1250042 發明說明： 【發明所屬之技術領域】 * 本發明有關於-種具有四連桿組腿部之獨立步行機構，其 ^要係指-種藉由魏絲組之絲錄及從_輪分別設有 向速段及低速段互㈣合，以產生㈣之轉速，而帶動四連桿 組產生曲線及躲之循環足點執跡，而以波浪型步態。 【先前技術】 杈，目刖一般模擬動物行走之: ·〜n〜〜例命钿、狗寺裝置，苴 機械結構躲合上電子裝置之設計，以達聰觸物行走之 =，然此等構造由於其細錄系、凸輪、轉粒成，作 2而行進，但其僅以單—連桿作行進，而無膝關節等分別 故其行走形絲板而僵硬，擬真度鶴不足。 因此有發明公告第29_號「步行機器馬」專利案，^ 係利用平面多連桿_特性，而構成馬的四肢，以作為行走: 但其為保持平衡，必胁其财糾鴻有— 可形成三點著地的形式平衡，而得以模擬出馬的行走Γ樣 然’由於習知模擬四足動物步 與動物形態有所不同，而失去直實性二:仃走祕部又 ^原係从她-向前推力於拖車上，或將其置於—斜坡上， 罪。弓力自動向下前進，或置一驅動裝置 _ 使步行機不論使用何種推動方式，均無法 伴持價進，__車_力來源及 保持千衡’ _在_上健_府分之百 1250042 【發明内容】 m胁娜轉响之種種問題 步行機構， 利用動力單 餘触-種財四轉_心社步行機構， 點 其體上分別固定有動力單元、傳動齒輪电， ^動傳動齒輪組’以驅動變速齒輪 …一丁 之主動齒輪雜_輪上分 __速齒輪組 連桿組之曲柄帶動四 又四連 其 及第-連桿共同受到變速#輪=帶動又： 有第·，之另端'_於_上，而該曲柄另端難接 :第-連桿，該第二連桿之另端係樞接有第三連二 ^之另端樞接於_上，又第二連桿 Γ可產生嫩直、㈣峨_，树行 本發明係具有下列之優點： 全上本=:利用簡單的傳動機構及四連桿構造，可完 =出_四足步行機構，並且不需藉助任何外力，即可支 態 二深且于進，而能確實模擬出動物行走前進之狀 //、有教月思義，而可達到寓教於樂之功效。 2.本發明利用單一動力單元，即能同時驅動四腳連續行進 而糾疑動物行走前進之錢，並具有極佳之穩 真 【實施方式】 具 百先，晴參閱第-、二、三、四圖所示，本發明主要包括 有架體⑴、動力單元⑵、傳動齒輪組⑶、變速齒輪組⑷及 1250042 四連桿組（5)所組合而成，其中·· 架體（1)，其係設為四方框形，該架體0)係由内部向二側 分別設有第-固定板（11)、第二固定板⑽及第三固定板 (13)，又設有一固定座（14)藉由若干之第一固定桿（15)，而固 定於其中一側之第一固定板（11)側邊，而該等第一固定板 (11)、第二固定板（12)及第三固定板（13)，係分別藉由一第二 固定桿（16)及若干之第三蚊桿（17)橫向予以貫穿固定 ，又於 φ該第二固定板（12)前、後側分別垂直設有-固定片（121)，該固 定片（121)上設有樞接點（122)。 動力單元（2)，係供固定於架體〇)之固定座（14)上，該動 力單元(2)係可為一馬達，其係凸設有一傳動軸⑵），又動力單 . 瓜⑵上係可設有一電源線(22)，以供外接電源〔圖中未示〕。 傳動齒輪組⑶，其係設有二組，而分別固定於第一固定 板（11)之相對内側緣，該傳動齒輪組（3)係設有第一傳動齒輪 (31)，以供固定於動力單元（2)之傳動軸（21)上，該第一傳動 籲窗輪(31)係唾合帶動有第二傳動齒輪(32)，該第二傳動齒輪 ⑽係設於第二固定桿⑽上，又於該第三固定桿⑽二端分 別固疋有第三傳動齒輪(33)，該二第三傳動齒輪⑽之二侧分 別喃&有第四傳動齒輪(34)，該等第四齒輪(⑷分別柩設於第 -固定板（11)之_上，又該等第讀輪(34)之軸心係分別凸 伸有軸桿（35)。 ★變速齒輪組⑷，如第五®所示，係設於第-狀板⑴） 及第二固定板（12)之間，該變速齒輪組⑷分別設有四組之主動 7 1250042 齒輪（41)及從動齒輪（42)，其中該主動齒輪（41)之軸心係連接 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（4Π)、（421)及低速段（412)、1250042 Description of the invention: [Technical field to which the invention pertains] * The present invention relates to an independent walking mechanism having a four-link group leg, which is referred to by the Weisi group and from the _ wheel respectively The speed section and the low speed section are combined with each other to generate the rotation speed of (4), and the four-bar linkage group is driven to generate a curve and hide the circulation foot point, and the wave type gait. [Prior Art] 杈, witnessing the general simulation of animal walking: ·~n~~ example life 钿, dog temple device, 苴 mechanical structure to avoid the design of the electronic device, to Da Cong touch object walking =, then The structure travels due to its fine-grained system, cam, and granules, but it travels only as a single-link, and there is no knee joint, etc., so that the walking shape is stiff and the imaginary crane is insufficient. Therefore, there is a invention announcement No. 29_ "Pedestrian Machine Horse" patent case, which uses the plane multi-link _ characteristics to form the limbs of the horse, as a walk: but in order to maintain balance, it will threaten its wealth. It can form a form balance of three-point grounding, and can simulate the walking of a horse. As a result of the analogy, the four-footed animal steps are different from the animal's shape, and the straightness is lost. From her - forward thrust on the trailer, or put it on the slope, sin. The bow force automatically advances downwards, or sets a driving device _ so that the walking machine can't accompany the price regardless of the driving method, __车_力源和保持千衡' _在_上健_府分Hundred 1250042 [Summary of the Invention] M. Warina's various problems walking mechanism, using the power single-touch - the four-turn _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ The gear set 'drives the shifting gear... the driving gear of the _ _ wheel is divided into _ _ speed gear set of the crank of the connecting rod group to drive four and four even and the first - link is subject to shifting # wheel = drive again: there is · The other end is '_ on _, and the other end of the crank is difficult to connect: the first link, the other end of the second link is pivotally connected to the other end of the third link to the _, The second link Γ can produce tenderness, (4) 峨 _, the tree line of the present invention has the following advantages: All the above =: using a simple transmission mechanism and four-bar linkage structure, can be completed = four foot walking mechanism And without any external force, the branch can be deep and deep, and it can simulate the animal's walking. //, have the meaning of teaching the moon, and can achieve the effect of teaching and learning. 2. The invention utilizes a single power unit, that is, can simultaneously drive the four feet to continuously travel and troubleshoot the animal to walk forward, and has excellent stability. [Embodiment] With a hundred first, clear see the first, second, third, As shown in the four figures, the present invention mainly comprises a combination of a frame body (1), a power unit (2), a transmission gear set (3), a shift gear set (4) and a 1250042 four-link set (5), wherein the frame body (1), The frame body is configured to have a quadrangular shape, and the frame body 0) is respectively provided with a first fixing plate (11), a second fixing plate (10) and a third fixing plate (13) on the two sides, and a fixing seat ( 14) by a plurality of first fixing rods (15), fixed to one side of the first fixing plate (11) side, and the first fixing plate (11), the second fixing plate (12) and The third fixing plate (13) is horizontally fixed through a second fixing rod (16) and a plurality of third mosquito rods (17), and is φ front and rear sides of the second fixing plate (12) A fixing piece (121) is vertically disposed, and a fixing point (122) is disposed on the fixing piece (121). The power unit (2) is fixed to the fixing base (14) of the frame body, and the power unit (2) can be a motor, which is convexly provided with a transmission shaft (2)), and is powered by a single (3) The upper system can be provided with a power cord (22) for external power supply (not shown). The transmission gear set (3) is provided with two groups respectively fixed to opposite inner edges of the first fixing plate (11), and the transmission gear set (3) is provided with a first transmission gear (31) for fixing to On the transmission shaft (21) of the power unit (2), the first transmission window wheel (31) is saliva-driven with a second transmission gear (32), and the second transmission gear (10) is fastened to the second fixed rod (10) And a third transmission gear (33) is respectively fixed to the two ends of the third fixed rod (10), and the two sides of the second transmission gears (10) respectively have a fourth transmission gear (34), and the same The four gears ((4) are respectively disposed on the first fixed plate (11), and the axial centers of the first read wheels (34) respectively protrude from the shaft (35). ★ The shift gear set (4), as described As shown in Figure 5, between the first plate (1) and the second fixed plate (12), the shift gear set (4) is provided with four sets of active 7 1250042 gears (41) and driven gears (42). The shaft of the driving gear (41) is connected to the shaft (35) of the fourth gear (34), and the driving gear (41) and the driven gear (42) are respectively provided with a high speed section (4Π) ), ( 421) and low speed section (412),
(422)，而主動齒輪（41)之高速段（411)及低速段（412)則分別 與從動齒輪（42)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，可恆保持其中一組係控制為離地之狀態，另於該等從動齒 輪(42)之軸心係分別凸伸有軸桿(43)。 四連桿組（5)，係可區分為左前腳（5A)、右前腳（5B)、左 後腳（5C)、右後腳（5D)等四組，而分別樞設於第二固定板（12) 及第三固定板（13)之間，該四連桿組（5)係設有一曲柄（51)及 第一連桿（52)共同連接於從動齒輪(42)之軸桿（43)上，其中該 第一連桿（52)之另端係固定於第二固定板（a)固定片（丨21)之 樞接點（122)上，而该曲柄（51)另端則樞接有三角形之第二連桿 (53) ，该第二連桿（53)之另端係樞接有第三連桿（54)，該第三 連桿（54)之另端餘接於第二固定板（12)固定片（121)之極接 點（122)上’又第二連桿（53)之第三端則樞接有腳座（55)以供 著地，如此，藉由曲柄（51)及第一、二、三連桿（52)、（53)、 (54) 而共同組成一四連桿組（5)。· 、四圖所示，當動力單元（2)之 使用時，如第一 電源線(22)外加電源開始啟動後，則可透過其傳動軸⑵）而帶 8(422), and the high speed section (411) and the low speed section (412) of the driving gear (41) are respectively meshed with the low speed section (422) and the high speed section (421) of the driven gear (42), thereby generating different Speed, wherein the high speed section (421) of the driven gear (42) controls the grounding time to be slightly less than 1/4 unit time, and the low speed section (422) controls the grounding time to be slightly larger than 3/4 unit, thus, By changing the speeds of the four sets of shifting gear sets (4), one of the groups can be kept in a state of being off-ground, and the shafts of the driven gears (42) respectively protrude from the shafts ( 43). The four-bar linkage group (5) can be divided into four groups: a left front foot (5A), a right front foot (5B), a left rear foot (5C), and a right rear foot (5D), and are respectively pivoted to the second fixed plate (12). Between the third fixed plate (13), the four-bar linkage (5) is provided with a crank (51) and the first link (52) is commonly connected to the shaft (43) of the driven gear (42). The other end of the first link (52) is fixed to the pivot point (122) of the second fixing plate (a) fixing piece (丨21), and the other end of the crank (51) is pivotally connected. a second link (53) having a triangle, the other end of the second link (53) is pivotally connected with a third link (54), and the other end of the third link (54) is connected to the second The third end of the second link (53) is pivotally connected with the foot (55) for the grounding of the pole (122) of the fixing plate (12) of the fixing plate (121), so that by the crank (51) and the first, second and third links (52), (53), (54) together form a four-link group (5). · As shown in Figure 4, when the power unit (2) is used, if the first power line (22) is powered on, it can be transmitted through its drive shaft (2).
1250042 動傳動齒輪組⑶之帛—傳動錄(31)旋轉，而第 ⑶）則可替帶動第二傳動齒輪(32)，該第二傳 = 設料f固定桿⑽上，而可經由該第二固定桿⑽而== 化之第二傳動齒輪(33)，當該二第三傳動齒輪(33)旋轉時， 則可分別喃合帶動其二側之第四傳動齒輪(34)，而該等第四4 輪(34)軸心'上之軸桿（35) ’係分猶接於變速齒輪組⑷之= 動齒輪(41)上，又該主動齒輪⑷）係與從動齒輪(42)相喷合， 故可2過從動錄⑷）細±之軸桿（43)連接帶動四連桿組⑸ 之左前腳(5A)、右前腳⑽、左後腳⑽、右後腳⑽的曲柄 (51)旋轉，如第五圖所示，藉由曲柄（51)以從動齒輪(42)之軸 桿(43)為圓心作轉動，而可帶動第二連桿⑽連動第三連桿 (54)，該第三連桿（54)則以固定片（121)之枢接點（122)為圓心 作轉動’藉以帶動形成一四連桿組運動，該等第二連桿(53)則 分別形成一曲線及直線所組合而成之足點執跡〔如第六圖所 示〕而達到行走剞進之目的，如此，可以促使四連桿組（5)每 一組左刖腳（5A)、右前腳（5B)、左後腳（5C)、右後腳（5D)之第 一連桿（53)之腳座（55)輪流著地而前進，而該四連桿組（5)左 刚腳(5A)、右前腳(5B)、左後腳(5〇、右後腳⑽)之行走順 序’係模仿動物之形態，即波浪型步態行走，其四連桿組（5)之 離地順序係以左前腳（5A)、右後腳（5D)、右前腳（5B)、左後腳 (5C)等方式依序循環而行走。 關於該變速齒輪組(4)如何帶動四連桿組（5)之左前腳 (5A)、右後腳（5B)、左前腳（5C)、右後腳（5D)產生曲線及直線 9 1250042 .執跡，輪流於略小於1/4的單位時間内離地〔曲線執跡〕，及略 大於3/4的單位時間内著地〔直線執跡〕，並恆保持只有其中一 組四連桿組（5)之第二連桿（53)之腳座（55)離地，而另外其中 二組之第二連桿（53)之腳座（55)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。 係在於當四連桿組（5)其中一組之第二連桿（53)離地時 〔以左前腳（5A)為例說明之〕，其係如第七、八圖所示，由於 φ 該主動齒輪(41)之高速段(411)及低速段(412)則分別與從動齒 輪(42)之低速段(422)及高速段(421)互相嚙合，即當主動齒輪 (41)之低速段（412)與從動齒輪(42)之高速段(421)開始唾合產 生高速時之起始點（A)到結束點（B)之時間，即相對應為第二連 桿（53)腳座（55)離地時之起始點（A1)到結束點（B1)之足點執跡 時間，由於該從動輪(42)之高速段(421)受嚙合帶動後，其轉動 時間係略小於1/4單位時間，即第二連桿（53)離地之時間相對略 小於1/4單位時間。 • 反之，如第九、十圖所示，當主動齒輪（41)之高速段（411) 與k動齒輪（42)之低速段(422)開始喃合產生低速時之起始點 (C)到結束點（D)之時間，即相對應為第二連桿（53)之腳座（55) 耆地％•之起始點（C1)到結束點（D1)之足點軌跡時間，由於該從 動輪(42)之低速段(421)受唾合帶動後，其轉動時間係略大於 3/4單位時間，即第二連桿（53)腳座（55)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 10 !25〇〇42 執跡，另著地時之起始點（Cl)到結束點（Dl)係形成一直線之足 點執跡，將該二段足點轨跡連接，則可構成一循環之足點執跡 形態，而使四連桿組（5)其中一組第二連桿（53)腳座（55)在略 小於1/4單位時間内，可通過起始點（A1)到結束點（B1)之離地 足點執跡，而另三組之第二連桿（53)腳座（55)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。 _ 如第十一圖所示，係以該左前腳（5A)之曲柄（51)角度為 248度、右前腳（5B)曲柄（51)角度為178度、左後腳（5C)曲柄 (51)角度為320度、右後腳(5D)曲柄（51)角度為129度，作為本 實施例之說明，由於該等前腳〔左前腳（5A)及右前腳（5B)〕之 曲柄（51)角度落在於254度至110度之間〔順時針方向，間隔 144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)之直線軌跡上，而曲柄 • (51)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(42)之高速段（421)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（Bi)間。 同時，後腳〔左後腳（5C)及右後腳（5D)〕之曲柄（51)角度 落在於70度至286度之間〔順時針方向，間隔144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（51)落在在其餘之角 11 1250042 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)之兩速段（421)開始喃合〕，而其相對應之足點均 落在離地時之起始點（A1)到結束點（Bi)間。 其中該左前腳（5A)、右前腳（5B)及左後腳（5B)之曲柄角度 分別為248、178度及320度，均屬於低速旋轉（E)，即前腳在 254度至110度〔順時針〕之間，後腳在7〇度至286度〔順時 針〕之間，故為著地之狀態，而僅只有右後腳（5D)之曲柄（51) 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—組四連桿組⑸之曲柄 (51)輪流受到變速齒輪⑷之帶動而改㈣度時，係可由第十一 圖内各四連桿組⑸之行走軌跡可清楚看出，#右後腳⑽離地 之後’則依序為右前腳(5B)、左後腳(5C)及左前腳(5A)等接續 離地，如此，可使該等四連桿組⑸形成以波浪型步態離地行、 走，因此當每H桿⑽腳座（55)著地後進行直線之執跡 移，，職個架體⑴係可相對向前移動，以達賴擬動物獨 立刖進之作用。 【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。 第六圖係為本發明四連桿組作動及循環i點執跡相對應之示意 12 1250042 圖° 第七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。 第八圖係為本發明四連桿組相對應於第七圖變速齒輪組轉動後 之行走執跡示意圖。 第九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。 #第十圖係為本發明四連桿組相對應於第九圖變速齒輪組轉動後 之行走轨跡示意圖。 第十—圖係為本發明左前腳、右前腳、左後腳、右後腳之曲柄 角度及行走時之足點軌跡示意圖。 【主要元件符號說明】 (1) 架體 (11) 第一固定板 (12) 第一固定板 (121) 固定片 (122) 柩接點 (13) 第三固定板 (14) 固定座 (15) 第一固定桿 (16) 第二固定桿 (17) 第三固定桿 (2) 動力單元 (21) 傳動軸 (22) 電源線 (3) 傳動齒輪組 (31) 第一傳動齒輪 (32) 第二傳動齒輪 (33) 第二傳動齒輪 (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 13 12500421250042 The transmission gear set (3) is the same as the transmission record (31), and the third (3)) can drive the second transmission gear (32), and the second transmission = the material f is fixed on the rod (10), and the The second transmission gear (33) is fixed by the second transmission gear (33), and when the two third transmission gears (33) are rotated, the fourth transmission gear (34) on both sides thereof can be respectively halogenated, and the Wait for the fourth 4th (34) shaft's upper shaft (35)' to be connected to the shift gear set (4) = the moving gear (41), and the drive gear (4)) and the driven gear (42) The phase is sprayed, so it can be connected to the left front foot (5A), the right front foot (10), the left rear foot (10), and the right rear foot (10) of the four-link group (5). 51) Rotation, as shown in the fifth figure, by the crank (51) rotating with the shaft (43) of the driven gear (42) as a center, and driving the second link (10) to link the third link (54) The third link (54) is rotated by the pivot point (122) of the fixed piece (121) as a center to drive a four-link motion, and the second link (53) is respectively Forming a combination of a curve and a straight line The foot track (as shown in Figure 6) achieves the purpose of walking forward, so that the four-bar group (5) can be promoted to each group of left ankle (5A), right forefoot (5B), left rear foot ( 5C), the foot (55) of the first link (53) of the right rear leg (5D) advances in turn, and the four-link group (5) left foot (5A), right front foot (5B), The walking sequence of the left hind foot (5 〇, right rear foot (10)) is imitating the shape of the animal, that is, the wave gait walking, and the four-link group (5) is separated from the ground by the left forefoot (5A) and the right hind foot ( 5D), right front foot (5B), left rear foot (5C), etc., circulate in sequence. How does the shifting gear set (4) drive the left front foot (5A), the right rear foot (5B), the left front foot (5C), and the right rear foot (5D) of the four-link set (5) to produce a curve and a straight line 9 1250042. , in turn, slightly less than 1/4 of the unit time away from the ground [curve trace], and slightly more than 3 / 4 of the unit time landing (straight line trace), and always maintain only one set of four-link group ( 5) The foot (55) of the second link (53) is off the ground, and the foot (55) of the second link (53) of the two groups is grounded to form a support surface, and the whole The frame (1) is balanced and not dumped, as explained below. It is when the second link (53) of one of the four link groups (5) is off the ground [illustrated by the left front foot (5A)], as shown in the seventh and eighth figures, due to φ The high speed section (411) and the low speed section (412) of the driving gear (41) are respectively meshed with the low speed section (422) and the high speed section (421) of the driven gear (42), that is, when the driving gear (41) The time between the low speed section (412) and the high speed section (421) of the driven gear (42) starts to generate a high speed starting point (A) to an ending point (B), that is, corresponding to the second link (53) The foot tracking time of the starting point (A1) to the ending point (B1) when the foot (55) is off the ground, since the high speed section (421) of the driven wheel (42) is engaged by the meshing, the turning time The system is slightly less than 1/4 unit time, that is, the time when the second link (53) is off the ground is relatively less than 1/4 unit time. • Conversely, as shown in ninth and tenth, when the high speed section (411) of the driving gear (41) and the low speed section (422) of the k moving gear (42) start to temper to generate a low speed starting point (C) The time to the end point (D), that is, the foot track time corresponding to the foot point (55) of the second link (53), the starting point (C1) to the end point (D1), due to After the low speed section (421) of the driven wheel (42) is driven by the saliva, the rotation time is slightly more than 3/4 unit time, that is, the time when the second link (53) foot (55) is grounded is relatively larger than 3/4 unit time. The starting point (A1) to the ending point (B1) of the grounding form a foot of the curve 10!25〇〇42, and the starting point (Cl) to the ending point (Dl) of the grounding time The foot line of the line is formed, and the two points of the foot track are connected to form a foot foot track form, and the four link group (5) is a set of second link (53) The foot (55) can be traced from the ground point of the starting point (A1) to the ending point (B1) in a little less than 1/4 unit time, and the second link (53) of the other three groups. The seat (55) is slightly more than 3/4 unit time, respectively, and can pass the starting point (C1) to the end point (D1). _ As shown in the eleventh figure, the angle of the crank (51) of the left forefoot (5A) is 248 degrees, the angle of the right forefoot (5B) crank (51) is 178 degrees, and the left rear foot (5C) crank (51) The angle is 320 degrees, and the right rear foot (5D) crank (51) angle is 129 degrees. As the description of the embodiment, the cranks (51) angles of the front legs [left front foot (5A) and right front foot (5B)] fall. Between 254 degrees and 110 degrees (clockwise, interval 144 degrees), is a low speed rotation (e) [ie high speed section (411) of the drive gear (41) and low speed section of the driven gear (42) (422 Start meshing], the corresponding foot points fall on the straight track of the starting point (C1) to the end point (D1) when the ground is hit, and the crank (51) falls in the remaining angles, High-speed rotation (F) [ie, the low speed section (412) of the driving gear (41) and the high speed section (421) of the driven gear (42) start to mesh], and the corresponding foot points fall from the ground. From the start point (A1) to the end point (Bi). At the same time, the crank (51) angle of the rear foot [left rear foot (5C) and right rear foot (5D)] falls between 70 degrees and 286 degrees (clockwise, interval 144 degrees), which belongs to low speed rotation (E) [ie 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 fall at the starting point (C1) to the ending point when the ground is grounded ( D1) on the straight track, and the crank (51) falls in the remaining corner 11 1250042 degrees, which belongs to the high speed rotation (F) [ie the low speed section (412) of the drive gear (41) and the driven gear (42) The two speed segments (421) begin to sing, and the corresponding foot points fall between the starting point (A1) and the ending point (Bi) when the ground is off. The crank angles of the left front foot (5A), the right front foot (5B) and the left rear foot (5B) are 248, 178 degrees and 320 degrees, respectively, which belong to the low speed rotation (E), that is, the front foot is between 254 degrees and 110 degrees. Between the hour hand and the middle leg, between 7 degrees and 286 degrees [clockwise], it is the state of the ground, and only the crank of the right rear foot (5D) (51) is out of range, but belongs to high-speed rotation ( F), so it is the state of leaving the ground, but still maintains a balance with three feet on the ground, and when the crank (51) of each group of four-link group (5) is rotated by the shift gear (4) and changed (four degrees), It can be clearly seen from the walking trajectory of each four-link group (5) in the eleventh figure that the right rear foot (10) is separated from the ground, and then the right front foot (5B), the left rear foot (5C), and the left front foot (5A) are sequentially arranged. Continued to leave the ground, so that the four-bar linkages (5) can be formed in a wave-like gait from the ground, so that when each H-bar (10) foot (55) touches the ground, a straight line is observed. The frame body (1) can be moved relatively forward to achieve the effect of the independent animal. BRIEF DESCRIPTION OF THE DRAWINGS The first figure 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 invention. The fourth figure is a top view of the present invention. The fifth drawing is a sectional view of the combination of the shifting gear of the present invention. The sixth figure is a schematic diagram corresponding to the four-link group actuation and the cycle i-point execution of the present invention. 12 1250042 FIG. 7 is a schematic diagram showing the meshing of the low speed section of the driving gear of the present invention and the high speed section of the driven gear. The eighth figure is a schematic diagram of the walking of the four-bar linkage of the present invention corresponding to the rotation of the shifting gear set of the seventh figure. The ninth drawing is a schematic view showing the meshing of the high speed section of the driving gear of the present invention and the low speed section of the driven gear. The tenth figure is a schematic diagram of the walking trajectory of the four-bar linkage group corresponding to the rotation gear set of the ninth figure. The tenth-picture is a schematic diagram of the crank angle of the left front foot, the right front foot, the left rear foot, and the right rear foot of the present invention and the foot track when walking. [Main component symbol description] (1) Frame body (11) First fixing plate (12) First fixing plate (121) Fixing plate (122) 柩 contact point (13) Third fixing plate (14) Fixing seat (15) ) First fixing rod (16) Second fixing rod (17) Third fixing rod (2) Power unit (21) Transmission shaft (22) Power supply line (3) Transmission gear set (31) First transmission gear (32) Second transmission gear (33) Second transmission gear (34) Fourth transmission gear (35) Shaft (4) Transmission gear set (41) Drive gear (411) High speed section 13 1250042
(412) 低速段 (42) 從動齒輪 (421) 高速段 (422) 低速段 (43) 軸桿 (5) 四連桿組 (5A) 左前腳 (5B) 右前腳 (5C) 左後腳 (5D) 右後腳 (51) 曲柄 (52) 第一連桿 (53) 第二連桿 (54) 第三連桿 (55) 腳座 (A) 高速起始點 (Al) 離地起始點 (B) 高速結束點 (Bl) 離地結束點 (C) 低速起始點 (Cl) 著地起始點 (D) 低速結束點 (Dl) 著地結束點 (E) 低速旋轉 (F) 高速旋轉(412) Low speed section (42) Driven gear (421) High speed section (422) Low speed section (43) Shaft (5) Four link group (5A) Left front foot (5B) Right front foot (5C) Left rear foot (5D ) Right rear foot (51) Crank (52) First link (53) Second link (54) Third link (55) Foot (A) High speed starting point (Al) Ground starting point (B) High speed end point (Bl) Ground end point (C) Low speed start point (Cl) Grounding start point (D) Low speed end point (Dl) Ground end point (E) Low speed rotation (F) High speed rotation