M406507 五、 [0001] [0002] 表單編號A0101 新型說明： 【新型所屬之技術領域】 本創作有關於一種具有提昇穩定性之驅動步行機構 ，特別是指透過四組構造相同的腿部機構，以適當的方 式相互連結而成，當驅動步行機器動作時，各腿部機構 會依序連續的作出提腿、屈膝、擺腿、跨步等動作，使 該驅動步行機構達成前進的動作。 【先前技術】 按，目前的步行機器行進換腳時，著地腳和離地腳 尖速度相差太大，且方向不一致，造成瞬間振動，而導 致馬匹本體速度忽慢忽快狀況發生。而且現有步行機器 接頭數較多，因此組裝較複雜困難。 然，中華民國發明公告第290468號「步行機器馬」 專利案，其係利用平面多連桿組的特性，而構成馬的四 肢，以作為行走，但其為保持平衡，必須於其後方另外 拉動有一拖車，藉以使其可形成三點著地的形式平衡， 但如此結構卻又與動物能自身保持平衡的形態有所不同 ，而失去真實性，尤其該步行機器馬之動力來源係靠人 施一向前推力於拖車上，或將其置於一斜坡上，靠地心 引力自動向下前進，或置一驅動裝置在拖車上驅動拖車 輪子向前轉，而推動其前進，不論使用何種推動方式， 均無法使步行機器馬單獨自行前進，而均須依靠推車作 為動力來源及保持平衡，因此在實施上仍無法達到百分 之百的相似度。 【新型内容】 第4頁/共14頁 M406507 [0003] 爰此，有鑒於上述之創作背景中的步行機器所產生 行進間的諸多缺點，本創作之主要目的係有關於一種改 善的驅動步行機構，特別是於行進間腳部構件不穩定， 而導致步行機構本體速度忽慢忽快狀況發生的驅動步行 機構。 為達上述目的，本創作揭示一種具有提昇穩定性之 驅動步行機構，包括一步行機構本體單元與一拖車單元 ，其特徵在於：該步行機構本體單元，包含有四支構造 相同的腿部機構，每支腿部機構分別由八根組成的桿件 、曲柄、連桿、搖桿、連桿、搖桿、連桿、腿桿和七個 旋轉接頭所構成，該步行機構本體單元的左側兩支前、 (. · X -) 後腿部機構與右側兩支前、後腿部機構，係呈現左右相 反的排列方向，該每支腿部機構，透過雨組曲柄搖桿四 連桿機構，藉其輸出搖桿，用以帶動另外一組四連桿機 構連接小腿桿，使其產生步行機構曲膝提腿的功能，每 支腿部機構組合的方式，係將右前腿部機辕與右後腿機 構、左前腿部機構與左後腿機構，分別集中在曲柄處， 用以互相合併成為右邊腿部機構與左邊腿部機構，然後 再將左邊腿部機構的曲柄旋轉180度，再與右邊腿部機構 ，集中在曲柄軸處合併成為一步行機構。 上述之該步行機構本體單元係以一拉桿連接該拖車 單元，用以帶動該拖車單元的車輪轉動。 上述之該拖車單元可為一乘座雪橇。 本創作具有下列之優點： 1. 提供步行機構行進間的穩定度。 2. 降低行進過程的顛簸振動。 表單編號A0101 第5頁/共14頁 [0004]M406507 3 ·提高相關零組件的壽命。 【實施方式】 本創作可表現為不同形式之實施例，但附圖所示者 及於下文中說明者係為本創作之較佳實施例。茲請配合 圖示說明本創作可之較佳實施例。 首先，請參閱第一圖至第三圖所示，本創作揭示一 種具有提昇穩定性之驅動步行機構，包括—步行機構本 體單元（16)與一拖車單元（18)，其特徵在於：該步行機 構本體單元（16)，包含有四支構造相同的腿部機構（u) 、（12)、（13)、（14)，每支腿部機構、（12)、 (13)、（14)分別由八根組成的桿)牛（1)、_曲柄（2)、連桿 (3)、搖桿⑷、連桿（5)、Jg:桿（样、連桿⑺、腿桿 (8)和七個旋轉接頭（a)、（b)、（c)、（d)、（e)、⑴ 、（g)所構成，該步行機構本體單元的左側兩支前、後腿 部機構（13)、（14)與右側兩支前、後腿部機構（11)、 (12 ),係呈現左右相反的排列方向，該每支腿部機構 (11)、（12)、（13)、（14) ί.透過兩組曲柄搖桿四連桿 機構的桿件（1)、曲柄（2)、連桿（3)、搖桿（4)、桿件 〇 )、曲柄（2)、連桿（5)、搖桿（6)，藉其輸出搖桿⑷ 、（6)，用以帶動另外一組四連桿機構連接小腿桿， 使其產生步行機構曲膝提腿的功能，每支腿部機構組合 的方式，係將右前腿部機構（11)與右後腿機構（丨2) '左 前腿部機構（13)與左後腿機構（14)，分別集中在曲柄 (2)轴處，用以互相合併成為右邊腿部機構（〗ι)、（12) 與左邊腿部機構（13)、（14)，然後再將左邊腿部機構 表單編號A0101 第6頁/共14頁 M406507 (13)、（14)的曲柄（2)旋轉180度，再與右邊腿部機構 (11)、（12)，集中在曲柄（2)軸處合併成為一步行機構 〇 承上，請參閱第四圖至第五圖所示，由於本創作之 步行機構藉由連桿和迴轉接頭所構成，利用連桿組的運 動傳遞特性，即可模擬出真實馬匹行走的步態動作，並 且於下一隻腿著地與前一隻腿提腿的速度幾乎一致且成 水平一直線，因此能夠改善現有設計兩者速度差太大， 造成換腿時打滑、振動和機構行進不穩的缺點。上述該 步行機構本體單元係以一拉桿（17)連接該拖車單元（18) ，用以帶動該拖車單元（18)的車輪（15)轉動。上述該拖 車單元（18)可為一乘座雪橇。. 據此，本創作之驅動步行機構，可以提供步行機器 行進間的穩定度，降低行進過程的顛簸振動，提高相關 零組件的壽命。 惟，以上所述僅為本創作其中之一最隹實施例，當 不能以此限定本創作之申請專利保護範圍，舉凡依本創 作之申請專利範圍及說明書内容所作之簡單的等效變化 與替換，皆應仍屬於本創作申請專利範圍所涵蓋保護之 範圍内。 【圖式簡單說明】 [0005] 第一圖係為本創作之步行機構本體單元分解示意圖 〇 第二圖係為本創作之右前、後腿部機構組合示意圖 表單編號A0101 第7頁/共14頁 M406507 第三圖係為本創作之左前、後腿部機構組合示意圖 〇 第四圖係為本創作之四支腿部機構組合示意圖。 第五圖係為本創作之步行機構本體單元係以一拉桿 連接該拖車單元組合示意圖。 【主要元件符號說明】 [0006] (1 ) 桿件 (2 ) 曲柄 (3 ) 連桿 (4 ) 搖桿 (5 ) 連桿 (6 ) 搖桿 (7 ) 連桿 '(8 ) 腿桿 (a ) 旋轉接頭 (b ) 旋轉接頭 (c ) 旋轉接頭 (d ) 旋轉接頭 (e ) 旋轉接頭 (f ) 旋轉接頭 (g) 旋轉接頭 (1 1 )右前腿部機構 (1 2)右後腿部機構 (1 3)左前腿部機構 (1 4)左後腿部機構 (1 5)車輪 (16 )步行機構本體單元 (1 7)拉桿 (1 8)拖車單元 表單編號A0101 第8頁/共14頁M406507 V. [0001] [0002] Form No. A0101 New Description: [New Technical Field] This work relates to a driving walk mechanism with improved stability, especially to the same leg mechanism through four groups. The appropriate manners are connected to each other. When the walking machine is driven, the leg mechanisms continuously perform actions such as lifting the legs, bending the knees, swinging the legs, and striding in order, so that the driving walking mechanism can achieve the forward movement. [Prior Art] According to the current walking machine, when the foot is traveling, the speed difference between the grounding foot and the grounding tip is too large, and the direction is inconsistent, causing instantaneous vibration, which causes the horse body to slow down and the speed occurs. Moreover, the number of existing walking machine joints is large, so assembly is complicated and difficult. However, the Republic of China Inventions Bulletin No. 290468 "Pedestrian Machine Horse" patent case uses the characteristics of a planar multi-link set to form the limbs of a horse as a walk, but it must be pulled at the rear after it is balanced. There is a trailer so that it can form a balance of three-point grounding, but the structure is different from the way in which the animal can maintain its own balance, and the authenticity is lost, especially the power source of the walking machine horse is relied on Pushing forward on the trailer, or placing it on a slope, pushing it down automatically by gravity, or placing a drive on the trailer to drive the trailer wheel forward and pushing it forward, no matter what kind of push In this way, it is impossible for the walking machine horse to advance on its own, and all rely on the cart as a power source and balance, so the implementation cannot still achieve 100% similarity. [New Content] Page 4 of 14 M406507 [0003] In view of the many shortcomings of the walking machine generated by the above-mentioned background, the main purpose of this creation is related to an improved driving walk mechanism. In particular, the walking mechanism in which the foot member is unstable during the traveling, and the body speed of the walking mechanism is slow and fast occurs. In order to achieve the above object, the present invention discloses a driving walking mechanism with improved stability, comprising a walking mechanism body unit and a trailer unit, wherein the walking mechanism body unit comprises four leg mechanisms having the same structure. Each leg mechanism is composed of eight rods, cranks, connecting rods, rockers, connecting rods, rockers, connecting rods, leg rods and seven rotary joints, and the left side of the walking mechanism body unit The front, (. · X -) rear leg mechanism and the right two front and rear leg mechanisms are arranged in opposite directions. Each leg mechanism is borrowed through the rain group crank rocker four-bar linkage mechanism. The output rocker is used to drive another set of four-bar linkages to connect the calf rods, so that the walking mechanism can flex the knees and lift the legs. The combination of each leg mechanism is to move the right front leg to the right rear. The leg mechanism, the left front leg mechanism and the left rear leg mechanism are respectively concentrated on the crank to merge with each other to become the right leg mechanism and the left leg mechanism, and then the crank of the left leg mechanism is rotated by 180 degrees. And then the right leg mechanism, the crank shaft of the concentrate is incorporated into a walking mechanism. The body unit of the walking mechanism is connected to the trailer unit by a pull rod for driving the wheel of the trailer unit to rotate. The trailer unit described above can be a ride ski. This creation has the following advantages: 1. Provides stability between walking stations. 2. Reduce the bumping vibrations of the travel process. Form No. A0101 Page 5 of 14 [0004] M406507 3 · Improve the life of related components. [Embodiment] The present invention can be embodied in various forms, but the drawings and the following description are preferred embodiments of the present invention. Please refer to the illustration to illustrate a preferred embodiment of the present creation. First, referring to the first to third figures, the present disclosure discloses a driving walking mechanism with improved stability, including a walking mechanism body unit (16) and a trailer unit (18), characterized in that the walking The mechanism body unit (16) comprises four leg mechanisms (u), (12), (13), (14) having the same structure, each leg mechanism, (12), (13), (14) Rods consisting of eight) cattle (1), _ crank (2), connecting rod (3), rocker (4), connecting rod (5), Jg: rod (sample, connecting rod (7), leg rod (8) And seven rotary joints (a), (b), (c), (d), (e), (1), (g), two left front and rear leg mechanisms of the walking mechanism body unit (13 ), (14) and the two right front and rear leg mechanisms (11), (12), which are arranged in opposite directions, each leg mechanism (11), (12), (13), 14) ί. Through the two sets of crank rocker four-link mechanism rod (1), crank (2), connecting rod (3), rocker (4), rod 〇), crank (2), connecting rod (5), rocker (6), by its output rocker (4), (6), used to bring Another set of four-bar linkages connects the lower leg rods to create the function of the walking mechanism to bend the legs. Each leg mechanism is combined with the right front leg mechanism (11) and the right rear leg mechanism (丨2). 'The left front leg mechanism (13) and the left rear leg mechanism (14) are respectively concentrated on the crank (2) shaft for mutual merging into the right leg mechanism (〗 (1), (12) and the left leg mechanism ( 13), (14), then rotate the crank (2) of the left leg mechanism form number A0101 page 6 / 14 pages M406507 (13), (14) 180 degrees, and then the right leg mechanism (11) (12), concentrated on the crank (2) shaft and merged into a walking mechanism bearing, as shown in the fourth to fifth figures, since the walking mechanism of the present invention is constituted by a connecting rod and a swivel joint, By using the motion transmission characteristics of the connecting rod group, the gait movement of the real horse walking can be simulated, and the speed of the next leg landing and the lifting of the previous leg is almost the same and horizontally aligned, thus improving the existing design. The speed difference between the two is too great, causing slipping, vibration and mechanical travel when changing legs. Shortcomings. The body unit of the walking mechanism is connected to the trailer unit (18) by a pull rod (17) for driving the wheel (15) of the trailer unit (18) to rotate. The tow unit (18) described above can be a ride ski. According to this, the driving walk mechanism of this creation can provide the stability of the walking machine travel, reduce the bumping vibration of the traveling process, and improve the life of related components. However, the above is only one of the most embarrassing examples of this creation. When it is not possible to limit the scope of the patent protection of this creation, the simple equivalent changes and replacements made by the scope of the patent application and the contents of the manual of this creation. , shall remain within the scope of protection covered by the scope of this patent application. [Illustration of the drawing] [0005] The first picture is a schematic diagram of the decomposition of the body unit of the walking mechanism of the creation. The second picture is the combination of the right front and rear leg mechanisms of the creation. Form No. A0101 Page 7 of 14 M406507 The third picture is a schematic diagram of the combination of the left front and rear leg mechanisms of the creation. The fourth picture is a combination of the four leg mechanisms of the creation. The fifth figure is a schematic diagram of the combination of the body unit of the walking mechanism of the present invention connected to the trailer unit by a tie rod. [Main component symbol description] [0006] (1) Rod (2) Crank (3) Connecting rod (4) Rocker (5) Connecting rod (6) Rocker (7) Connecting rod '(8) Leg rod ( a) rotary joint (b) rotary joint (c) rotary joint (d) rotary joint (e) rotary joint (f) rotary joint (g) rotary joint (1 1) right front leg mechanism (1 2) right rear leg Mechanism (1 3) Left front leg mechanism (1 4) Left rear leg mechanism (1 5) Wheel (16) Walking mechanism Main unit (1 7) Lever (1 8) Trailer unit Form No. A0101 Page 8 of 14 page