1245661 五、發明說明（1) ' 【發明所屬之技術領域】 日本發明係有關於一種可獨立行進之四足步行機構，特 別疋指一種藉由變速齒輪組之主動齒輪及從動齒輪分別設 有高速段及低速段互相嚙合，以產生不同之轉速，而帶^ 八連桿組以波浪型步態行走。 【先前技術】 按，先前一般之玩具製造為吸引消費者之購買，均是 不斷推陳出新，以新奇及特殊創意取勝，例如有一些模$ 動物行走之機為猫、狗等玩具，其係以機械結構再配合上 1子裝置之設計，以達到模擬動物行走之態樣，然此等構 造由於其係以齒輪系、凸輪、連桿等組成，作為傳動而行 進但其僅以單一連桿作行進，而無膝關節等分別，故其 行走形態呆板而僵硬，擬真度明顯不足。 、 本案發明人之一先前所 發明公告第290468號「步行 面多連桿組的特性，而構成 為保持平衡，必須於其後方 可形成三點著地的形式平衡 身保持平衡的形態有所不同 機器馬之動力來源係靠人施 置於一斜坡上，靠地心引力 置在拖車上驅動拖車輪子向 用何種推動方式，均無法使 均須依靠推車作為動力來源 發明並獲核准專利之中華民國 機器馬」專利案，其係利用平 馬的四肢，以作為行走，但其 另外拉動有一拖車，藉以使其 ’但如此結構卻又與動物能自 ，而失去真實性，尤其該步行 一向前推力於拖車上，或將其 自動向下前進，或置一驅動裝 前轉，而推動其前進，不論使 步行機器馬單獨自行前進，而 及保持平衡，目此在實施上仍1245661 V. Description of the invention (1) '[Technical field to which the invention belongs] The Japanese invention relates to a four-foot walking mechanism that can travel independently, and particularly refers to a driving gear and a driven gear provided by a transmission gear set, respectively. The high-speed section and the low-speed section are meshed with each other to generate different rotation speeds, and the ^ eight-link group walks in a wave-like gait. [Previous technology] According to the previous, the previous general toy manufacturing was to attract consumers' purchases. They are constantly innovating and winning with novelty and special ideas. For example, some models of animal walking machines are cats, dogs and other toys, which are based on machinery. The structure is matched with the design of a sub-device to achieve the simulation of animal walking. However, because these structures are composed of gear trains, cams, connecting rods, etc., they travel as a transmission, but they only travel on a single link. There is no such difference as the knee joint, so its walking form is rigid and stiff, and the fidelity is obviously insufficient. 1. One of the inventors of this case, the previously invented bulletin No. 290468, "The characteristics of the multi-link set on the walking surface, and to maintain the balance, it must form a three-point landing behind the balance. The shape of the balance body is different. The power source of the robotic horse is placed on a slope by humans and placed on the trailer by gravity to drive the wheels of the trailer in any way. It is impossible to rely on a cart as a power source to invent and obtain patents. The "Republic of China Robot Horse" patent case uses the limbs of a flat horse for walking, but it also pulls a trailer to make it 'but such a structure can be free from animals and loses its authenticity. The thrust is on the trailer, or it is automatically moved forward, or a drive is installed to turn it forward, and it is pushed forward, regardless of whether the walking robot and horse move forward independently and maintain balance.
第5頁 1245661 五、發明說明（2) 達到百分之百的相似度 【發明内容】 本發明係一種可猫六^ 體、動力單元、傳仃進之四足步行機構，包括有架 組及八連Γ旱：m動力單元、傳動齒輪組、變速齒輪 傳動齒輪組；傳動齒輪=目6又於亡述架體’輸出動力至 至變速齒輪組；變速：文動力早兀作動而將動力傳遞 在-循環中輪出組，言:有四組，每一變速齒輪組 樞設於架體，分別受變速桿組，對應變速齒輪組而 八連桿組具有短暫舉：：===動’相應之 對應设於架體之左前、左 逐彳干組 桿組之舉昇順序為左前播=右後之位置’而八連 桿組以波浪型步態依序動：後、右刚、左後；_此’八連 樣。 /心依序動作，可模擬出動物行走前進之態 本發明係具有下列之優點： 行進'·本發明利用單一動力單元’即能同時驅動四腳連續 2 ·本發明係此模擬動物行走前進之型態，而可提供 種新奇之娛樂效果。 — …个奴力丨；τ、τυ 土 π m偶州丨亏籾機構，並且不需藉助 何外力，即可支撐及平衡，而能確實模擬出動物行^前 之狀態，故深具有教育意義，而可達到寓教於樂之功效 3 ·本發明係完全利用機械傳動機構，並且不需藉助任 、力，即可支撐及平衡，而能確實模擬出動物行走 麵 第6頁 1245661 五、發明說明（3) 【實施方式】 首先，請參閱第一、二、三、四圖 包括有架體（1)、動力單元（2)、傳動齒輪组 明主要 輪組（4)及八連桿組（5)所組合而成，其;、. ’交速齒 架體（1)’其係設為四方框形，該加 二側分別設有第一固定板⑴）、第：木 ;2部向 了，又設有一固定座 (15)，而固定於其中一側之第一固1-1疋杯 第一固定板（11)、第二固定板（12)及第三二士 ’而該等 分別藉由一第二固定桿（16)及若干 ==反（13)，係 予以貫穿固定。 卞之第二固定桿（17)橫向 動力單元（2)，係供固定於架體（1)之 該動力單元（2)係可為一馬達，其 A()上， ，又動力單元⑺上係可設有一電一傳動軸⑵） 源〔圖中未示〕。 ^線（22)，以供外接電 傳動齒輪組（3)，其係設有二組，八 固定板（11)之相對内側緣，該傳動 刀另固定於第一 傳動齒輪(31)，以#固定於動力單；)，且(2係言史有第一 ，該第-傳動齒輪⑻)係嚙合帶傳動軸(21)上 該第二傳動齒輪（32)係設於第輪（3。 二151中神np、 \ 圓疋杯（16)上，又於該第 三傳動：端为別固疋有第三傳動齒輪(33)，該二第 側分別嚙合有第四傳動齒輪(34)，該 齒；(34)分別柩設於第1定板⑴)之Γ壁上，又 "亥專第四齒輪（34)之軸心係分別凸伸有轴桿（35)。Page 51245661 V. Description of the invention (2) 100% similarity is achieved [Content of the invention] The present invention is a four-footed walking mechanism capable of being a cat, a power unit, and a transmission device, including a frame group and eight joints Dry: m power unit, transmission gear set, transmission gear transmission gear set; transmission gear = head 6 and output power to the transmission gear set in the dead frame; speed change: cultural power acted early to transmit power in-cycle The medium wheel comes out of the group. There are four groups, each of which is set on the frame, each of which is subject to a shift lever group, corresponding to the shift gear group, while the eight-link group has a short lift: === 动 'corresponding correspondence The lifting order of the left front, left and right stem groups on the frame is left front broadcast = right rear position ', and the eight-link group moves in a wavy gait in sequence: rear, right rigid, left rear; This' eight consecutive. / Sequential movement of the heart can simulate the state of animal walking and advancing. The present invention has the following advantages: "The invention uses a single power unit" to drive four feet in a row at the same time. 2 The invention is a simulation of animal walking and advancing. Type, and can provide a novel entertainment effect. —… A slave power; τ, τυ soil π m dual-state 丨 deficient institutions, and can support and balance without using any external force, and can accurately simulate the state before the animal, so it has deep educational significance , And can achieve the effect of fun and education3. The present invention fully utilizes the mechanical transmission mechanism, and can support and balance without the help of force and force, and can truly simulate the walking surface of animals. Page 6 1256661 V. Invention Explanation (3) [Embodiment] First, please refer to the first, second, third, and fourth drawings, which include a frame (1), a power unit (2), a transmission gear set, a main wheel set (4), and an eight-link set. (5) the combination of, ;;. 'Cross-speed rack body (1)' which is set in a quadrangular shape, the first two fixed plates 设有 on the two sides), the first: wood; 2 Towards the front, there is a fixing base (15), and the first fixing 1-1 cup first fixing plate (11), the second fixing plate (12) and the third two are fixed on one side. And so on, respectively, through a second fixing rod (16) and a number of == counter (13), through-fixation. The second fixed rod (17) of the lateral power unit (2) is for fixing the power unit (2) to the frame body (1). The power unit (2) can be a motor, A (), and power unit (2). The system may be provided with an electric source and a transmission shaft ⑵) source [not shown]. ^ Line (22) for the external electric transmission gear set (3), which is provided with two sets, the opposite inner edges of the eight fixing plates (11), the transmission knife is additionally fixed to the first transmission gear (31), #Fixed to the power sheet;), and (2 is the first in history, the-transmission gear ⑻) is the meshing belt transmission shaft (21), and the second transmission gear (32) is provided on the first wheel (3. On the second 151 god np, \ round 疋 cup (16), and the third drive: the end is a solid drive with a third drive gear (33), the second and third sides are respectively meshed with a fourth drive gear (34) The teeth; (34) are respectively provided on the Γ walls of the first fixed plate (⑴), and the shafts of the fourth gear (34) of the Hai Specialty project with shafts (35), respectively.
1245661 五、發明說明（4) 變速齒輪組（4 )，如第五圖所示，係設於第一固定板 (11)及第二固定板（1 2)之間，該變速齒輪組（4)分別設有 四組之主動齒輪（41)及從動齒輪（42)，其中該主動齒輪 (41 )之轴心係連接於第四齒輪（34)之軸桿（35)上，又主動 齒輪（41)及從動齒輪（42)上係分別設有高速段（41丨）、 (421) 及低速段（412)、（422 )，而主動齒輪（41)之高速段 (4 11)及低速段（41 2 )則分別與從動齒輪（4 2 )之低速段 (422) 及高速段（421)互相嚙合，藉以產生不同之速度，又 其中從動齒輪（42)之高速段（421)係控制離地時間略小於 1/4單位時間，而低速段（ 422 )則控制著地時間略大於3/4 單位時，如此，藉由四組變速齒輪組（4)之速度不同變化 ’可悝保持其中一組係控制為離地之狀態，另於該等從動 齒輪（4 2 )之軸心係分別凸伸有軸桿（4 3 )。 八連桿組（5)，係區分為左前腳（51)、右前腳（52)、 左後腳（53)、右後腳（54)等四組，而分別樞設於第二固定 板（12)及第三固定板（13)之間，而八連桿組（5)每一組左 前腳（51)、右前腳（52)、左後腳（53)、右後腳（54)，係分 別受到一組變速齒輪組（4)之控制帶動，即八連桿組（5 )每 一組左前腳（51 )、右前腳（52)、左後腳（53)、右後腳（54) 係設有一曲柄（5 5 )連接於從動齒輪（4 2)之軸桿（4 3 )上，另 於底部設有一支撐桿（5 6 )著地。 使用時，如第一、二、三、四圖所示，當動力單元 (2 )之電源線（2 2 )外加電源開始啟動後，則可透過其傳動 軸（21)而帶動傳動齒輪組（3)之第一傳動齒輪（31)旋轉，1245661 V. Description of the invention (4) The speed change gear set (4), as shown in the fifth figure, is located between the first fixed plate (11) and the second fixed plate (12). The speed change gear set (4) ) There are four sets of driving gear (41) and driven gear (42), where the axis of the driving gear (41) is connected to the shaft (35) of the fourth gear (34), and the driving gear (41) and driven gear (42) are respectively provided with high-speed section (41 丨), (421) and low-speed section (412), (422), and high-speed section (4 11) and The low-speed section (41 2) meshes with the low-speed section (422) and the high-speed section (421) of the driven gear (4 2) to generate different speeds, and the high-speed section (421) of the driven gear (42) ) Is controlled when the ground clearance time is slightly less than 1/4 unit time, and the low speed segment (422) is controlled when the ground time is slightly greater than 3/4 unit time. In this way, the speed of the four sets of variable speed gear sets (4) is different. It is possible to maintain one of the groups to be controlled from the ground, and the shafts of the driven gears (4 2) are respectively protruded with shafts (4 3). The eight-link group (5) is divided into four groups: left front foot (51), right front foot (52), left rear foot (53), and right rear foot (54). They are respectively pivoted on the second fixed plate (12). And the third fixing plate (13), and each group of the eight-link group (5) has a left front foot (51), a right front foot (52), a left rear foot (53), and a right rear foot (54), each receiving one The control drive of the four-speed gear set (4), that is, the left front foot (51), right front foot (52), left rear foot (53), and right rear foot (54) of each of the eight-link set (5) is provided with a crank ( 5 5) is connected to the shaft (4 3) of the driven gear (4 2), and a support bar (5 6) is provided on the bottom to land. In use, as shown in the first, second, third, and fourth figures, when the power supply line (2 2) of the power unit (2) and the external power supply start to start, it can drive the transmission gear set through its transmission shaft (21) ( 3) the first transmission gear (31) rotates,
1245661 五、發明說^^ ' " ----—" ，第傳動齒輪（3 1)則可嚙合帶動第二傳動齒輪（3 2 )，該 =一傳動齒輪（3 2 )係設於第二固定桿（丨6 )上，而可經由該 第二固疋桿（16)而帶動另一端之第三傳動齒輪（33)，當該 =第三傳動齒輪（33)旋轉時，則可分別嚙合帶動其二側之 第四傳動齒輪（34)，而該等第四齒輪（34)軸心上之轴桿 (3b>)，係分別連接於變速齒輪組（4)之主動齒輪（41)上， 又4主動齒輪（4 1)係與從動齒輪（4 2 )相嚙合，故可透過從 動齒輪（42)軸心上之軸桿（43)連接八連桿組（5)之左前腳 (51)、右前腳（52)、左後腳（53)、右後腳（54)的曲柄（55) ，而可f動整組之八連桿組（5 )作動，以促使八連桿組（5 ) 每一組左前腳（51)、右前腳（52)、左後腳（53)、右後腳 (54)底^部之支撐桿（56)輪流著地而前進，而該八連桿組 (5)左前腳（51)、右前腳（52)、左後腳（53)、右後腳（54) 之行走順序，係模仿動物之形態，即波浪型步態行走，其 八連桿組（5)之離地順序係以左前腳（51)、右後腳（54)、 右前腳（52)、左後腳（53)等方式依序循環而行走。 關於β變速齒輪組（4 )如何帶動八連桿組（5 )之左前腳 (51)、右後腳（52)、左前腳（53)、右後腳（54)，輪流於略 小於1 / 4的單位時間内離地，及略大於3 / 4的單位時間内著 地’並恆保持只有其中一組八連桿組（5)之支撐桿（56)離 地’而另外其中三組之支撐桿（56)著地，以形成支撐面， 並得以使整個架體（1)保持平衡而不致於傾倒，茲說明如 下。 係在於當八連桿組（5)其中一組之支撐桿（56)離地時1245661 V. Invention ^^ '" -------- " The first transmission gear (3 1) can be meshed to drive the second transmission gear (3 2), which = a transmission gear (3 2) is located at The second fixing lever (丨 6), and the third transmission gear (33) at the other end can be driven by the second fixing lever (16), when this = the third transmission gear (33) rotates, The fourth transmission gears (34) on both sides of the fourth gears (34) are meshed with each other, and the shafts (3b >) on the axis of the fourth gears (34) are drive gears (41) connected to the transmission gear set (4) ), And 4 driving gears (4 1) are meshed with the driven gears (4 2), so the shafts (43) on the shafts of the driven gears (42) can be connected to the eight-link set (5). The left front foot (51), the right front foot (52), the left rear foot (53), and the right rear foot (54) are cranks (55), and the eight link set (5) of the entire group can be moved to promote the eight link Group (5) In each group, the left front foot (51), right front foot (52), left rear foot (53), right rear foot (54) and the supporting rods (56) at the bottom of the group advance in turns, and the eight links Group (5) left front foot (51), right front foot (52), left rear foot (53) The walking sequence of the right rear foot (54) is imitating the form of an animal, that is, walking in a wavy gait. The order of the eight-link group (5) from the ground is the left front foot (51) and the right rear foot (54). ), Right front foot (52), left rear foot (53) and so on. Regarding how the beta transmission gear set (4) drives the left front foot (51), right rear foot (52), left front foot (53), and right rear foot (54) of the eight-link set (5), the rotation is slightly less than 1/4 Off the ground per unit time, and landing on the unit time slightly greater than 3/4 'and keep only one set of eight links (5) of the support rod (56) off the ground' and the other three groups of support rods (56) landing to form a supporting surface and to keep the entire frame (1) in balance without falling down, as explained below. When the support rod (56) of one of the eight-link group (5) is off the ground
1245661 五、發明說明（6) 為例說明之〕，其係如第六、七圖所示， 與從動齒輪?及Μ段⑷2跑 即者幸“止 -、又（422)及尚速段（421)互相唾合， 段（In /輪（41)之低速段（412)與從動齒輪（42)之高速 時 Ο開始唾合產生高速時之起始點（A)到結束點（6)之 點⑻)：3Ξ t ΐ撐桿(56)·地時之起始點ui)到結束 (421彳心足.軌跡時間，由於該從動輪（42)之高速段 即Φ /嚙合帶動後，其轉動時間係略小於1 /4單位時間， *桿（56)離地之時間相對略小於1/4單位時間。 (4 Π )反&之如第八、九圖所示，當主動齒輪（41)之高速段 之起始Ξ ί ?2)之低速段(422)開始响合產生低速時 基从:”、）到⑺束點（D)之時間，即相對應為支撐桿（56) 妓之起始點（C1)到結束點（D1)之足點執跡時間，由於 :::輪（42\之低速段（421 )受嚙合帶動後，其轉動時間 ，、大於3/4單位時間，即支撐桿（56)著地之時間相對略 大於3 / 4單位時間。 而該離地之起始點（A1)到結束點（B1)係形成一曲線之 足點轨跡，另著地時之起始點（C1)到結束點（D1)係形成一 ^線之足點軌跡，將該二段足點執跡連接，則可構成一循 環之足點轨跡形態，而使八連桿組（5)其中一組支撐桿 (5 6 )在略小於1 / 4單位時間内，可通過起始點（A丨）到結束 點（B1)之離地足點執跡，而另三組之支撐桿（5 6)則分別在 略大於3/4單位時間内，而可通過起始點（C1)到結束點 (D1)之著地足點轨跡。1245661 V. Description of the invention (6) as an example], it is shown in the sixth and seventh diagrams, with the driven gear? And the M section ⑷ 2 running that is fortunate "stop-, and (422) and Shang speed section (421) mutual salvage, the segment (In / wheel (41) of the low-speed segment (412) and the driven gear (42) at a high speed 0 begins to salvage when the high speed starts (A) to the end point (6) The point of ⑻): 3Ξ t ΐ strut (56) · the starting point when ground is ui) to the end (421 彳 heart and foot. Track time, because the high-speed segment of the driven wheel (42) is Φ / meshing drive , Its rotation time is slightly less than 1/4 unit time, * the time (56) off the ground is relatively less than 1/4 unit time. (4 Π) anti & as shown in Figures 8 and 9, when active The start of the high-speed section of gear (41) Ξ 2) The low-speed section (422) of the low-speed section starts to generate low-speed time base from: "," to the beam point (D), which corresponds to the support rod ( 56) The track time from the start point (C1) to the end point (D1) of the prostitute is due to the rotation time of the ::: wheel (42 \ 's low-speed section (421)), which is greater than 3 / 4 units of time, when the support bar (56) hits the ground It is slightly larger than 3/4 unit time. The start point (A1) to the end point (B1) of the ground is a foot track forming a curve, and the start point (C1) to the end point of the ground (D1) is a foot point trajectory forming a line, and the two foot points are connected to form a cycle foot point trajectory, so that one of the eight connecting rod groups (5) has a supporting rod ( 5 6) In a little less than 1/4 unit of time, you can track through the off-foot points from the starting point (A 丨) to the ending point (B1), while the other three groups of supporting rods (5 6) are at It is slightly larger than 3/4 unit time, and it can pass the landing foot track from the starting point (C1) to the ending point (D1).
第10頁 1245661 五、發明說明（7) 如第十圖所示，係以該左前腳（5 1 )之曲柄（5 5 )角度為 222度、右前腳（52)曲柄（55)角度為135度、左後腳（53)曲 柄（55)角度為351度、右後腳（54)曲柄（55)角度為175度， 作為本實施例之說明，由於該等前腳〔左前腳（5丨）及右前 腳（52)〕之曲柄（55)角度落在於25 4度至110度之間（順時 針方向，間隔1 4 4度），係屬於低速旋轉（E)〔即主動齒輪 (41)之高速段（411)與從動齒輪（42)之低速段（422)開始嚙 合〕，其相對應之足點均落在著地時之起始點（C1 )到結束 點（D1)之直線執跡上，而曲柄（5 5 )落在其餘之角度中，則 屬於高速旋轉（F)〔即主動齒輪（41)之低速段（412)與從動 齒輪（4 2 )之高速段（4 2 1)開始嚙合〕，而其相對應之足點 均落在離地時之起始點（A1 )到結束點（B1 )間。 同時，後腳〔左後腳（53)及右後腳（54)〕之曲柄（55) 角度落在於7 0度至2 8 6度之間（順時針方向，間隔1 4 4度） ’係屬於低速旋轉（E)〔即主動齒輪（41)之高速段（411)與 從動齒輪（42)之低速段（422 )嚙合〕，其相對應之足點均 落在著地時之起始點（C1 )到結束點（D1)之直線軌跡上，而 曲柄（55)落在在其餘之角度中，則屬於高速旋轉（F)〔即 主動齒輪（41)之低速段（412)與從動齒輪（42)之高速段 (4 2 1 )開始嚙合〕，而其相對應之足點均落在離地時之起 始點（A1)到結束點（B1)間。 其中該左前腳（51)之、右前腳（52)及左後腳（53)之曲 柄角度分別為222、135度及351度，均屬於低速旋轉（E) ’ 即前腳在2 5 4度至11 0度（順時針）之間，後腳在7 0度至Page 10, 1256661 V. Description of the invention (7) As shown in the tenth figure, the crank (5 5) angle of the left front foot (5 1) is 222 degrees, and the right front foot (52) crank (55) angle is 135 Degrees, the angle of the left rear foot (53), the crank (55) is 351 degrees, and the angle of the right rear foot (54), the crank (55) is 175 degrees. As an illustration of this embodiment, since these front feet [left front foot (5 丨) and right The angle of the crank (55) of the front foot (52) falls between 25 4 degrees and 110 degrees (clockwise, with an interval of 14 4 degrees), which belongs to the high-speed section of low-speed rotation (E) [that is, the driving gear (41) (411) Starts meshing with the low-speed section (422) of the driven gear (42)], and the corresponding foot points fall on the straight track from the starting point (C1) to the ending point (D1) at the time of landing , And the crank (5 5) falls in the remaining angles, it belongs to the high-speed rotation (F) [ie, the low-speed section (412) of the driving gear (41) and the high-speed section (4 2 1) of the driven gear (4 2)) Start to engage], and their corresponding foot points fall between the starting point (A1) and the ending point (B1) when they are off the ground. At the same time, the angle of the crank (55) of the rear foot [left rear foot (53) and right rear foot (54)] falls between 70 degrees and 2 8 6 degrees (clockwise, at intervals of 1 4 4 degrees). (E) [that is, the high-speed section (411) of the driving gear (41) meshes with the low-speed section (422) of the driven gear (42)], and the corresponding foot points all fall on the starting point at the time of landing (C1 ) To the straight trajectory to the end point (D1), and the crank (55) falls in the remaining angles, it belongs to high-speed rotation (F) [ie, the low-speed section (412) of the driving gear (41) and the driven gear ( The high-speed section (42) of 42) begins to engage], and its corresponding foot points fall between the starting point (A1) to the ending point (B1) when it is off the ground. The crank angles of the left front foot (51), right front foot (52), and left rear foot (53) are 222, 135, and 351 degrees, respectively, all of which belong to low-speed rotation (E). That is, the front feet are at 2 5 4 degrees to 11 Between 0 degrees (clockwise), with the rear foot at 70 degrees to
1245661 五、發明說明（8) 286度（順時針X間’故為著地之狀態，而僅只有右後 腳（54)之曲柄（55)角度係超出範圍，而屬於高速旋轉（F) ，故為離地之狀態，但仍保持有三腳著地而形成平衡，又 當每一組八連桿組（5)之曲柄（55)輪流受到變速齒輪之 帶動而改變角度時，係可由第十圖内各八連桿組（5)之行 走執跡可清楚看出’當右後腳（54)離地之後，則依序為右 前腳（52)、左後腳（53)及左前腳（51)等接續離地，如此， 可使該等八連桿組（5 )形成以波浪型步態離地行走，因此 當每一支撐桿（5 6 )著地後進行直線之執跡移動時，則整個 架體（1 )係可相對向前移動，以達到模擬動物獨立前進之 作用。 上述實施例僅為本發明較佳實施利之一，其他基於上 述【發明内容】所作之等效變更設計，皆屬本發明之範_1245661 V. Description of the invention (8) 286 degrees (clockwise X between 'is therefore a state of landing, and only the angle of the crank (55) of the right rear foot (54) is out of range, and belongs to high-speed rotation (F), so It is off the ground, but still maintains three feet on the ground to form a balance, and when the crank (55) of each group of eight-link set (5) is alternately driven by the gears to change the angle, it can be changed from the tenth figure. The walking performance of each inner eight-link set (5) can clearly see 'When the right rear foot (54) is off the ground, it is sequentially the right front foot (52), left rear foot (53), and left front foot (51), etc. Continue off the ground, so that the eight-bar linkage group (5) can be formed to walk off the ground in a wave-like gait. Therefore, when each support rod (5 6) performs a straight track movement after landing, the entire The frame (1) can be moved relatively forward to simulate the independent progress of the animal. The above embodiment is only one of the advantages of the preferred embodiment of the present invention. Other equivalent design changes based on the above [invention content] are all The model of this invention_
1245661 圖式簡單說明 ' ' 第一圖係為本發明之立體示意圖。 第二圖係為本發明之前視圖。 第二圖係為本發明之側視圖。 第四圖係為本發明之上視圖。 第五圖係為本發明變速齒輪之組合剖視圖。 第六圖係為本發明之主動齒輪之低速段與從動齒輪之高速 段開始嚙合示意圖。 第七圖係為本發明八連桿組相對應於第五圖變速齒輪組轉 動後之行走執跡示意圖。 第八圖係為本發明之主動齒輪之高速段與從動齒輪之低速 段開始嚙合示意圖。 第九圖係為本發明八連桿組相對應於第七圖變速齒輪組轉 動後之行走轨跡示意圖。 第十圖，為本發明左前腳、右前腳、左後腳、右後腳之曲 丙角度及行走時之足點軌跡示意圖。 【元件符號說明】 (1) (12) (14) (16) (2) (22) (31) 第一固定板 (13) 第三固定板 (1 5 ) 第一固定桿 (1 7 ) 第三固定桿 < 21 ) 傳動軸 (3 ) 傳動齒輪組 第二傳動齒輪 架體 第二固定板 固定座 第二固定桿 動力單元 電源線 第一傳動齒輪 1245661 圖式簡單說明 (33) 第三傳動齒輪 (34) 第四傳動齒輪 (35) 軸桿 (4) 變速齒輪組 (41) 主動齒輪 (411) 高速段 (412) 低速段 (42) 從動齒輪 (421) 高速段 ( 42 2 ) 低速段 (43) 軸桿 (5) 八連桿組 (51) 左前腳 (52) 右前腳 (53) 左後腳 (54) 右後腳 (55) 曲柄 (56) 支撐桿 (A) 高速起始點 (A1) 離地起始點 (B) 高速結束點 (B1) 離地結束點 (C) 低速起始點 (C1) 著地起始點 (D) 低速結束點 (D1) 著地結束點 (E) 低速旋轉 (F) 高速旋轉1245661 Brief description of the drawings '' The first drawing is a schematic perspective view of the present invention. The second figure is a front view of the present invention. The second figure is a side view of the present invention. The fourth figure is a top view of the present invention. The fifth figure is a combined sectional view of the speed change gear of the present invention. The sixth figure is a schematic diagram of the start of meshing between the low speed section of the driving gear and the high speed section of the driven gear of the present invention. The seventh diagram is a schematic diagram of the running track of the eight-link group of the present invention after the corresponding shifting of the shifting gear group of the fifth diagram. The eighth figure is a schematic diagram of the meshing of the high speed section of the driving gear and the low speed section of the driven gear according to the present invention. The ninth figure is a schematic diagram of the walking trajectory of the eight-link set of the present invention corresponding to the shifting gear set of the seventh figure. The tenth figure is a schematic diagram of the angles of the left front foot, the right front foot, the left rear foot, and the right rear foot of the present invention and the trajectory of the foot point when walking. [Description of component symbols] (1) (12) (14) (16) (2) (22) (31) First fixing plate (13) Third fixing plate (1 5) First fixing rod (1 7) No. Three fixed rods < 21) Transmission shaft (3) Transmission gear set Second transmission gear frame Second fixing plate fixing seat Second fixing rod Power unit power line First transmission gear 1245661 Brief description of the diagram (33) Third transmission Gear (34) Fourth transmission gear (35) Shaft (4) Transmission gear set (41) Driving gear (411) High speed section (412) Low speed section (42) Drive gear (421) High speed section (42 2) Low speed Section (43) Shaft (5) Eight-link set (51) Left front foot (52) Right front foot (53) Left rear foot (54) Right rear foot (55) Crank (56) Support rod (A) High-speed starting point ( A1) Ground clearance start point (B) High speed end point (B1) Ground clearance end point (C) Low speed start point (C1) Landing start point (D) Low speed end point (D1) Landing end point (E) ) Low speed rotation (F) High speed rotation
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