200827115 九、發明說明： 【發明所屬之技術領域】 、，本發明係關於—種走型機器人，尤指-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 機為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0 在已知之四足機器人設計領域中，目前大部份的四足 機2人的腳機構主要是以連桿機構或導螺桿機構等設計， 惟前述具有連桿或㈣桿式傳動機構之足型機器人於地面 上行進時，其結構體會呈現左右偏擺或上下浮動之現象， 騎走時平衡狀態差，加以現有機構之控制方法仍然略顯 =’因& ’該些四足機器人在行走時，無法保持水平的 m線行進，更不用說要做旋轉、後退的動作，以及行 走於崎啦不平的路面等複雜動作，即便有電腦來控制其足 部的步幅，但所能達成機身行走時必要平衡效果仍然不甚 :想’因&，如何改善四足機器運動平穩性為目前機器人 設計上之一項重要課題。 此外，前述足形機器人中使用之連桿機構係利用連桿 :帶動其每一足部機構作跨步行走之動件，而該連桿機構 母一件為開放式設計，暴露於外界，此種設計存在有防塵 5 200827115 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$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。 為達成前揭目的，本發明所設計之機器人足部裝 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 足節殼體可為-動力輸出組帶動旋擺，該上足節驅動齒輪 組具有相喃合之行星輪系齒輪組及i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 上足節驅動齒輪組可被帶動旋擺；以及 " 下足節體，係連接該中足節驅動輪組可被帶動旋 擺0 本發明所設計之懸臂式四足機器人係包括一内建有栌 制器之機體，以及四組足部驅動裝置組設於該機體前後^ 之左右側，該些足部驅動裝置主要包括—第一動力輸= '、且第一動力輸出組以及一組如上述所述之足部裝置‘. 該第一動力輪心包括—第一動力輸出部件設於該機 體中，以及-第-驅動組件連接該第一動力輸出部件：動 200827115 力輸出端，該第一驅動組件包括有一第 機體外’連接該上足節驅動組件 弟專動軸’伸出該 該第二動力輪出組包括—第足節驅動齒輪組； $ —動力輪屮立β 體内，以及一第二驅動組件連接該第二出π件故於該機 力輸出端，該第二驅動組件包括有:動力輸出部件之動 於該第-傳動軸上，該第二傳動轴套=軸：’同轴套設 傳動，並連接該中足節傳動輪組。〃傳動軸為獨立 本發明藉由前揭機器人足部裝置及 之設計，其特點至少包括有： ^式四足機器人 1. 具有優異之運動平穩性：本發 及懸臂式四足機器人，係利用該足部褒置：二：：裝置 平行放大機構設計，使其應用 " ω輪式 产毺~,仏 00人、四足機器人中， 在機益人的爬行過程中可作出跨步之 器人係由四支腳所支撐，每-支腳各為二έ且動：：四足機 傳動作跨步動作，,文能藉由仿生：;動力輸出組來 _之步態程序，再由機體中之二::制:= 及程序，使該四足機器人作行進運動 :=一般連桿式機構會造成機體弧形震盈以及左右； =現象’且本發明所設計之„式四^機器人 運動’使該懸臂式四足機器人在運動中具有極佳之平r 性，並可作高速線性運動。 十％ 2. 具有良好的防塵、防水效果：本發明 =部褒置及懸臂式四足機器人，係利用其各足部嶋 中之精簡化行星輪系齒輪組設計’使該四足機器人除可 7 200827115 作攸行之動作外，並使該機器人機體之重心可以降低，而 月b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 較佳實施例，由圖中可以見及，該懸臂式四足機器人主要 係包括一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（1 )前段之左右兩側以及該機 體（1 )後段之左右兩側，該四足部驅動裝置（2 )之組 成構造相同，彼此間之差異係因該四足部驅動裝置（2 ) 有前後左右之分，而使組件之排列方向有些差異，但整體 而言，該些足部驅動裝置（2 )之έθ 士 μ t 乙彡之組成及構件間之連結關 係均屬相同，因此，以下僅以設於 亥機體（1 )前段一側 之前足部驅動裝置（2 )提出說明，苴 裝置（2 )類推適用。 m 如第二至七圖所示，該前足 I 動裝置（ 括一第一動力輪出組（3) 、一 玍要包 及一足部裝置，所述之足部裝置動力輪出組（5)以 組件（4)、-中足節傳動組件^包括一上足節驅動 件（7 )、以及-下足節體（8、 、-中足節驅動組 x j ，其中· 該第一動力輸出組（3)包括 」 (3 0 )以及—第一驅動級件（3 i )弟1力輸出部件 部件（3 0 )係組設於該機 ），該第-動力輪出 1 )中，受控於機體 8 200827115 (1 :内之控制器，該第-動力輸出部件（3 0 )可為伺 服馬達4其他具有供應往復旋轉作用力之動力機構，於 本較佳實施例中，該第一動力輸出部件（3〇)係使用飼 服馬達，該第1動組件（3 i )係包括一第一傳動輪 (3 2 )、一第一傳動軸（3 3 )以及-第-傳動臂（3 4)，該第-傳動輪（32)組設於該第一動力輸出部件 (30)之動力輸出端上’該第一傳動軸㈡” 設於該機體（1)上，該第_傳動轴（33)上設有一第 I連接：（331) ’該第一傳動臂（34) 一端偏心樞 /。 動輪（3 2)上，另端連接該第-傳動軸 (33)之第一連接部 …… ’使該第-動力輸出部 可經由該第-傳動輪（3 2 )旋轉而偏心驅 轉作動。’ (3 4W傳動轴(33)往復旋 :第二動力輸出組（5)包括一第二動力輸出部件 (5 0 )以及-第二驅動組件（5 i )，該第 部件（5 0 )可為伺服馬達、或其他具斤 > 别出 用力之動力機構，於本較佳實施例中:、該第:：：：轉作 件（5 0 )係為伺服馬達，並組設於該機體（:出部 該第-動力輪出部件（3〇)之側邊 位於 (51)係、包括一第二傳動輪（”）、-第IS:: 傳動“54)，該第二傳動輪“ 2 )係組設於該第二動力輸出部件（5 〇 ) 上，該第二傳動轴套（53)同轴套 ：出端 X弟一傳動軸 9 200827115 3( LU二：第二傳動轴套（5 3 )與第1動轴（3 =)係為獨立傳動之關係，該第二傳動轴 弟—傳動輪（52)之一端設有_第_ '、 1)，兮坌路/ Ir 弟一連接凸部（53 輪（心）： ）一端偏心樞設於該第二傳動 2)上’另端連接該第二傳動軸套（53二 部（5 3 1 ) ’使該第二動力輪出部件（5。）可 經由該第二傳動輪（5 2 )偏心 4)帶動該第二傳動軸套(53)往 以及該上足節驅動組件（4)包括一上足節殼…〇) 上足節驅動齒輪組（41) ’該上足節殼體（4 〇糸—中空體，於本較佳實施例中，該上足節殼體（4 )係由二殼體相對併組而成，該上足節殼體（4〇卜 —:旋轉地樞設於該第一傳動軸（33)<一端，且設有 足節連接件（4〇1)偏心連接該第一傳動臂〇 卜，前述之上足節連接件（4 〇丄）可為插梢、螺 :或其替代物件’使該上足節殼體（4 〇 )可為該第 力輸出組（3 )所帶動旋擺，該上足節驅動齒輪組 1 )係組設於該上足節殼體（4 0 )内部，續上足Μ :動齒輪組（41)包括一行星輪系齒輪級及— :齒輪’所述之行星輪系齒輪組包括一上 r 牛（4 2 )以及-上足節行星齒輪（4 4 )，該上 :主動部件（4 2 )係組設於第-傳動軸（3 3 )上’其 齒部（42 D，該上足節從動齒輪 )八有—軸套部（4 3 1 )，並以該軸套部（ 200827115 1 )可活動地樞設於上足節殼體（4 〇)另端，該上足矿200827115 IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a walking robot, and more particularly to a robotic foot device suitable for use in the toy industry, the robot industry, and the educational aid industry, and the like. A cantilever four-legged robot design incorporating the foot device. [Prior technology] ...'is even industrial. Therefore, robots have always occupied important grounds for people, whether in home or leisure and entertainment, etc., which have great importance and business development technology. In the development of the known four-legged robot design, most of the foot mechanisms of the four-legged machine are mainly designed with a link mechanism or a lead screw mechanism, but the aforementioned link or (four) rod When the foot-type robot of the type transmission mechanism travels on the ground, its structure will exhibit a left-right yaw or a floating up and down phenomenon. When riding, the balance state is poor, and the control method of the existing mechanism is still slightly==因& When a four-legged robot is walking, it cannot maintain a horizontal m-line travel, let alone a rotating, retreating motion, and complicated movements such as walking on a rough road surface. Even if a computer controls the stride of its foot, However, it is still not necessary to achieve the necessary balance effect when walking the fuselage: I want to improve the smoothness of the quadruped machine as one of the current robot designs. Important topic. In addition, the above-mentioned link mechanism used in the foot-shaped robot utilizes a connecting rod: the moving mechanism of each of the foot mechanisms is moved across the walking, and the female member of the connecting mechanism is an open design, exposed to the outside, such a design There is a problem that the dustproof 5 200827115 and the waterproof effect are poor, and the parts thereof are easily defiled. SUMMARY OF THE INVENTION A primary object of the present invention is to provide a robotic foot device and a cantilever four-legged robot including the foot portion, which is designed to overcome the disadvantages of the prior motion of the foot robot. In order to achieve the foregoing, the robot foot assembly designed by the present invention comprises: ~ an upper foot drive assembly comprising a hollow upper foot housing and an upper foot drive gear set rotatably mounted thereon In the upper foot casing, the upper foot casing may be a power output group driving the swing, the upper foot driving gear set has a phased planetary gear set and an i foot driven gear; a foot drive wheel set, disposed in the upper foot casing, can be driven by a power output group; a midfoot drive assembly comprising a mid-foot foot casing and a midfoot drive wheel set In the middle foot housing, the middle foot housing is connected to the upper foot driving gear set to be rotated; and the lower foot joint body is connected to the middle foot driving wheel set to be driven to swing 0 The cantilever type quadruped robot designed by the invention comprises a body with a built-in controller, and four sets of foot driving devices are arranged on the left and right sides of the front and rear of the body, and the foot driving devices mainly include - a power transmission = ', and the first power output group and a group as described above The foot device includes: the first power wheel core includes a first power output component disposed in the body, and a first drive assembly coupled to the first power output component: a 200827115 force output end, the first drive The assembly includes a first outer body 'connecting the upper foot drive assembly shaft to the exclusive shaft 'extending the second power wheel out group including the first foot drive gear set; $ — the power wheel is standing in the beta body, and The second driving component is connected to the second output π component at the mechanical output end, and the second driving component comprises: a power output component moving on the first transmission shaft, the second transmission bushing = shaft: The coaxial sleeve is driven and connected to the middle foot transmission wheel set. 〃The transmission shaft is independent. The invention is designed by the front of the robot foot device, and its features include at least: ^ Four-legged robot 1. Excellent motion stability: the present and cantilever four-legged robots are utilized The foot placement: two:: device parallel amplification mechanism design, so that it can be applied in the "ω wheel-type production 毺 ~, 仏 00 people, four-legged robots, in the crawling process of the machine can make a stepper The human system is supported by four feet, each of which is two feet and moves: the four-footed machine moves the action step by step, and the text can be bionic: the power output group comes to the gait program, and then The second part of the body:: system: = and program, make the four-legged robot make a traveling movement: = the general link type mechanism will cause the arc-shaped shock of the body and the left and right; = phenomenon 'and the design of the four types of the invention ^ The robot movement 'makes the cantilever four-legged robot to have excellent flatness in motion and can perform high-speed linear motion. Ten% 2. Has good dustproof and waterproof effect: the present invention = partial arrangement and cantilever type four Foot robot, using its fine lines in each foot The design of the star gear train set 'This makes the quadruped robot besides the action of 7 200827115, and the center of gravity of the robot body can be lowered, and the moon b can be close to the ground, and the planetary gear train can be utilized at the same time. The group is covered in the casing to drive, so that 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 cantilever type four of the present invention is disclosed. A preferred embodiment of the foot robot, as can be seen from the figure, the cantilever quadruped robot mainly comprises a body (1) with a built-in controller and a four-legged driving device (2) symmetrically disposed therein. The left and right sides of the front section of the body (1) and the left and right sides of the rear section of the body (1), the composition of the four-legged driving device (2) is the same, and the difference between them is due to the four-foot driving device (2) There are some differences in the arrangement direction of the components, but the components of the foot drive device (2) are the same, and the connection relationship between the components is the same. The following description is only for the foot drive device (2) located on the front side of the front body (1), and the 苴 device (2) is applicable. m. As shown in the second to seventh figures, the forefoot I device (including one) a first power wheel out of the group (3), a bag and a foot device, the foot device power wheel out group (5) with the component (4), the middle foot section transmission component ^ including an upper foot section a drive member (7), and a lower foot joint body (8, - middle foot drive group xj, wherein the first power output group (3) includes" (30) and - the first drive stage member (3) i) the brother 1 force output component part (30) is set in the machine), the first power wheel out 1) is controlled by the body 8 200827115 (1: the controller inside, the first power output component (3 0 ) may be another power mechanism of the servo motor 4 having a reciprocating rotational force. In the preferred embodiment, the first power output component (3〇) uses a feeding motor, the first moving component ( 3 i ) includes a first transmission wheel (32), a first transmission shaft (33), and a -th transmission arm (34), the first transmission wheel (32) being assembled The first transmission shaft (2) on the power output end of the first power output component (30) is disposed on the body (1), and the first transmission shaft (33) is provided with a first connection: (331) ' The first transmission arm (34) is eccentrically pivoted at one end. The moving wheel (32) is connected to the first connecting portion of the first transmission shaft (33) at the other end. 'The first power output portion is eccentrically driven by the rotation of the first transmission wheel (32) . ' (3 4W drive shaft (33) reciprocating rotation: the second power output group (5) includes a second power output member (50) and a second drive assembly (5i), the first member (50) In the preferred embodiment, the servo::::::::::::::::::::::::::::::::::::::::::::::::::::::: (: the side of the first-powered wheel-out part (3〇) is located at the (51) system, including a second transmission wheel ("), - IS:: transmission "54", the second transmission wheel " 2) The system is set on the second power output component (5 〇), the second transmission bushing (53) is coaxially sleeved: the output terminal X is a transmission shaft 9 200827115 3 (LU 2: the second transmission bushing (5 3 ) is related to the first moving shaft (3 =) as an independent transmission, and the second transmission shaft - one of the transmission wheels (52) is provided with ___, 1), Kushiro / Ir a connecting protrusion (53 wheel (heart): ) one end is eccentrically pivoted on the second transmission 2) 'the other end is connected to the second transmission bushing (53 two (5 3 1 ) ' to make the second power wheel Outlet component (5.) via the second The moving wheel (52) is eccentrically 4), and the upper transmission bushing (53) and the upper foot driving assembly (4) comprise an upper foot casing ... 〇) upper foot driving gear set (41) a foot shell (4 〇糸 - hollow body, in the preferred embodiment, the upper foot shell (4) is formed by two shells opposite to each other, the upper foot shell (4 〇 bu —: rotatably pivoted to the first transmission shaft (33) < one end, and is provided with a foot joint (4〇1) eccentrically connected to the first transmission arm, the upper foot joint (4) 〇丄) can be a spigot, a screw: or its substitute object 'the upper foot casing (4 〇) can be rotated by the first force output group (3), the upper foot drive gear set 1) The system is disposed inside the upper foot casing (40) and continues to be ankle: the moving gear set (41) includes a planetary gear stage and the gear train set includes: r cattle (4 2 ) and the upper foot planetary gear (4 4 ), the upper: the active part (4 2 ) is assembled on the first drive shaft (3 3 ) 'the tooth part (42 D, the upper part Foot section driven gear) eight have - bushing part (4 3 1 ), and the sleeve portion (200827115 1 ) is movably pivoted to the other end of the upper foot shell (4 〇), the upper foot mine
打星齒輪（4 4 )可旋轉地樞設於該上足節殼體（4 〇 B)P 中’且嗜合於該上足節主動部件（4 2 )之傳動齒部（$ 21)與該上足節從動齒輪（43)之間，該上足節驅動 齒輪組（4 1 )係藉由該上足節殼體（4 〇 )作為搖臂， 控制忒上足節驅動齒輪組（4 i )各部件之相對運動，前 述中，該上足節主動部件（4 2 )之傳動齒部（4 2丄^ 與上足節行星齒輪（4 4 )之節圓直徑比 為最佳。 .1之““列 該中足節傳動組件（6 )包括一中足節傳動輪組（6 〇 )設於該上足節殼體（4 〇 )内，該中足節傳動輪組 (6 0 ) T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’係揭示該中足節傳動輪組（6 0 )為齒輪組之構造，該中足節傳動輪組（6 〇 )係包括 -中足節主動齒輪（61)、一中足節從動齒輪（6=) 以及-中足節中間齒輪（63)，該中足節主動齒輪（6 1 )係固設於該第二傳動軸套（5 3 )上’位於上足節主 動部件（4 2 )之側邊，1亥中足節從動齒輪（6 2 )具有 -中足節傳動軸（6 2 i ) f穿樞設於該上足節從動齒輪 (4 3 )之軸套部（4 3 1 )中，該中足節中間齒輪（6 3)可活動地樞設於該上足節殼體（4〇)中，且嚙人於 該中足節主動齒輪（6 i )與該中足節從動齒輪（6 ^ )' 之間，用以傳遞第二動力輸出部件（5 0 )之動力。 該中足節驅動組件（7 )包括〆中足節殼體（7 〇 ) 200827115 以及一中足節驅動輪組（7 1 )，該中足節殼體（7 〇 ) 係一中空體’於本較佳實施例中，該中足節殼體（7 0 ) 係由二殼體相對併組而成，該中足節殼體（7 〇 ) 一端可 旋轉地樞設於該上足節殼體（4 〇 )另端，且設有一中足 節連接件（7 0 1 )組接該上足節從動齒輪（4 3 )之軸 套部（431)，使該中足節殼體（7〇)可為該第二驅 動組件（5 1 )經由該中足節傳動組件（6 )帶動旋擺， s亥中足節驅動輪組（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工）為一齒輪組之構造，該 中足節驅動輪組（7 i )係包括一中足節驅動齒輪（7 2 ) 中足節被動齒輪（7 3 )以及一中足節中間齒輪 (7 4)，該中足節驅動齒輪（72)係組設於該中足節 傳動軸（6 2 1) _L，該中足節被動齒輪（7”且有一 下足節傳動軸冑（731) ’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）’該中足節中間嵩輪（74)可旋轉地枢設於該中足 節殼體（70)中，且喃合於該中足節驅動齒輪（72)The star gear (4 4 ) is rotatably pivoted in the upper foot housing (4 〇 B) P and is adapted to the drive tooth portion ($ 21) of the upper foot active member (42) Between the upper foot driven gears (43), the upper foot driving gear set (4 1 ) controls the upper foot driving gear set by using the upper foot housing (4 〇) as a rocker arm ( 4 i) Relative movement of the components, in the above, the pitch diameter ratio of the transmission tooth portion (4 2丄^ and the upper foot planetary gear (4 4 ) of the upper foot active member (4 2 ) is optimal. "1" "The middle foot transmission assembly (6) includes a midfoot drive wheel set (6 〇) disposed in the upper foot housing (4 〇), the middle foot drive wheel set (6 0) T is a gear set, a pulley set, a sprocket set or other gear train transmission structure 'in the preferred embodiment', the middle foot transmission wheel set (60) is a gear set configuration, the middle foot The transmission wheel set (6 〇) includes a middle foot drive gear (61), a middle foot driven gear (6=), and a middle foot intermediate gear (63), the middle foot drive gear (6) 1) is fixed in the second pass The sleeve (5 3 ) is located on the side of the upper foot active part (4 2 ), and the 1 middle middle foot driven gear (6 2 ) has a middle foot transmission shaft (6 2 i ) f In the sleeve portion (4 3 1 ) of the upper foot driven gear (43), the middle foot intermediate gear (63) is movably pivoted in the upper foot housing (4〇) And between the middle foot drive gear (6 i ) and the middle foot driven gear (6 ^ )' for transmitting the power of the second power output component (50). The drive assembly (7) comprises a middle foot joint housing (7 〇) 200827115 and a middle foot drive wheel set (7 1 ), the middle foot joint housing (7 〇) being a hollow body 'in this preferred embodiment In the example, the middle foot housing (70) is formed by two housings opposite to each other, and one end of the middle foot housing (7 〇) is rotatably pivoted to the upper foot housing (4 〇) The other end is provided with a middle foot joint (7 0 1 ) to assemble the sleeve portion (431) of the upper foot driven gear (43), so that the middle foot shell (7〇) can be Driving the second drive assembly (5 1 ) via the midfoot drive assembly (6) The pendulum, shai midfoot drive wheel set (7 1 ) is set inside the middle foot shell (7 〇), and the middle foot drive wheel set (7 i ) can be a gear set, a pulley set, a chain In the preferred embodiment, the wheel set or other wheel train transmission structure reveals that the middle foot drive wheel set (7 work) is a gear set structure, and the middle foot drive wheel set (7 i ) includes a midfoot drive gear (72), a midfoot passive gear (7 3 ) and a midfoot intermediate gear (74), the midfoot drive gear (72) being assembled to the midfoot drive shaft (6 2 1) _L, the middle foot passive gear (7" has a lower foot drive shaft 731 (731) ' and is movably pivoted in the lower foot transmission shaft portion (7 3 1 ) The mid-foot intermediate wheel (74) is rotatably pivoted in the mid-foot shell (70) and is fused to the midfoot Drive gear (72)
與該中足節被動齒輪·（ 7 3 3 > PA ^ H d )之間’用以傳遞第二動力輸 出部件（50)之動力，而令下α銘轉r r疋即體（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μ M/ 茨中足即殼體（70)另 鳊處（下端），於本較佳實施例中，兮丁 口 μ ，該下足節體（8)包 12 200827115 括一下足即主部（8 〇 )以及一下足節次部（8 1 )，該 下足節主部（80) —端固接於該中足節被動齒輪（7 3 )之下^節傳動軸部（7 3 1 )末端，該下^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。 本毛明藉由前揭機器人足部裝置及四足機器人組成構 之又十以°亥四足機态人之作動為例，當該四足機器人 又控行動日寸，主要係由各足部驅動裝置（2 )設於機體 (1)内部之第一動力輸出部件（3〇)以及第二動力輸 出口P件（5 0 )提供動力源，在該機體（丄）π之控制器 才工制下决疋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 )驅動第一傳動輪（3 2 ) 旋轉，令偏心樞設於該第一傳動輪（3 2 )上之第一傳動 臂（3 4 )及第-傳㈣（3 3 )作往復擺動，所述之第 一，動臂（3 4 ) ϋ過上足節連接件（4 ◦丄）帶動該上 足即成體（4 0 )及其内部之上足節驅動齒輪組(4丄）以 及中足節傳動組件（6)作出先往前旋擺推伸、再往後旋 擺=復之往復動作，所述之第—傳動#( 3 3 )則透過該 行星輪系之上足節驅動齒輪組（4 i )帶動該中足節殼體 ('〇)作出先前旋擺推伸、再往復旋擺回復之往復動 作’並與上足節殼體（4 〇 )相互呼應，纟中該上足節驅 動齒輪組（41)更藉該上足節主動部件（42)之傳動 齒^ ( 4 2 1 )與上足節行星齒* ( 4 4 )之節圓直徑比 為2: 1《料，使該中足節殼體（7 q )可產生跨步之 13 200827115 動作。 另方面，第二動力輸出部件（5〇)驅 輪：…:走轉，令偏心柩設於該第二傳動輪（52): 之弟一傳動臂（5 4 ) 1區動第二傳動軸套（5 3 )作往復 擺動，該第二傳翻缸卷r πy riM王设 寻動軸套（5 3 )則進一步透過設於 殼體（4 0 )内之由？ #楠紅 疋即 ^之中足即傳動組件（6 )之齒輪系中 傳動輪組（6 〇 )施Μ ^輪糸中足即 0^ )鉍轉，並利用其中之中足節從動輪（6 2 )經由該中浞铲扁知土t 、Ό ρ傳動軸（621)以及中足節殼體（7 0 )内之齒輪系ψ 銘 ^ 中足即驅動輪組（7 1 )驅動下足節俨 (8 )作旋擺動作“# 勒卜足即體 ’ δ亥四足機器人係由四組足部驅 動裝置（2 )所*拷— 1 ^ ^ 斤支撐，母一足部驅動裝置C2)各為第 。第自力輪出組（3 ) ( 5 )結合行星輪系之上足節 1£動、、且件（4 )、中足節傳動組件（6 )以及中足節驅動 、、且件（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 “亍進時之步態程序， 再由機體（1 )中之控制器控制各第―、第二動力輸出組 (3)(5)之作動及程序，使該懸臂式四^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。 第三圖係第二圖所示之前足部驅動裝置側視平面示意 14 200827115 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 200827115 (5 4 )第二傳動臂 (6 )中足節傳動組件 （6 (61)中足節主動齒輪 （6 (6 2 1 )中足節傳動軸 （6 (7 )中足節驅動組件 （7 (7 0 1 )中足節連接件 （7 (72)中足節驅動齒輪 （7 (7 3 1 )下足節傳動軸部 f ( 7 4 )中足節中間齒輪 (8 )下足節體 （8 (8 1 )下足節次部 0 )中足節傳動輪組 2 )中足節從動齒輪 3 )中足節中間齒輪 0 )中足節殼體 1 )中足節驅動輪組 3)中足節被動齒輪 〇 )下足節主部 16And the middle foot section of the passive gear · ( 7 3 3 > PA ^ H d ) is used to transmit the power of the second power output component (50), and the next alpha rpm is the body (8) relative The midfoot drive assembly (7) is swivel. The lower foot body (8) is mounted on the middle foot μ M/ 茨 foot, that is, the other side (lower end) of the casing (70). In the preferred embodiment, the 兮丁口μ, the lower foot The body (8) package 12 200827115 includes the foot (8 〇) and the lower foot section (8 1 ), and the lower foot main portion (80) is fixed to the middle foot passive gear ( 7 3) under the end of the transmission shaft portion (7 3 1 ), the lower portion of the lower portion (8 1 ) is pivotally connected to the lower foot main portion (800 by the pivotal column at the upper end portion of the middle portion) The other end. Ben Maoming took the example of the robotic foot device and the four-legged robot, which was taken as an example. When the four-legged robot controlled the action, it was mainly from the feet. The driving device (2) is provided on the first power output component (3〇) inside the body (1) and the second power output port P (50) to provide a power source, and the controller of the body (丄) π is completed. The timing of the driving of each foot drive device is determined, wherein: the first power output component (3 〇) drives the first transmission wheel (3 2 ) to rotate, so that the eccentricity is pivoted on the first transmission wheel (3 2 ) The first transmission arm (34) and the first transmission (4) (3 3) are reciprocally oscillated, and the first, the boom (3 4 ) is driven over the upper foot joint (4 ◦丄) The foot is the body (40) and its internal upper foot drive gear set (4丄) and the midfoot drive assembly (6) make the first forward swing and then the rear swing = complex reciprocating action The first transmission - (# 3 3) drives the middle foot housing ('〇) to make a previous rotation through the upper portion of the planetary gear train (4 i ) The reciprocating action of the retracting and reciprocating gyro recovery 'and cooperates with the upper foot casing (4 〇), and the upper foot driving gear set (41) further borrows the upper foot active part (42) The ratio of the pitch diameter of the transmission tooth ^ ( 4 2 1 ) to the upper foot planet tooth * ( 4 4 ) is 2: 1 "Material, so that the middle foot casing (7 q ) can generate a step 13 200827115 action . On the other hand, the second power output component (5〇) drive wheel: ...: travels, and the eccentricity is set on the second transmission wheel (52): the younger one transmission arm (5 4) 1 zone moves the second transmission shaft The sleeve (5 3 ) is reciprocatingly oscillated, and the second transfer cylinder reel πy riM is provided with the oscillating sleeve (5 3 ) to further pass through the housing (40). #楠红疋 is the middle foot, that is, the transmission component (6) of the gear train in the gear set (6 〇) Shi Μ ^ rim midfoot is 0 ^) 铋 turn, and use the middle section of the driven wheel ( 6 2) Through the middle shovel flat soil t, Ό ρ drive shaft (621) and the gear system in the middle foot shell (70) 铭 Ming ^ middle foot, the drive wheel set (7 1 ) drives the lower foot Thrifty (8) for the swinging action "# 勒卜足即体" δ海四足机器人 is composed of four sets of foot drive devices (2) * copy - 1 ^ ^ kg support, mother one foot drive device C2) Each of the first self-powered wheel sets (3) (5) is combined with the upper portion of the planetary gear train, and the member (4), the midfoot joint drive assembly (6), and the midfoot joint drive, and (7) to transmit the action step, so the four-foot drive device can be planned by the analysis of the bionic gait (2 "the gait program when entering the gait, and then the controller in the body (1) Controlling the operation and program of each of the first and second power output groups (3) and (5), so that the cantilever type four robot can smoothly move. [The following is a brief description] The first figure is the cantilever type four of the present invention. Foot machine BRIEF DESCRIPTION OF THE DRAWINGS 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 third figure is shown in the second figure. The front foot drive device side view plane is shown in Fig. 200827115. The fourth figure is the second side view of the front foot drive device shown in the second figure. The fifth figure is the front view of the front foot drive device shown in the second figure. Fig. 6 and Fig. 7 are schematic side plan views of the front foot drive shown in the second figure. [Main component symbol description] (1) Body (2) Foot drive device (3) First power output group (30) a first power output member (3 1 ), a first drive assembly (32), a first transmission wheel (33), a first transmission shaft (331), a first connection portion (34), a first transmission arm (4) Drive component (40) upper foot joint (4 0 1 ) upper foot joint (4 1 ) upper foot drive gear set (4 2 ) upper foot active part (4 2 1 ) drive tooth (43 Upper foot section driven gear (431) bushing part (44) upper foot intermediate gear (5) second power output group (50) Power output component (5 1 ) second drive component (52) second drive wheel (53) second drive bushing (531) second connecting protrusion 15 200827115 (5 4 ) second transmission arm (6) midfoot Section drive assembly (6 (61) medium-foot drive gear (6 (6 2 1) mid-foot drive shaft (6 (7) mid-foot drive assembly (7 (7 0 1) mid-foot joint (7 ( 72) Middle foot section drive gear (7 (7 3 1 ) lower foot drive shaft part f ( 7 4 ) middle section intermediate gear (8) lower foot joint body (8 (8 1 ) lower foot section 0) Middle foot drive wheel set 2) Middle foot driven gear 3) Middle foot intermediate gear 0) Middle foot shell 1) Middle foot drive wheel set 3) Middle foot passive gear 〇) Lower foot main part 16