JP2000262764A - Walking equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a compact and inexpensive walking device having a simple structure and capable of stably walking on a walking face of a steep slant. SOLUTION: A walking device 1 walks by alternately landing the right side front and back leg members 90d and 90f, a left side middle leg member 90b, and left side front and back leg members 90a and 90c and a right side middle leg member 90e when a power unit is driven. The leg members 90a-90f are respectively provided with the magnetic members 93 and so forth or claw members, so that it can walk on a walking face of a steep slant.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a walking device capable of stably walking even on a steep slope.

[0002]

2. Description of the Related Art Conventionally, various walking devices that can walk on steep walking surfaces have been proposed. one,
An electromagnet is attached to each leg member so that a walking surface formed of a ferromagnetic material can be walked. When the walking device has one leg member grounded on the walking surface, the current flows through the electromagnet of the one leg member to cause the one leg member to be attracted to the walking surface,
When the other leg member is to be lifted, current is not supplied to the electromagnet of the other leg member so that the other leg member is easily separated from the walking surface.

[0003] Another walking device attaches a suction device to each leg member to walk on a walking surface.
In this walking device, when one leg member is in contact with the walking surface, the suction device of one leg member is operated by a compressor to attract one leg member to the walking surface and raise the other leg member. In this case, the suction device of the other leg member is not operated by the compressor, so that the other leg member is easily separated from the walking surface.

[0004]

The above-mentioned conventional walking device requires a control device or a compressor, etc., because the two leg members are alternately energized or sucked for walking. Therefore, the structure is complicated, large, and expensive. There is a problem that it is difficult to reduce the size. In addition, if a walking device in which a magnet is simply attached to a leg member is used, the walking device has a problem that it is difficult to separate the leg member from a state in which the magnet is attracted to the walking surface, and the walking device cannot be walked. .

Further, in the conventional walking device, if the walking surface is a ferromagnetic material, the electromagnet is attached to the leg member as described above, and if the walking surface is flat, the suction device is used to make a steep slope. Although it is possible to walk on a walking surface, there is a problem that a steep walking surface formed by cloth such as clothes and carpets cannot walk because the leg members slip.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and can stably walk on a steep walking surface formed of a ferromagnetic material. A first object is to provide an inexpensive walking device. It is a second object of the present invention to provide a walking device which is capable of stably walking even on a slippery steep walking surface formed of fabric, has a simple structure, can be reduced in size, and is inexpensive.

[0007]

According to a first aspect of the present invention, there is provided a walking apparatus having the following means. (B) Having a main body with a power unit. (B) At least three leg members are provided on both sides of the main body. (C) The right and left front and rear leg members and the left inner leg member are substantially simultaneously grounded, the left and right front and rear leg members and the right inner leg member are substantially simultaneously grounded, and the right front and rear right and left leg members and the left side. Are linked to the power unit such that the left and right leg members and the right leg member alternately touch the ground. (D) The leg member is provided with a magnet member at the grounding portion.

[0008] A walking device according to a second aspect has the following means to achieve the first object. (A) It has a main body and at least six leg members. (B) The main body is provided with a power unit and at least three drive shafts. (C) Each drive shaft is linked to the power unit so as to rotate in the same direction at substantially the same rotational speed. (D) A rotary member having an eccentric shaft is provided on both sides of each drive shaft, and the eccentric shaft on one side is provided substantially symmetrically with the eccentric shaft on the other side about the drive shaft. (E) The eccentric axes of the right and left rotating members and the eccentric axes of the left and right rotating members have substantially the same rotational position, and the eccentric axes of the left and right rotating members and the eccentric axes of the right rotating member are substantially the same. Is
It must be configured so that the rotational positions are approximately the same. (F) The upper part of each leg member is slidably mounted on the main body, and the middle part is rotatably mounted on the eccentric shaft of the rotating member. (G) The leg member is provided with a magnet member at a lower ground contact portion.

According to a third aspect of the present invention, in order to achieve the second object, a claw member is provided instead of the magnet member. In order to achieve the second object, the walking device according to claim 4 is provided with an elastic member at a rear portion of the main body to press a front portion of the main body toward a walking surface.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the walking device according to the present invention will be described with reference to FIGS. FIG. 1 is a perspective view showing one embodiment of a walking device according to the present invention. FIG. 2 is a perspective view in which a leg member of FIG. 1 is removed and a part is cut away. FIG. 3 is a partial side view of FIG. FIG.
FIG. 2 is a front sectional view of FIG. 1. FIG. 5 is a side view showing the movement of the walking device of FIG. FIG. 6 is a side view showing the movement of the walking device of FIG.

The walking device 1 according to the first aspect includes a power unit 3
3 having a main body 2 with the same. At least three leg members 90a to 90c, 90d to 9 are provided on both sides of the main body 2, respectively.
0f is provided. Right and left leg members 90d, 9
0f and the left leg member 90b substantially simultaneously touch the ground, and the left and right front leg members 90a and 90c and the right middle leg member 90b.
e are grounded almost simultaneously, and the right and left leg members 90
d and 90f and the left leg member 90b are linked to the power unit 33 such that the left and right front leg members 90a and 90c and the right leg member 90e are alternately grounded. The leg members 90a to 90f are provided with magnet members 93 at the grounding portion.

When the power unit 33 is driven, the walking device 1 according to the first aspect has the right and left leg members 90d and 90f, the left and right leg members 90b, and the left and right leg member 90b. 90a, 90c and the right leg member 90e alternately touch the ground and can walk. Leg members 90a-
In 90f, since the magnet members 93 are provided at the grounding portion, it is possible to reliably walk a steep walking surface formed of a ferromagnetic material.

[0013] A walking device 1 according to a second aspect of the present invention comprises:
It has at least six leg members 90a to 90f. The main body 2 includes a power unit 33 and at least three drive shafts 2.
5, 26 and 27 are provided. Each drive shaft 25, 2
The power units 6 and 27 are linked to the power unit 33 so as to rotate in the same direction at substantially the same rotation speed.

Rotating members 51 to 57 having eccentric shafts 61 to 67 are provided on both sides of each of the drive shafts 25, 26 and 27, and one eccentric shaft 61 to 63 is connected to the other eccentric shaft 65. ~
67 and the drive shafts 25, 26, 27 are provided substantially symmetrically. Eccentric shafts 65, 67 of the right and left rotating members 55, 57 and eccentric shafts 62 of the left rotating member 52
Means that the rotational positions are substantially the same, and the left and
1, 53 eccentric shafts 61, 63 and a rotating member 56 in the right side.
The eccentric shaft 66 is configured so that its rotational position is substantially the same. Each of the leg members 90a to 90f is slidably attached to the upper part of the main body 2 and has a rotating member 51 to 57
Are rotatably attached to the eccentric shafts 65-67.
The leg members 90a to 90f are provided with a magnet member 93 at the lower ground portion.
Are provided.

The walking device 1 according to a second aspect of the present invention has the above configuration, and when the power device 33 is driven, the driving shafts 25, 26,
27 rotate in the same direction at substantially the same rotation speed, and the rotation members 51 to 57 also rotate. Right and left leg members 90d, 9
0f and the left leg member 90b are the left and right front leg members 9
0a, 90c and the right leg member 90e alternately touch the ground and walk. Since the leg members 90a to 90f are provided with the magnet members 93 in the ground contact portion, the leg members 90a to 90f can surely walk on a steep walking surface formed of a ferromagnetic material.

Another embodiment of the walking device according to claims 3 and 4 will be described with reference to FIGS. FIG. 7 is a perspective view showing another embodiment of the walking device according to the present invention. FIG. 8 is a side view showing the movement of the walking device of FIG.

In the walking device 100 according to the third aspect, since the claw members 113 are provided on the leg members 110a to 110f instead of the magnet members 93 of the leg members 90a to 90f, Can be climbed even on steep slopes because the claw members 113.

The walking device 100 according to the fourth aspect has a main body 2
Since the elastic member 120 that presses the front part of the main body 2 toward the walking surface is provided at the rear part, the user does not fall backward when walking on a steep walking surface.

[0019]

An embodiment of the present invention will be described below with reference to the drawings. The walking device 1 includes a case (main body) 2 and six leg members 90a to 90f. The case 2 includes a lower frame member 3
And a middle frame member 5 and an upper frame member 6. The lower frame member 3 is
It is formed in a box shape, and includes a bottom wall 7, a front wall 9, a rear wall 10, a left wall 11, and a right wall 12. The middle frame member 5
The front wall 13, the rear wall 15, and the left wall 1 are formed in a substantially rectangular shape.
6 and a right wall 17. The upper frame member 6 is formed in a box shape, and includes an upper wall 19, a front wall 20, a rear wall 21, a left wall 22, and a right wall 23.

The case 2 is formed by stacking the lower frame member 3, the middle frame member 5, and the upper frame member 6 and integrally fixing them with screws 8. Left wall 1 of lower frame member 3
1 has a substantially U-shaped bearing recess 11a, 11b,
11c, 11d and 11e are formed. Lower frame member 3
A substantially U-shaped bearing recess 12a,
12b, 12c, 12d, and 12e are formed.

A front drive shaft 25 is rotatably mounted between the bearing recesses 11a and 12a. Bearing recess 11
A middle drive shaft 26 is rotatably mounted between the positions c and 12c. The rear drive shaft 2 is provided between the bearing recesses 11e and 12e.
7 is rotatably mounted. Bearing recess 11
A second intermediate shaft 29 is rotatably mounted between b and 12b. A first intermediate shaft 30 is rotatably mounted between the bearing recesses 11d and 12d. These bearing recesses 11a to 11e, 12a to 12e are closed by the lower edge of the middle frame member 5, and the front drive shaft 25, the middle drive shaft 2
6, rear drive shaft 27, first intermediate shaft 29, second intermediate shaft 3
0 is rotatably supported.

At the upper ends of the left wall 16 and the right wall 17 of the middle frame member 5, and above the bearing recesses 11d and 12d, substantially U-shaped bearing recesses 16a and 17a are formed. A driven shaft 31 is rotatably mounted between the bearing recesses 16a and 17a. The bearing recesses 16a, 17a
It is closed by the lower edge of the upper frame member 6 and rotatably supports the driven shaft 31.

A drive motor 33 is mounted on the upper wall 19 in the upper frame member 6. The pinion 35 attached to the output shaft of the drive motor 33 meshes with a crown gear 36 attached rotatably to the driven shaft 31. A small gear 37 is integrally fixed to the crown gear 36. The small gear 37 meshes with a spur gear 39 fixedly attached to one side of the first intermediate shaft 30.
A small gear 41 fixedly attached to the other side of the first intermediate shaft 30 meshes with a spur gear 42 fixedly attached to the driven shaft 31.

The driven shaft 31 protrudes from the left wall 16 of the middle frame member 5, and a small gear 45 is fixedly attached to the protruding portion. The first intermediate shaft 30 is connected to the left wall 11 of the lower frame member 3.
And a spur gear 47 is rotatably attached to the projecting portion, and the spur gear 47 meshes with the small gear 45. A first intermediate gear 50 is fixedly attached to the spur gear 47. The second intermediate shaft 29 protrudes from the left wall 11 of the lower frame member 3, and a second intermediate gear 49 is fixedly attached to this protruding portion.

The front drive shaft 25, the middle drive shaft 26, and the rear drive shaft 27 project from the left wall 11 of the lower frame member 3, and the front drive gear 51, the middle drive gear 52, and the rear drive gear 53
Are fixedly provided. The front drive gear 51 and the middle drive gear 52 are connected to the second intermediate gear 4 provided between them.
9 is engaged. Middle drive gear 52 and rear drive gear 5
3 meshes with the first intermediate gear 50 provided between them.

The front drive shaft 25, the middle drive shaft 26 and the rear drive shaft 27 project from the right wall 12 of the lower frame member 3, and the front drive disk 55, the middle drive disk 56, and the rear drive disk 57 is fixedly provided. The front drive gear 51, the middle drive gear 52, the rear drive gear 53 and the front drive disc 55, the middle drive disc 56, and the rear drive disc 57 have eccentric shafts 61, 62, 63, 65, 66, and 67 are provided.

An eccentric shaft 61 of the front drive gear 51 and an eccentric shaft 65 of the front drive disk 55 are provided substantially symmetrically with respect to the front drive shaft 25. The eccentric shaft 62 of the middle drive gear 52 and the eccentric shaft 66 of the middle drive disk 56 are provided substantially symmetrically about the middle drive shaft 26. Eccentric shaft 63 of rear drive gear 53
The eccentric shaft 67 of the rear drive disc 57 is provided substantially symmetrically with respect to the rear drive shaft 27.

Further, the eccentric shaft 61 of the front drive gear 51, the eccentric shaft 63 of the rear drive gear 53, and the eccentric shaft 6 of the middle drive disk 56
6 is provided so that the rotational positions are substantially the same.
Similarly, the eccentric shaft 65 of the front drive disk 55 and the rear drive disk 57
The eccentric shaft 67 and the eccentric shaft 62 of the middle drive gear 52 are also provided so that their rotational positions are substantially the same.

At the upper left edge of the upper frame member 6, a left mounting member 6
9 is attached, and a right attachment member 70 is attached to an upper right edge of the upper frame member 6. The left mounting member 69 includes a front support 71, a middle support 72, and a rear support 73. A guide pin 81 is provided above the front support column 71 so as to be located substantially above the front drive shaft 25. Middle strut 7
A guide pin 82 is provided on the upper part of the second unit 2 so as to be located substantially above the middle drive shaft 26. A guide pin 83 is provided above the rear support column 73 so as to be located substantially above the rear drive shaft 27.

The right mounting member 70 includes a front support 75, a middle support 7
6. A rear support 77 is provided. In the upper part of the front support 75,
A guide pin 85 is provided substantially above the front drive shaft 25. The guide pin 8 is provided on the upper portion of the middle support 76 so as to be located substantially above the middle drive shaft 26.
6 are provided. A guide pin 87 is provided above the rear support 77 so as to be located substantially above the rear drive shaft 27.

At substantially the center of the leg member 90, eccentric shafts 61 to 61 are provided.
67 is provided with a center hole 91 rotatably attached. Guide pins 81 to 87 are provided on the upper part of the leg member 90.
A guide hole 92 is formed in the longitudinal direction so as to slide freely. At a lower portion of the leg member 90, a substantially C-shaped mounting concave portion 96 is formed. In the mounting recess 96,
A cylindrical magnet 93 is fitted so as to protrude substantially half from the lower end 95 of the leg member 90. Lower end 9 of leg member 90
5 is a circular magnet 9 regardless of which one of the leg members 90 is tilted.
3 is inclined upward from the center toward both sides so that only three walking surfaces touch the ground.

The six leg members 90a-90f are
Are rotatably inserted into the eccentric shafts 61 to 67, and the guide holes 92 are slidably engaged with the guide pins 81 to 87, thereby being attached to both sides of the case 2. The six leg members 90a to 90f are eccentric shafts 61 to 67.
In addition, the guard pins 101 are pressed by the substantially rectangular guard members 101 so as not to fall out of the guide pins 81 to 87. The guard member 101 is provided in front of the lower frame member 3,
Screws 102, 102 are attached to bosses 3a, 3b provided at the rear.
Has been fixed by.

A battery box 105 containing a battery 103 is attached to the upper wall 19 of the upper frame member 6.
An ON-OFF switch 106 is provided in the battery box 105.
Is provided. The battery 103, the ON-OFF switch 106, and the drive motor 33 are electrically connected by an electric cord 107.

Since the walking device 1 has the above configuration,
When the N-OFF switch 106 is turned on, the drive motor 3
3 is driven, and the pinion 35 rotates. The rotation of the pinion 35 includes the crown gear 36, the small gear 37, the spur gear 39,
First intermediate shaft 30, small gear 41, spur gear 42, driven shaft 3
1, transmitted through a small gear 45, a spur gear 47, and a first intermediate gear 50 to a rear drive gear 53 and a middle drive gear 52, and the rear drive gear 53 and the middle drive gear 52 rotate forward.

The rotation of the middle drive gear 52 is transmitted to the front drive gear 51 via the second intermediate gear 49,
1 also rotates forward. The rear driving disk 57 is provided with the rear driving gear 5.
3 is fixed to the rear drive shaft 27,
It rotates forward like the rear drive gear 53. Medium drive disk 5
6 is fixed to the middle drive shaft 26 to which the middle drive gear 52 is fixed, and thus rotates forward like the middle drive gear 52. The front drive disc 55 is fixed to the front drive shaft 25 to which the front drive gear 51 is fixed.
Rotate forward as well. Thus, the drive motor 33
, The front drive gear 51, the front drive disc 55, the middle drive gear 52, the middle drive disc 56, the rear drive gear 53, and the rear drive disc 57 rotate forward at substantially the same rotational speed, and each eccentric shaft 6
1 to 67 rotate similarly.

The upper guide holes 92 are slidably guided by the guide pins 81 to 87, and the leg members 90a to 90f are pivoted by the eccentric shafts 61 to 67. The magnets 93 attached to the lower ends 95 rotate.

As shown in FIG. 5C, the walking device 1 is
When the leg members 90a to 90f are set at the same height and stand on a walking surface formed of a ferromagnetic material such as iron,
The magnets 93 to 90f are attracted to the walking surface. At this time, the walking device 1 includes a left front leg member 90a and a left rear leg member 90.
c, the magnets 93 of the right middle leg member 90e
5, 26, 27, the ground contacting the walking surface, right front leg member 90d, right rear leg member 90f, left middle leg member 90b
Are located in front of the drive shafts 25, 26, 27 and are in contact with the walking surface, and the six leg members 90a to 90
0f.

As described above, the ON-OFF switch 1
06, the front drive gear 51, the front drive disc 55,
The middle drive gear 52, the middle drive disc 56, the rear drive gear 53, and the rear drive disc 57 rotate forward at substantially the same rotational speed, and FIG.
As shown in (d), the left front leg member 90a and the left rear leg member 9
0c, the right middle leg member 90e moves upward against the attraction force of the magnet 93, and the right front leg member 90d, the right rear leg member 90f, and the left middle leg member 90b move downward. As a result, it is supported by the tripod of the right front leg member 90d, the right rear leg member 90f, and the left middle leg member 90b. Left front leg member 90a and left rear leg member 90c
When moving upward, the left middle leg member 90b serves as a support, so that it can easily separate from the walking surface against the attraction force of the magnets 93, 93. Similarly, the right middle leg member 90e
Also, when moving upward, the right front leg member 90d and the right rear leg member 90f serve as supports, so that the right front leg member 90d and the right rear leg member 90f can easily separate from the walking surface against the attraction force of the magnet 93.

Further, the three magnets 93 of the left front leg member 90a, the left rear leg member 90c, and the right middle leg member 90e that are separated from the walking surface, as shown in FIG. 90d, right rear leg member 90f and right middle leg member 90b, and then right front leg member 9 as shown in FIG.
0d, it moves forward of the right hind leg member 90f and the left middle leg member 90b to touch the walking surface. At this time, the walking device 1 includes a left front leg member 90a, a left rear leg member 90c, and a right middle leg member 90e.
Of the right front leg member 90d, the right rear leg member 90f, and the magnet 93 of the left middle leg member 90b are positioned in front of the drive shafts 25, 26, 27 and ground on the walking surface. It is located behind each of the drive shafts 25, 26, and 27 and is in contact with the walking surface, and is supported by six leg members 90a to 90f.

Further, the front drive gear 51 and the front drive disc 5
5, middle drive gear 52, middle drive disk 56, rear drive gear 5
3. The rear drive disk 57 rotates forward at substantially the same rotational speed,
Right front leg member 90d, right rear leg member 90f, left middle leg member 90
b moves upward against the attracting force of the magnets 93..., the left front leg member 90a, the left rear leg member 90c, and the right middle leg member 90e.
Moves down. As a result, it is supported by the tripod of the left front leg member 90a, the left rear leg member 90c, and the right middle leg member 90e.
When moving upward, the right front leg member 90d and the right rear leg member 90f support the right middle leg member 90e.
It is possible to easily separate from the walking surface against the attraction force of 3,93. Similarly, when the left middle leg member 90b moves upward, the left front leg member 90a and the left rear leg member 90c serve as supports, so that the left middle leg member 90b can easily separate from the walking surface against the attraction force of the magnet 93. .

Further, the three magnets 93 of the right front leg member 90d, the right rear leg member 90f and the left middle leg member 90b which are separated from the walking surface, as shown in FIG. 90a, the left rear leg member 90c and the right middle leg member 90e, and then, as shown in FIG.
0a, it moves forward of the left hind leg member 90c and the right middle leg member 90e to touch the walking surface. At this time, as shown in FIG. 5C, the walking device 1 has magnets 93... Of the left front leg member 90a, the left rear leg member 90c, and the right middle leg member 90e from the drive shafts 25, 26, 27. It is located behind and touches the walking surface,
Right front leg member 90d, right rear leg member 90f, left middle leg member 90
The magnets 93 of b are located forward of the respective drive shafts 25, 26, 27 and are in contact with the walking surface.

As described above, the walking device 1 includes the left front leg member 9.
0a, the left hind leg member 90c, and the right middle leg member 90e, and the three legs of the right fore leg member 90d, the right hind leg member 90f, and the left middle leg member 90b alternately touch and walk. Therefore, the user always stands in the three-point support state, and can walk stably. Since the magnets 93 are provided at the grounding portions of the leg members 90a to 90f, for example,
Even on a substantially vertical walking surface as shown in FIG. 6, it is possible to stably walk. Further, since the magnet 93 is formed in a circular axis shape, each of the leg members 90 a to 90 f can swing about the axis of the magnet 93. Further, since the lower ends 95 of the leg members 90a to 90f are inclined upward from the center toward both sides, the leg members 90a to 90f do not come into contact with the walking surface even if they swing.

In the above embodiment, the walking device 1 has the magnets 93 attached to the leg members 90a to 90f so that the walking surface made of a ferromagnetic material can be walked. However, as in the walking device 100 shown in FIG. The scratching members 111 may be attached to the grounding portions of the leg members 110a to 110f so that they can climb on the cloth such as clothes. The scratching member 111 is formed of one metal plate, and includes a substrate 112,
The claw 113 is bent backward with respect to the substrate 112. The scratching member 111 fixes the substrate 112 to the lower front surface of each of the leg members 110a to 110f with a screw 115, and protrudes the claw 113 from the lower end of each of the leg members 110a to 110f and bends the claw 113 rearward. Only 113 should be in contact with the walking surface.

When the ON-OFF switch 106 is turned on, the walking device 100 turns on the front drive gear 51, the front drive disc 55, the middle drive gear 52, the middle drive disc 56, and the rear drive gear as in the above embodiment. 53, the rear drive disc 57 rotates forward at substantially the same rotational speed, and the left front leg member 90a, the left rear leg member 9
0c, three legs of the right middle leg member 90e, and the right front leg member 90e.
d, the three legs of the right rear leg member 90f and the left middle leg member 90b alternately touch the ground and walk. This walking is performed by each leg member 110.
When the claws 113 a to 110 f touch the walking surface, the claws 11
3 is performed by scratching the walking surface toward the rear, and if the walking surface is a cloth such as clothes, the nail 11 is attached to the cloth.
3 can be caught and can climb on a steep walking surface as shown in FIG. In addition, each leg member 110a-1
When 10f moves forward, the claws 113 are pulled out of the walking surface, so that there is no obstacle to walking.

At the rear of the walking device 100, a walking device 1
You may provide the elastic member 120 which presses the front part of 00 toward a walking surface side. The elastic member 120 is formed in a leaf spring shape, and the front portion 121 is fixed to the walking device by being sandwiched by the boss 3b and the guard member 101, and the rear portion 122 is curved and pressed against the walking surface. The elastic member 120 presses the front portion of the walking device 100 to the side of the walking surface to prevent the device from falling backward, and furthermore, the left front leg member 110a and the right front leg member 11
The hooks of the 0d claws 113 are better caught.

[0046]

As described above, the first aspect of the present invention is as follows.
In the walking device described above, since the magnet member is provided below the leg member, there is an effect that the user can surely walk on a steep walking surface. The main body may include at least three leg members of a right front leg member, a right rear leg member, and a left middle leg member, or at least three leg members of a left front leg member, a left rear leg member, and a right middle leg member. Because it is grounded, there is an effect that it can be always stably stood. Also, at least three leg members of the right front leg member, the right rear leg member, and the left middle leg member, and at least three leg members of the left front leg member, the left rear leg member, and the right middle leg member alternately touch the ground. Since the user walks, even if one of the three leg members is pulled up against the attraction force of the magnet, the body can be stably walked without being tilted due to the attraction force. .

The walking device according to claim 2 of the present application has an effect that, in addition to the above-described effects, since each leg member swings and walks, it is possible to make the walking closer to an animal.

In the walking device according to the third aspect of the present invention, since the claw member is provided on the grounding portion of the leg member, there is an effect that the claw member can be hooked on the cloth to walk.

[0049] In the walking device according to the fourth aspect of the present invention, in addition to the above-described effects, the elastic member for pressing the front portion of the main body toward the walking surface is provided at the rear portion of the main body. This has the effect of making it possible to prevent the vehicle from turning over while climbing a steep slope.

[Brief description of the drawings]

FIG. 1 is a perspective view showing one embodiment of a walking device according to the present invention.

FIG. 2 is a perspective view in which a leg member of FIG. 1 is removed and a part is cut away.

FIG. 3 is a partial side view of FIG. 1;

FIG. 4 is a front sectional view of FIG. 1;

FIG. 5 is a side view showing the movement of the walking device of FIG. 1;

FIG. 6 is a side view showing the movement of the walking device of FIG. 1;

FIG. 7 is a perspective view showing another embodiment of the walking device according to the present invention.

FIG. 8 is a sectional view showing the movement of the walking device of FIG. 7;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Walking device 2 Case (body) 3 Lower frame member 3a Boss 3b Boss 5 Middle frame member 6 Upper frame member 7 Bottom wall 8 Screw 9 Front wall 10 Rear wall 11 Left wall 11a Bearing recess 11b Bearing recess 11c Bearing recess 11d Bearing recess 11e bearing recess 12 right wall 12a bearing recess 12b bearing recess 12c bearing recess 12d bearing recess 12e bearing recess 13 front wall 15 rear wall 16 left wall 16a bearing recess 17 right wall 17a bearing recess 19 upper wall 20 front wall 21 rear wall 22 left Wall 23 right wall 25 front drive shaft 26 middle drive shaft 27 rear drive shaft 29 second intermediate shaft 30 first intermediate shaft 31 driven shaft 33 drive motor 35 pinion 36 crown gear 37 small gear 39 spur gear 41 small gear 42 flat Gear 45 Small gear 47 Spur gear 49 Second intermediate gear 50 First intermediate gear 51 Front driving gear (rotating member) 52 Medium driving gear (rotating member) 53 Rear driving gear (rotating member) 55 Front driving disc (rotating member) 56 Medium driving disc (rotating member) 57 Rear driving disc (rotating member) 61 Eccentric shaft 62 Eccentric shaft 63 Eccentric shaft 65 Eccentric shaft 66 Eccentric shaft 67 Eccentric shaft 69 Left mounting member 70 Right mounting member 71 Front support 72 Middle support 73 Rear support 75 Front support 76 Middle support 77 Rear support 81 Guide pin 82 Guide pin 83 guide pin 85 guide pin 86 guide pin 87 guide pin 90 leg member 91 center hole 92 guide hole 93 magnet 95 lower end 100 walking device 101 guard member 102 screw 103 battery 105 battery box 106 ON-OFF switch 107 electric cord 110 leg member 111 Scratch member 112 Substrate 113 Claw 115 Screw 116 Mo De hole 120 elastic member 121 front 122 rear

Claims (4)

[Claims] 1. A walking device having the following configuration. (B) Having a main body with a power unit. (B) At least three leg members are provided on both sides of the main body. (C) The right and left front and rear leg members and the left inner leg member are substantially simultaneously grounded, the left and right front and rear leg members and the right inner leg member are substantially simultaneously grounded, and the right front and rear right and left leg members and the left side. Are linked to the power unit such that the left and right leg members and the right leg member alternately touch the ground. (D) The leg member is provided with a magnet member at the grounding portion. 2. A walking device having the following configuration. (A) It has a main body and at least six leg members. (B) The main body is provided with a power unit and at least three drive shafts. (C) Each drive shaft is linked to the power unit so as to rotate in the same direction at substantially the same rotational speed. (D) A rotary member having an eccentric shaft is provided on both sides of each drive shaft, and the eccentric shaft on one side is provided substantially symmetrically with the eccentric shaft on the other side about the drive shaft. (E) The eccentric axes of the right and left rotating members and the eccentric axes of the left and right rotating members have substantially the same rotational position, and the eccentric axes of the left and right rotating members and the eccentric axes of the right rotating member are substantially the same. Is
It must be configured so that the rotational positions are approximately the same. (F) The upper part of each leg member is slidably mounted on the main body, and the middle part is rotatably mounted on the eccentric shaft of the rotating member. (G) The leg member is provided with a magnet member at a lower ground contact portion. 3. The walking device according to claim 1, wherein a claw member is provided instead of the magnet member. 4. The walking device according to claim 3, wherein an elastic member for pressing a front portion of the main body toward a walking surface is provided at a rear portion of the main body.