’而使其機件易污損等問題。 【發明内容】 ，本發明之主要目的在於提供一種機器人足部裝置以及 .包含該足部裝置之懸臂式四足機器人，希藉此設計，克服 先前既有足形機器人運動平穩性不佳之缺點。 為達成則揭目的’本發明所設計之機器人足部裝置主 要包括： 一上足節驅動組件，包括一中空上足節殼體' 以及一 上足節驅動齒輪組可旋轉地裝設於該上足節殼體中，該上 足節设體可為一動力輸出組帶動旋擺，該上足節驅動齒輪 組具有相嚙合之行星輪系齒輪組及上足節從動齒輪； 一中足節傳動輪組，設於該上足節殼體内，可為一動 力輸出組驅動； 一中足節驅動組件’包括一中空中足節殼體以及一中 足節驅動輪組設於該中足節殼體中，該中足節殼體連接該 Φ 上足節驅動齒輪組可被帶動旋擺；以及 一下足節體，係連接該中足節驅動輪組可被帶動旋 擺。 本發明所設計之懸臂式四足機器人係包括一内建有控 制器之機體，以及四組足部驅動裝置組設於該機體前後段 - 之左右側’該些足部驅動裝置主要包括一第一動力輸出 組、一第二動力輪出組以及一組如上述所述之足部裝置； 該第一動力輪出組包括一第一動力輸出部件設於該機 體中，以及一第—驅動組件連接該第一動力輪出部件之動 1309596 力輸出端，該第— , ^ 動組件包括有一第一值叙虹 機體外’連接該上足節驅動組件 傳動袖，伸出該 钤筮和丄 之上足節驅動齒輪组. 動力輪出組包括一第二動 體内，以及一筮-Sr* 4 丨彳千β又於邊機 力r出端，件連接該第二動力輸出部件之動 力輸w，该弟二驅動組件包括有一傳動轴套 於該第一傳動軸上 11軸套设 乂弟一傳動軸套與第—值 傳動，並連接該中足節傳動輪組。 專動軸為獨立 本發明藉由前揭機器人足部裝 之設計，其特點至少包括有： 式四足機器人 ^2有優異之運動平穩性：本發明所設計之足部f置 +行放足部裝置之精簡化齒輪式 在機哭=’使其應用於機器人、四足機器人中’ !機：人的爬行過程中可作出跨步之運動，其 器人係由四支腳所古产— 、 人 足機 田U又腳所支撐，每一支腳各 傳動作跨步動作，Ρ茲h U 、動力輸出組來 …： 生步態之分析，規劃出四足 仃進時之步態程序，再由機體 組之作動另妒皮 ？工市j 15控制各動力輸出 動及程序，使該四足機器人作行進運動， =時無-般連桿式機構會造成機體狐形震盈：： :專現象，且本發明所設計之懸臂式四足機器人是作=The present invention relates to a walking machine 3|person A example person, especially a robot foot device suitable for the toy industry, the robot industry, the puzzle teaching industry, and the like, and a cantilever including the foot device Four-legged robot design. [Prior technology] ..., even industrial. Therefore, robots have always occupied important earth robots, both in home and leisure use, etc., which have great importance and business development technology, and are developed in various fields of machinery. On, bit. In the known quadruped robot design field, most of the current four-legged robot (4) mechanisms are mainly designed with a linkage mechanism or a (four) rod mechanism, but the aforementioned foot robot with a connecting rod or a guide transmission mechanism is on the ground. When the lamp enters 4, its structure will show left and right yaw or up and down, and the balance state will be poor. The control method of the existing mechanism is still a bit clumsy. H These four-legged robots cannot maintain the level when walking. The state of the road travels in a straight line, not to mention the need to do the rotation, the retreat, and the complex movements such as the road on the road, even if there is a computer to control its foot:: stride 'but can achieve the fuselage walking The necessary balance effect is still not very good: because & 'how to improve the smoothness of the quadruped machine movement is the important topic of the current robot. To bring 2 1 to describe the foot (four) ^ person towel to make the linkage mechanism using the connecting rod per-piece two-foot mechanism for walking across the moving parts, and the linkage mechanism '', exhausted design, exposed In the outside world, this design has the problems of dustproof 1309596 and poor waterproofing effect, which makes the parts easy to be stained. SUMMARY OF THE INVENTION The main object of the present invention is to provide a robotic foot device and a cantilever four-legged robot including the foot device, which is designed to overcome the disadvantages of the prior motion of the foot robot. In order to achieve the goal, the robot foot device designed by the present invention mainly comprises: an upper foot drive assembly, comprising a hollow upper foot casing and an upper foot drive gear set rotatably mounted thereon In the foot shell, the upper foot joint body can be a power output group to drive the swing, the upper foot joint drive gear set has an engaged planetary gear train gear set and an upper foot driven gear; The transmission wheel set is disposed in the upper foot housing and can be driven by a power output group; the middle foot drive assembly includes a middle air foot housing and a middle foot driving wheel set in the middle foot In the joint housing, the middle foot joint shell is connected to the Φ upper foot drive gear set to be driven to swing; and the lower foot joint body is connected to the middle foot drive wheel set to be driven to swing. The cantilever type quadruped robot designed by the invention comprises a body with a controller built therein, and four sets of foot drive devices are arranged on the left and right sides of the front and rear sections of the body - the foot drive devices mainly include a first a power output set, a second power wheel out group, and a set of foot devices as described above; the first power wheel set includes a first power output component disposed in the body, and a first drive assembly Connecting the first power-driving part of the first 1305596 force output end, the first, the movable component includes a first value of the outer body of the machine to connect the upper foot drive component transmission sleeve, extending the cymbal and the cymbal The upper foot drive gear set. The power wheel output group includes a second moving body, and a 筮-Sr* 4 丨彳 千 又 and a side force r end, the piece is connected to the power transmission of the second power output component w, the second driving assembly comprises a transmission sleeve on the first transmission shaft, 11 shaft sleeves, a transmission sleeve and a first value transmission, and is connected to the middle foot transmission wheel set. The special axis is independent. The invention is designed by the front of the robot foot, and the features include at least: the four-legged robot ^2 has excellent motion stability: the foot f of the present invention is set to + row Simplified gear type of the device is crying in the machine = 'Make it used in robots, four-legged robots'! Machine: The movement of people can be made in the process of crawling, and the person is made by four feet. , U-foot field U and foot support, each foot moves the action step by step, Ρz h U, power output group to...: Analysis of the gait, planning the gait program when the four feet Then, by the body group, another suede? The city j 15 controls each power output movement and program, so that the four-legged robot makes a traveling motion, and the non-normal linkage mechanism will cause the body to be fox-shaped shock::: a special phenomenon, and the cantilever designed by the invention Four-legged robot is for =
:動’使該懸臂式四足機器人在運動中具有極佳之平： 生’並可作高速線性運動。 W :本發明所設計之機器 係利用其各足部驅動裝 ’使該四足機器人除可 2 ·具有良好的防塵、防水效果 人足部裝置及懸臂式四足機器人， 置中之精簡化行星輪系齒輪組設計 1309596 作爬行之動作外，並使該機器人機體之重心可以降低，而 能可貼近地面行步，同時更利用該行星輪系齒輪組被包覆 於殼體内傳動，使其傳動機構具有良好的防塵及防水效 果’而能進一步發展為成水陸兩棲機器人。 【實施方式】 如第一圖所示’係揭示本發明懸臂式四足機器人之一 車乂佳實施例，由圖中可以見及，該懸臂式四足機器人主要The "moving" makes the cantilever four-legged robot have an excellent level in motion: it can be used for high-speed linear motion. W: The machine designed by the present invention uses the foot drive device to make the quadruped robot removeable. 2. The human foot device with a good dustproof and waterproof effect and the cantilever four-legged robot. The gear train gear design 1309596 acts as a crawling action, and the center of gravity of the robot body can be reduced, and can be close to the ground, and the planetary gear train is coated in the casing to make it The transmission mechanism has good dustproof and waterproof effects' and can be further developed into a amphibious robot. [Embodiment] As shown in the first figure, the embodiment of the cantilever type four-legged robot of the present invention is disclosed. As can be seen from the figure, the cantilever type four-footed robot mainly
I括内建有控制器之機體（1)以及四足部驅動裝置 (2 )對稱組設於該機體（丄）前段之左右兩側以及該 、 ）後段之左右兩側’該四足部驅動裝置（2 )之組I include a body with a controller (1) and a four-foot drive unit (2) symmetrically disposed on the left and right sides of the front section of the body (丄) and the left and right sides of the rear section of the rear section. Group of devices (2)
、構U相同，彼此間之差異係因該四足部驅動裝置（2 ) 有前後力士 V 石之为’而使組件之排列方向有些差異，但整體 。5亥些足部驅動裝置（2 )之組成及構件間之連結關 1$, % M iB ΡΠ ^ 同，因此，以下僅以設於該機體（1 )前段一側 引足。Μ區動裝置（2 )提出說明，其餘部位 裝置 〜丨呢助 )類推適用。 括一如第二至七圖所示，該前足部驅動裝置（2)主要包 及—第動力輸出組（3)、一第二動力輸出組以 組件:部裝置，所述之足部裝置主要係包括-上足節驅動 件 4 )、-中足節傳動組件（6 )、-中足節驅動組 、以及一下足節體（8)，其中： 亥第一動力輸出組（3)包括一第一動力輸出部件 部件〇):及-第-驅動組件（31)，該第一動力輪出 〇)係組設於該機體（1 )中，受控於機體 8 1309596 服馬達、或其他：右 動力輸出部件（30)可為词 本較佳實施例中供應往復旋轉作用力之動力機構，於 服馬達，該第該第一動力輪出部件（30)係使用词 驅動組件（2 1 1 4 斤 (3 2)、一笛 1千1 J1)係包括一第—傳動輪 、 傳動軸（33)以及一第一僂動辟 4 )，該第―傳動幹Μ 9、“ 專動臂（3 (3 0 )之動六& )、，·且设於該第一動力輸出部件 輸出端上，該第一傳動麵^ q q、 設於該機體f 得勤軸（3 3 )—端樞 1 )上，該第一傳動軸（3 3 )上机右 一連接部（3«^ί、 有-第 設於該第—傳動輪（二第傳動臂"4 ) -端偏心樞 (33)之第—，另端連接該第一傳動軸 件（3 〇 )可细由=(3 3 1 ) ’使該第-動力輸出部 該第—傳動；、=卜傳動輪（3…轉而偏心驅動 轉作動。（34)帶動該第—傳動軸（33)往復旋 該第二動力輸出組（5 )自括連^ (5〇)以及-第-μ 動力輸出部件 第_驅動組件f 5 1、 部件千C51)，該苐二動力輪出 用力之動力機構實或其他具有供應往復旋轉作 件（5〇)係為飼服馬達… 弟—動力輪出部 該第—動#山服馬達，並組設於該機體（1 )内位於 動力輪出部件fqn、 (5 χ )择勺杠 〇 )之側邊，該第二驅動組件 (53) α ά咕 mC52)、一第二傳動軸套 〇)以及—第二傳 去 2 )俾έΒ # & ( 5 4 )，該第二傳動輪（5 係組设於該第二動力輸出部 ^ 上，該第二傳動軸套（5 3）之動力輪出端 b 3 )同軸套設於該第一傳動軸 9 1309596 3 )上’該第二傳動軸套（53)盘第禮 3 )係為獨立傳動之關係 ）冬傳動轴（3 ' 第-偟丢 ‘、該弟一傳動軸套 「傳動輪（52)之—端設 （53)#近 ' )，該第二傳動臂（54)… 凸部（53 輪（5 2 )上，另端裢偏心樞設於該第二傳動 連接凸部（53" J該第二傳動軸套（53)之第二 ^ ^ 1 )，使該第二動力輸出部件〔R η、玎 第二傳動輪（5 2 )偏心驅動汐> ^ Λ \ ^ . 两私動該弟二傳動臂f 5 #…動該第二傳動轴套（53)往復旋轉作動。… 5亥上足節驅動組件（4 )包括— 以及—上屈伙瓶叙去 上足節殼體（40) ◦)係，體，於本較佳實施例)中，== V係由-殼體相對併組而成，該上足節殼體（4〇) 一 鳊可旋轉地樞設於該第一傳動軸（3 3 )之— ^ 足：連接件(401)偏心連接該第_傳動臂（3 i二 連接件""）可為插梢、螺 鲁栓、…或！代物件，使該上足節殼體（4 〇 ) 一動力輸出組（3 )所帶動旋擺’該上 ^ 〇 該上足節殼體（40)内部，該上足節 驅動齒輪組（41)包括一行星輪系齒輪組及一上足節從 動齒輪（4 3 )，所述之行星輪系齒輪组包括 -_件（42)以及—上足節Μ錄（44) ’該上足 1郎主動部件（4 2 )係組設於第-傳動轴（3 3 )上，其 上具有一扇形傳動齒部（4 2 1 ) , ^ , 0 (4?)且古紅太 〇Λ &節從動齒輪 “―轴套部"31)，並以該轴套部（43 10 1309596 "可活動地樞設於上足節殼體（40)另端，該 订星齒輪（4 4 )可旋轉地梅設於該上足節殼體（ 二Μ合於該上足節主動部件（42)之傳動齒部（4 二)與該上足節從動齒輪（43)之間，該上足節驅動 w輪、，且（4 1 )係藉由該上足節殼體（4 〇 )作為搖 控制該上足節驅動齒輪組（4工）各部件之 運 i 述中，該上足節主動部件（42)之傳動齒部（Ο ^ 與上足節行星齒輪（44)之節圓直徑比為2 為最佳。 · <貫％例 該中足節傳動組件（6)包括一中足節傳動 0)設於該上屈銪V ^ ⑷）… 該中足節傳動輪，組 j 〇):為齒輪組、皮帶輪組、鏈輪組或其他輪 於本較佳實施例中，係揭示該中足節傳動輪 〇)為齒輪組之構造，”足節傳動輪組（6 0)係勺： 一中足節主動齒輪（61)、一中足節從動齒6、= 以^:中足節中間齒輪（63)，該中Μ主動齒輪 D係固設於該第二傳動軸套（53)上，位於…6 動°Η牛二4 2 )之側邊，該中足節從動齒輪（6 2 )具： (6 2 1 ) f穿樞設於該上足節從動齒輪 部（4 3 1)巾，該中足節中間齒輪（ 3)可活動地樞設於該上足節殼體（4〇)中，…： 該中足節主動齒輪（61)與該中足節從動齒輪（6 = 之 '用以：遞第二動力輸出部件（5 0 )之動力。 該中足節驅動組件（7 )包括一中足節殼體（7 〇 ) 11 I3〇9596 u及一中足卽驅動輪 P 丄）s亥中足節殼體（7 Ο ) 係一中空體，於本較# 佳實細例中，垓中足節殼體（7 0 ) 係由二殼體相對併組而成，财足節殼體（7〇) 一端可 :轉地樞設於該上足節殼體（4〇) $端，且設有一中足 節連接件（7 Ο 1 )組接該上足節從動齒㉟（4 3 )之軸 套部（4 3 1 ) ’使該中足節殼體（7 〇 )可為該第二驅The structure U is the same, and the difference between them is because the four-legged driving device (2) has the front and rear force of the stone, and the arrangement direction of the components is somewhat different, but overall. The composition of the foot drive unit (2) and the connection between the members are 1$, % M iB ΡΠ ^, so the following is only taken on the side of the front part of the body (1). The squatting area moving device (2) puts forward the description, and the rest of the device is similar to the ). As shown in the second to seventh figures, the front foot driving device (2) mainly comprises a first power output group (3), a second power output group, and a component device, wherein the foot device is mainly The utility model comprises an upper foot section driving component 4), a middle foot section transmission component (6), a middle foot section driving group, and a lower foot joint body (8), wherein: the first power output group (3) comprises one The first power output component part 〇): and - the first drive assembly (31), the first power wheel exit 〇) is set in the body (1), controlled by the body 8 1309596 to the motor, or other: The right power output component (30) may be a power mechanism for supplying a reciprocating rotational force in the preferred embodiment of the present invention, and the first power wheel output component (30) is a word driving component (2 1 1). 4 kg (3 2), 1 flute 1 1 J1) includes a first transmission wheel, a transmission shaft (33) and a first turbulent drive 4), the first transmission dry Μ 9, "special arm ( 3 (3 0 ) movement 6 & , , · and is disposed on the output end of the first power output component, the first transmission surface ^ qq, is set in the body f 3 3 ) - end pivot 1 ), the first transmission shaft (3 3 ) is connected to the right side of the machine (3«^ί, yes - the first transmission wheel (the second transmission arm " 4) - the end of the eccentric pivot (33), the other end of the first transmission shaft member (3 〇) can be finely controlled by = (3 3 1 ) 'the first power output portion of the first transmission; The wheel (3... turns to the eccentric drive to rotate. (34) drives the first transmission shaft (33) to reciprocate the second power output group (5) self-connecting ^ (5〇) and - the -μ power output unit The first driving component f 5 1, the component thousand C51), the power mechanism of the second power wheel or the other has a supply of reciprocating rotating workpiece (5〇) is a feeding motor... - move #山服motor, and is set in the body (1) on the side of the power wheel out part fqn, (5 χ) select spoon, the second drive component (53) α ά咕 mC52) a second transmission shaft sleeve 以及) and a second transmission 2) 俾έΒ # & (5 4), the second transmission wheel (5 series is disposed on the second power output portion ^, the second Power of the drive bushing (5 3) The end b 3 ) is coaxially sleeved on the first transmission shaft 9 1309596 3 ) 'the second transmission bushing ( 53 ) disc 3 ) is a separate transmission relationship) winter drive shaft (3 ' 偟 - 偟Lost, the brother of a transmission bushing "drive wheel (52) - end set (53) # near '), the second drive arm (54) ... convex (53 wheel (5 2), the other end The eccentric pivot is disposed on the second transmission connecting protrusion (53 " J the second transmission sleeve (53) of the second ^ ^ 1 ), so that the second power output member [R η, 玎 second transmission wheel (5 2) eccentric drive 汐 > ^ Λ \ ^ . The two private movements of the second transmission arm f 5 #... move the second transmission sleeve (53) to reciprocately rotate. The 5th upper foot drive assembly (4) includes - and - the upper cylinder, the upper foot casing (40), the body, in the preferred embodiment), == V is - The housings are formed in opposite groups, and the upper foot housing (4〇) is rotatably pivoted to the first transmission shaft (3 3 ) - a foot: the connecting member (401) is eccentrically connected to the first The transmission arm (3 i two connector "") can be a tip, a screw, or... Substituting the object, causing the upper foot casing (4 〇), a power output group (3), to rotate the inside of the upper foot casing (40), the upper foot driving gear set (41) a planetary gear train set and an upper foot driven gear (4 3 ), the planetary gear set including -_piece (42) and - upper foot (Μ) (44) The 1 lang active component (4 2 ) is set on the first transmission shaft (3 3 ), and has a sector-shaped transmission tooth portion (4 2 1 ), ^, 0 (4?) and the ancient red 〇Λ & The section driven gear "-shaft sleeve portion" (31), and the sleeve portion (43 10 1309596 " is movably pivoted to the other end of the upper foot casing (40), the star gear (4 4) a rotatable ground is disposed between the upper foot casing (two coupled to the transmission tooth portion (4) of the upper foot active member (42) and the upper foot driven gear (43), The upper foot section drives the w wheel, and (4 1 ) is controlled by the upper foot casing (4 〇) as a rocking control component of the upper foot driving gear set (4 work), The upper teeth of the active part (42) of the upper foot (Ο ^ with the upper foot The pitch diameter ratio of the planetary gear (44) is preferably 2. · <% of the example The midfoot drive assembly (6) includes a midfoot drive 0) is set on the upper flexor V^(4))... The midfoot drive wheel, group j 〇): a gear set, a pulley set, a sprocket set or other wheel in the preferred embodiment, revealing that the midfoot drive rim is a gear set construction," The foot drive wheel set (60) is a scoop: a middle foot drive gear (61), a middle foot driven gear 6, = ^: middle foot intermediate gear (63), the middle drive gear D The second transmission bushing (53) is fixed on the side of the second transmission bushing (53), and the middle foot driven gear (6 2 ) has: (6 2 1 ) f wear The intermediate foot driven gear portion (4 3 1) is pivotally disposed in the upper foot joint housing (4〇), the middle foot is... The drive gear (61) and the middle foot driven gear (6 = 'for: powering the second power output component (50). The midfoot drive assembly (7) includes a midfoot shell Body (7 〇) 11 I3〇9596 u and a middle foot drive wheel P丄) shai midfoot shell (7 Ο) is a hollow body. In this comparison, the middle foot shell (70) is made up of two shells. One end of the foot shell (7〇) can be pivotally disposed on the upper end of the upper foot shell (4〇), and is provided with a middle foot joint (7 Ο 1 ) to connect the upper foot joint The sleeve portion (4 3 1 ) of the tooth 35 (43) enables the middle foot housing (7 〇) to be the second drive
動組件（5 1 )經由該中足節傳動組件（6 )帶動旋擺， 該中足節驅動輪組（7 1 )係組設於該中足節殼體（7 〇 )内部，該中足節驅動輪組（7 i )可為齒輪組、皮帶 輪組、鏈輪組或其他輪系傳動結構，於本較佳實施例中， 係揭示該中足節驅動輪組（7 1 )為一齒輪組之構造，該 中足節驅動輪組（7 1 )係包括一中足節驅動齒輪（7 2)、一中足節被動齒輪（7 3)以及—中足節中間齒輪 (74)，該中足節驅動齒輪（72)係組設於該甲足節 傳動軸（62 1)上’該中足節被動齒輪（73)具有一 下足節傳動軸部（7 3 1 )’並以該下足節傳動軸部（7 3 1)可活動地樞設於該中足節殼體（7〇)另端（底 端）’該中足節中間齒輪（7 4 )可旋轉地枢設於該中足 節殼體（7 0)中，嚙合於該中足節驅動齒輪（72) 與該中足節被動齒輪（7 3)之間，用以傳遞第二動力輸 出部件（5 〇 )之動力，而令下足節體（8 )相對該中足 節驅動組件（7 )旋擺。 該下足節體（8)係裝設於該中足節殼體（7 〇)另 端處（下端），於本較佳實施例中，該下足節體（8 )包 12 1309596 括一下足節主部（8 〇 )以及一下足節次部（8 1 )，該 下足節主部（8 0)—端固接於該中足節被動齒輪（7 3 )之下足郎傳動軸部（7 3 1 )末端，該下足節次部 (8 1 )以其中段之上端部藉由樞柱樞接於該下足節主部 (8 0 )之另端。 本發明藉由前揭機器人足部裝置及四足機器人組成構 &之δ又计，以該四足機器人之作動為例，當該四足機器人 又控行動時，主要係由各足部驅動裝置（2 )設於機體 (1)内部之第—動力輸出部件（3〇)以及第二動力輸 出。ΙΜ牛（5 〇 )提供動力源，在該機體（丄）内之控制器 控制下》定各足部驅動裝置先後作動之時機，其中： 第一動力輸出部件（3〇)驅動第-傳動輪（32) 旋轉’令偏心樞設於該第一傳動輪（3 2 )上之第-傳動 臂（3 4 )及第一傳動軸（3 3 )作往復擺動，所述之第 二專動臂（34)透過上足節連接件"〇1)帶動該上 足節殼體（4ΓΜ 甘 a山外 )及/、内邛之上足節驅動齒輪組（4 1 )以 及中足節傳動組件（6 )作屮 ^ π ^ ( b )作出先彺則旋擺推伸 '再往後旋 擺回復之往復動作，所述第 ^ . 第傳動轴（33)則透過該 丁星輪系之上足節驅動齒輪組 广7 帶動該中足節殼體 υ )作出先前旋擺推伸、具分 ^ ^再在復旋擺回復之往復動 作，並與上足節殼體（4 又勒 ^ % ( A 呼應，其中該上足節驅 動ω輪組（4 1 )更藉該上足節主 齒部ί 4 9 ^、 疋即主動部件（4 2 )之傳動 21)與上足郎行星齒輪 A 9 1 、之卽圓直徑比 設計，使該中足節殼體（7 ΓΜ e At 夂ν γ υ)可產生跨步之 13 1309596 動作。 另一方面’第二動力輪出部件（50)驅動第二傳動 輪^52”疋轉，令偏心樞設於該第二傳動輪（52)上 之第一傳動臂（54) |區動第二傳動軸套（5 3)作往復 =動’該第二傳動軸套（5 3 )則進—步透過設於上足節 成體（4 ◦ ) Θ之中足節傳動組件（6 )之齒輪系中足節 傳動輪組（6 0 )旌鏟， &轉並利用其中之中足節從動輪（6 2 )經由該中足節傳動& ( 6 2 1 )以及中足節殼體（7 0 )内之齒輪系中足節驅動輪組（7工）驅動下足節體 (8 )作旋擺動作’如&，該四足機器人係由四組足部驅 動裝置（2)所支撐，每一足部驅動裝置（2)各為第 第一動力輸出、组（3) (5)結合行星輪系之上足節 驅動組件（4 )、中足節傳動組件（6 )以及中足節驅動 組件（7 )來傳動作跨步動作，故能藉由仿生步態之分 析，規劃出該四足部驅動裝置（2 )行進時之步態程序，The moving assembly (5 1 ) drives the swing through the middle foot transmission assembly (6 ), and the middle foot driving wheel set (7 1 ) is assembled inside the middle foot housing (7 〇), the middle foot The driving wheel set (7 i ) may be a gear set, a pulley set, a sprocket set or other gear train transmission structure. In the preferred embodiment, the middle foot driving wheel set (7 1 ) is a gear In the configuration of the group, the midfoot driving wheel set (7 1 ) includes a middle foot driving gear (72), a middle foot passive gear (73), and a middle foot intermediate gear (74). The midfoot drive gear (72) is assembled on the armature drive shaft (62 1). The middle foot passive gear (73) has a lower foot drive shaft portion (7 3 1 )' and a foot drive shaft portion (7 3 1) is movably pivotally disposed at the other end (bottom end) of the middle foot housing (7), wherein the middle foot intermediate gear (74) is rotatably pivoted The middle foot housing (70) is engaged between the middle foot drive gear (72) and the middle foot passive gear (73) for transmitting the power of the second power output component (5 〇) Lower foot section (8) the foot section relative to the drive assembly (7) swings out. The lower foot body (8) is mounted at the other end (lower end) of the middle foot housing (7 〇). In the preferred embodiment, the lower foot body (8) package 12 1309596 is included The main part of the foot (8 〇) and the lower part of the foot (8 1 ), the main part of the lower foot (80) is fixed to the foot of the middle foot passive gear (7 3 ) At the end of the portion (7 3 1 ), the lower foot section (8 1 ) is pivotally connected to the other end of the lower foot main portion (80) by a pivot post at an upper end portion thereof. The invention discloses a robot foot device and a quadruped robot composition & δ, and takes the action of the four-legged robot as an example. When the quadruped robot controls the action, the main body is driven by each foot. The device (2) is disposed at a first power output component (3〇) inside the body (1) and a second power output. Yak (5 〇) provides the power source, under the control of the controller in the body (丄), the timing of each foot drive device is activated, wherein: the first power output component (3〇) drives the first transmission wheel (32) rotating "the first transmission arm (3 4) pivotally disposed on the first transmission wheel (32) and the first transmission shaft (33) for reciprocating oscillation, the second special arm (34) driving the upper foot casing (outside the mountain) and/or the upper ankle drive gear set (4 1 ) and the midfoot transmission assembly through the upper foot joint "〇1) (6) for 屮^ π ^ ( b ) to make a reciprocating motion of the first 彺 旋 推 ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' The foot drive gear set wide 7 drives the middle foot joint casing υ) to make the previous yaw push, and the reciprocating action of the split yoke and the upper slewing shell, and the upper foot shell (4 (A echoes, wherein the upper foot drive ω wheel set (4 1 ) is further borrowed from the upper foot main tooth part ί 4 9 ^, ie the active part (4 2 ) transmission 21) and the upper foot planetary gear A 9 1 , the round diameter ratio design, so that the middle foot shell (7 ΓΜ e At 夂 ν γ υ) can generate 13 1309596 action of the step. On the other hand, the 'second power wheel out part (50) drive The second transmission wheel is pivoted to rotate the first transmission arm (54) eccentrically disposed on the second transmission wheel (52) to move the second transmission sleeve (53) to reciprocate The second transmission bushing (5 3 ) advances through the foot gear transmission wheel set (60) in the gear train of the foot joint transmission assembly (6) disposed in the upper foot joint body (4 ◦) Θ And <transfer and utilize the mid-section driven wheel (6 2 ) via the mid-foot drive & ( 6 2 1 ) and the mid-foot drive housing (70) (7 workers) drive the lower joint body (8) for the swinging motion ', such as &, the quadruped robot is supported by four sets of foot drive devices (2), each foot drive device (2) is the first The first power output, the group (3) (5) combines the upper segment drive assembly (4), the midfoot drive assembly (6) and the midfoot drive assembly (7) of the planetary gear train to transmit the action stride action, Can therefore Health analysis of gait, the gait planning procedures of the four foot drive device (2) travels,
再由機體（1 )中之控制器控制各第一、第二動力輸出組 (3 )( 5 )之作動及程序，使該懸臂式四足機器人可作 平穩地行進運動。 【圖式簡單說明】 第一圖係本發明懸臂式四足機器人之一較佳實施例之 立體示意圖。 第二圖係第一圖所示懸臂式四足機器人較佳實施例中 之一前足部驅動裝置之立體示意圖。 第二圖係第二圖所示之前足部驅動裝置側視平面示咅 14 1309596 圖。 第四圖係第二圖所示之前足部驅動裝置另一側視平面 示意圖。 第五圖係第二圖所示之前足部驅動裝置俯視平面示意 圖。 第六、七圖係第二圖所示之前足部驅動裝置側視平面 示意圖。 【主要元件符號說明】 • ( 1 )機體 （2 )足部驅動裝置 (3)第一動力輸出組 (30)第一動力輸出部件 (3 1 )第一驅動組件 （3 2 )第一傳動輪 (33)第一傳動軸 （331)第一連接部 (3 4 )第一傳動臂 (4 )上足節驅動組件 （4 0 )上足節殼體 (4 0 1 )上足節連接件 • ( 4 1 )上足節驅動齒輪組 (4 2 )上足節主動部件 （4 2 1 )傳動齒部 (43) 上足節從動齒輪 （431)軸套部 (44) 上足節中介齒輪 (5)第二動力輸出組 (50)第二動力輸出部件 ( 5 1 )第二驅動組件 （5 2 )第二傳動輪 (53)第二傳動軸套 （531)第二連接凸部 15 1309596 (5 4 )第二傳動臂 (6 )中足節傳動組件 （6 0 )中足節傳動輪組 (6 1)中足節主動齒輪 （62)中足節從動齒輪 (6 2 1 )中足節傳動軸 （6 3 )中足節中間齒輪 (7 )中足節驅動組件 （7 0 )中足節殼體 (7 0 1 )中足節連接件 （7 1 )中足節驅動輪組 (72)中足節驅動齒輪 （73)中足節被動齒輪 (7 3 1 )下足節傳動轴部 • ( 7 4 )中足節中間齒輪 (8)下足節體 （80)下足節主部 (8 1 )下足節次部Then, the controller of the first body and the second power output group (3) (5) is controlled by the controller in the body (1), so that the cantilever four-legged robot can smoothly move. BRIEF DESCRIPTION OF THE DRAWINGS The first figure is a perspective view of a preferred embodiment of a cantilever four-legged robot of the present invention. The second figure is a perspective view of a front foot driving device in a preferred embodiment of the cantilever four-legged robot shown in the first figure. The second figure is a side view of the front foot drive shown in the second figure, Figure 14 1309596. The fourth figure is a side view of another side of the front foot drive shown in the second figure. Figure 5 is a top plan view of the front foot drive shown in the second figure. The sixth and seventh figures are schematic views of the side view of the front foot drive shown in the second figure. [Main component symbol description] • (1) Body (2) Foot drive unit (3) First power output unit (30) First power output unit (3 1 ) First drive unit (3 2 ) First drive wheel (33) the first transmission shaft (331) of the first connecting portion (3 4 ) on the first transmission arm (4) on the foot drive assembly (40) on the upper housing (4 0 1) upper joint connection ( 4 1 ) Upper foot drive gear set (4 2 ) Upper foot active part (4 2 1 ) Drive tooth (43) Upper foot driven gear (431) Bushing part (44) Upper foot intermediate gear (5) Second power output group (50) Second power output member (5 1 ) Second drive assembly (52) Second drive wheel (53) Second drive bushing (531) Second connecting convex portion 15 1309596 (5 4) in the middle transmission arm (6 0 ), in the foot transmission gear set (6 1 ), the foot section driven gear (62) in the foot driven gear (6 2 1 ) Foot joint drive shaft (6 3 ) midfoot joint gear (7) midfoot drive assembly (70) midfoot joint housing (7 0 1) midfoot joint (7 1 ) middle section drive wheel set (72) Medium foot section drive gear (73) medium foot passive gear (7 3 1 ) Session foot portion at the foot section of the drive shaft portion • (7 4) in the foot section of the intermediate gear (8) of the main section of the foot portion (81) at the foot section of the body (80)
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