1287467 發明說明： 【發明所屬之技術領域】 本發明有關於一種具有六連桿組腿部之獨立步行機構，其 主要係指-種藉由變速齒輪組可產生不同之轉速，以帶動六^ 桿組產生模擬動物行走時之弧線及直線循觀點軌跡，並二 浪型步態行走。 / 【先前技術】1287467 Description of the Invention: [Technical Field] The present invention relates to an independent walking mechanism having a six-link group leg, which mainly means that different speeds can be generated by the shift gear set to drive the six rods The group produces curved lines and straight lines of the simulated animals while walking, and the two-wave gait walks. / [Prior technology]
^ 见稞鞭動物行走之裝置，主要係搭配有機 械構造及電子裝置等設計，藉以達·擬動物行走之態樣，例 公告第2_8號「步行機器馬」專利案，其係利用 :面夕連桿_特性，而構成馬的四肢，以模擬出馬的 樣0 〜 動物知類四縣齡狀裝置，其贱祕卻又與 步行機=所I同’而流於呆板僵硬，並失去真實性，尤其該 丁機器馬之動力來源必需再另外依靠外力，以推動其前進， mm嶋m織__獨自行前 【發明内容】編輪分调擬真度。 點，二:在克:二習::擬:足動物步行裝置之種_ 其係在於：架體之1 //、有/、連桿組腿部之獨立步行機構， 設有曲柄，可受；齒有:定片’又該六連桿組 —連捍，該第-連桿之=之一’該曲柄另端則樞接有第 第一、三端係分別樞接有第二連桿及第 1287467 :n，其中該第二連桿之另端則樞接有第四連桿，而第三連 二之端馳接於固定壯，又第三連桿之第三端則樞接於 .:連桿之—端，該第四連桿之第三端則供著地支撐，而可產 . ⑽及直線之魏足雜跡，細錄^步態行走。 本發明係具有下列之優點： 入u 1·本發明之係可利用簡單的傳動機構及六連桿構造，可完 全製造出模擬四足步行機構，並且不需藉助任何外力，即可支 參#及平衡的獨立行進’而能確實模擬出動物行走前進之狀態， 故深具有教育意義，並達到寓教於樂之功效。 ^ 2·本發明利用單一動力源，即能同時驅動四腳連續行進而 模擬動物行走前進之型態，而具有極佳之穩定性及擬真度。 【實施方式】 首先，請參閱第一、二、三、四圖所示，本發明主要包括 有架體（1)動力源（2)、傳動齒輪組（3)、變速齒輪組(4)及六 連桿組(5)，其中： • 架體⑴’其係由内部向二侧分別設有第-固定板（11)、 第一固疋板（12)及第三固定板（13)排列相對組合，又設有一固 定座（14)藉由若干之第一固定桿（15)，將其固定於其中任何一 側之第一固定板（11)側邊，而該等第一固定板（n)、第二固定 板（12)及第三固定板（13)，則分別藉由第二固定桿（16)及若干 之第三固定桿（17)予以橫向固定，並於該第二固定板（丨2)前、 後側分別垂直設有一固定片（121)，於該固定片（121)上設有樞 接點（122)。 1287467 動力源（2)，係供固定於架體⑴之固定座（⑷上，該動力 源⑵係可為一馬達，係凸設有一傳動軸(21)，又動力源⑵上 , 係可彡又有一電源線（22)，以供外接電源。 • 雜齒輪組⑶，其係設有二組，而分別相對固定於第- 固定板（11)之相對内側緣，該傳動齒輪組⑶係設有第一傳動齒 輪（31)，以供受到動力源（2)之傳動軸（21)所帶動，該第一傳 動齒輪(31)則喃合有第二傳動齒輪(32)，該第二傳動齒輪(32) _同步帶動第三傳動齒輪(33)，該第三1 專動齒輪⑽之二侧分別 嚙合有第四傳動齒輪(34)，該等第四傳動齒輪（34)之軸心係分 別凸伸有軸桿(35)。 變速齒輪組（4)，如第五圖所示，係設於第一固定板（n) 及第二固定板（12)之間，該變速齒輪組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)係與第四齒輪 (34)同步轉動，又主動齒輪(41)及從動齒輪（42)上係分別設有 高速段（411)、（421)及低速段（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)係產生約小於1/4之時間，而低速 段（422)則產生約大於3/4之時間，另於該等從動齒輪（42)之軸 心係分別凸伸有軸桿(43)。 六連桿組（5)，包括有左前腳（5A)、右前腳（5B)、左後腳 (5C)、右後腳(5D)等四組〔請參考第八、十圖所示〕，而分別 樞δ又於第二固定板（12)及第三固定板（13)之間，該六連桿組（5) • 1287467 设有一曲柄（51)，以供與從動齒輪(42)同步轉動，該曲柄（51) 另端（511)則樞接有三角形之第一連桿（53)，該第一連桿（53) • 之第一、二端（Ml)、（532)係分別樞接有第二連桿（54)及第三 連桿（55)，其中該第二連桿（54)之另端（541)則樞接有三角形 之第四連桿（56)，而第三連桿（55)之第二端則樞接於第二固定 板（12)固定片（121)之樞接點（122)上，又第三連桿（55)之第三 端（551)則樞接於第四連桿（56)之一端，該第四連桿（π)之第 _ 三端（561)則樞接有腳座（57)以供著地。 行走時，如第一、二、三、四圖所示，係藉由外加電源而 供輸予動力源（2)，則動力源（2)係可直接帶動傳動齒輪組（3)之 第一傳動齒輪(31)、第二傳動齒輪(32)、第三傳動齒輪(33)、 第四傳動齒輪(34)轉動，而第四齒輪（34)可同步帶動變速齒輪 組（4)之主動齒輪（41)及從動齒輪（42),故可透過從動齒輪（42) 軸心上之軸桿（43)連接帶動六連榉組（5)之左前腳（5A)、右前 腳（5B)、左後腳（5C)、右後腳（5D)的曲柄（51)旋轉，如第五圖 所示，當曲柄（51)以從動齒輪（42)之轴桿（43)為圓心作轉動 時’則可帶動第一連桿（53)連動第二、三連桿（54)、（55)，該 第三連桿（55)則以固定片（121)之樞接點（122)為圓心作轉動， 藉由第二連桿（54)及第三連桿（55)共同帶動第四連桿（56)，而 可供形成六連桿組運動，如第七、八圖所示，其中該主動齒輪 (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 #又(412)與從動齒輪(42)之高速段（421)開始喃合產生高速時之 1287467 : 起始點（A)到結束點（B)之時間，即相對應為第四連桿（56)腳座 (57)離地時之起始點（A1)到結束點（B1)之足點軌跡時間，由於 該從動齒輪(42)之高速段(421)在受到嚙合帶動後，其轉動時間 約小於174，即第四連桿（56)離地之時間相對約小於1/4。 又如第九、十圖所示，當主動齒輪（41)之高速段（411)與 從動齒輪(42)之低速段（422)開始唾合產生低速時之起始點（匸） 到結束點（D)之時間，即相對應為第四連桿（56)之腳座（5了）著 ^地時之起始點（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)受嚙合帶動後，其轉動時間約大於3/4， 即第四連桿（56)腳座（57)著地之時間相對約大於3/4。 而該離地之起始點（A1)到結束點（μ)係會形成一弧線之足 點軌跡，另著地時之起始點（C1)到結束點（D1)係形成一直線之 足點軌跡，將該二段足點軌跡連接，則可構成一循環之足點軌 跡形態，而使六連桿組（5)其中一組第四連桿（56)腳座（57)在 約小於1/4之時間内，可通過起始點^^到結束點（B1)之離地 • 足點軌跡，而另三組之第四連桿（56)腳座（57)則分別在約大於 3/4之時間内，而可通過起始點（C1)到結束點（D1)之著地足點 軌跡。 如第十一圖所示，則以該左前腳（5A)之曲柄（51)角度為 234°、右前腳（5B)之曲柄（51)角度為158。、左後腳（5C)之曲柄 (51)角度為333°、右後腳（5D)曲柄（51)角度為156。，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)角度則位於254°至11〇。之間〔順時針方向，間隔144 9 1287467 :.。〕，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〕，其相對應之足點均位 於著地時之起始點（C1)到結束點（D1)之直線軌跡上，而曲柄 (51)位於其餘之角度中，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 其相對應之足點均位於離地時之起始點（A1)到結束點（B1)間。 當後腳〔左後腳（5C)及右後腳（5D)〕之曲柄（51)角度位於 ξβ 70至286之間〔順時針方向，間隔144。〕，係屬於低速旋轉 (Ε)〔即主動齒輪(41)之高速段(411)與從動齒輪(42)之低速段 (422)嚙合〕，其相對應之足點均位於著地時之起始點（〔I)到結 束點（D1)之直線軌跡上，而曲柄（η)位於其餘之角度中，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位於離地 時之起始點（Α1)到結束點（Β1)間。 因此，當左前腳（5Α)、右前腳（5Β)及左後腳（5Β)之曲柄角 •度分別為234、158。及333。時，均屬於低速旋轉（Ε)，即前腳 在254°至11〇。〔順時針〕之間，後腳在7〇。至286。〔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 為156°，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，又當六連桿組（5)之每一曲柄 (51)輪流受到變速齒輪(4)之帶動而改變角度時，係可由第十一 圖内各/、連桿組（5)之行走軌跡清楚看出，當右後腳（5j))離地之 後，則依序為右前腳（5B)、左後腳（5〇及左前腳（5A)等接續離 1287467 地，如此，由於六連桿組（5)之每一個第四連桿（56)可分別形成 一弧線及直線所組合而成之足點執跡〔如第六圖所示〕，並且 利用六連桿組（5)之左前腳（5A)、右前腳（5B)、左後腳（5C)、 右後腳（5D)之第五連桿（56)之腳座（57)可以輪流著地前進，而 且該六連桿組（5)左前腳（5A)、右前腳（5B)、左後腳（5C)、右 後腳（5D)之行走順序，係模仿動物之形態，即波浪型步態行^ See the device for walking the whip animal, mainly with the design of mechanical structure and electronic device, in order to reach the animal walking pattern, the announcement of the 2_8 "walking machine horse" patent case, the system uses: face The connecting rod _ characteristics, and constitute the horse's limbs, to simulate the horse's sample 0 ~ animal knows the class of four county-aged devices, but its secret but with the walking machine = the same I and the flow of stiff, and lost authenticity In particular, the power source of the Ding machine horse must rely on external force to promote its advancement, mm 嶋 织 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Point, two: in gram: second study:: plan: the species of foot animal walking device _ its system is: 1 / frame of the frame, / /, independent walking mechanism of the leg of the connecting rod, with a crank, can be subject to The tooth has: a fixed piece 'and the six-link group-link, one of the first-links', and the other end of the crank is pivotally connected with the first link and the third end respectively connected with the second link And the 1287467:n, wherein the other end of the second link is pivotally connected with the fourth link, and the third end of the second link is sturdy and strong, and the third end of the third link is pivotally connected to .: the end of the connecting rod, the third end of the fourth connecting rod is supported by the ground, and can be produced. (10) and the straight foot of the Wei foot, trace the ^ gait walking. The invention has the following advantages: Into the system of the invention, the simple four-legged walking mechanism can be completely manufactured by using a simple transmission mechanism and a six-link structure, and the external reference force can be used without any external force. And the balanced independent travel' can really simulate the state of animal walking, so it is of profound educational significance and achieves the effect of teaching and learning. ^ 2· The present invention utilizes a single power source, that is, it can simultaneously drive four feet to continuously simulate the pattern of walking and advancing animals, and has excellent stability and fidelity. [Embodiment] First, referring to the first, second, third, and fourth figures, the present invention mainly includes a frame body (1) power source (2), a transmission gear set (3), a shift gear set (4), and a six-link set (5), wherein: • the frame body (1)' is arranged from the inner side to the two sides, respectively, a first fixing plate (11), a first fixing plate (12) and a third fixing plate (13). In a relative combination, a fixing seat (14) is further fixed to the side of the first fixing plate (11) on either side thereof by a plurality of first fixing rods (15), and the first fixing plates (14) n), the second fixing plate (12) and the third fixing plate (13) are laterally fixed by the second fixing rod (16) and the third fixing rods (17), respectively, and the second fixing A fixing piece (121) is vertically disposed on the front and rear sides of the plate (丨2), and a pivoting point (122) is disposed on the fixing piece (121). 1287467 Power source (2) is fixed to the fixed seat of the frame (1) ((4), the power source (2) can be a motor, a drive shaft (21) is convex, and the power source (2) is There is also a power cord (22) for external power supply. • The miscellaneous gear set (3) is provided with two sets which are respectively fixed to the opposite inner edges of the first fixed plate (11), and the transmission gear set (3) is provided There is a first transmission gear (31) for being driven by a transmission shaft (21) of the power source (2), the first transmission gear (31) is merging with a second transmission gear (32), the second transmission The gear (32) _ synchronously drives the third transmission gear (33), and the two sides of the third 1 special gear (10) respectively mesh with the fourth transmission gear (34), and the shaft center of the fourth transmission gear (34) A shaft (35) is respectively protruded. The shifting gear set (4), as shown in the fifth figure, is disposed between the first fixed plate (n) and the second fixed plate (12), and the shifting gear set is respectively There are four sets of driving gear (41) and driven gear (42), wherein the driving gear (41) rotates synchronously with the fourth gear (34), and the driving gear (41) and the driven gear 42) The upper system is provided with high speed sections (411), (421) and low speed sections (412) and (422), respectively, and the high speed section (411) and the low speed section (412) of the driving gear (41) are respectively driven and driven. The low speed section (422) and the high speed section (421) of the gear (42) mesh with each other to generate different speeds, and wherein the high speed section (421) of the driven gear (42) generates a time of less than about 1/4. The low speed section (422) produces a time greater than about 3/4, and the shafts of the driven gears (42) respectively protrude from the shaft (43). The six-bar linkage (5) includes the left front Four groups of feet (5A), right forefoot (5B), left rear foot (5C), right rear foot (5D) (please refer to the eighth and tenth figures), and the respective pivots δ are on the second fixed plate (12) And between the third fixed plate (13), the six-link set (5) • 1287467 is provided with a crank (51) for synchronous rotation with the driven gear (42), the crank (51) the other end (511) a first link (53) having a triangular shape is pivotally connected, and the first link and the second end (M1) and (532) of the first link (53) are pivotally connected to the second link (54) and the first a three-link (55), wherein the other end of the second link (54) 541) is pivotally connected to the fourth link (56) of the triangle, and the second end of the third link (55) is pivotally connected to the pivot point of the fixing plate (121) of the second fixing plate (12) (122) The third end (551) of the third link (55) is pivotally connected to one end of the fourth link (56), and the third end (561) of the fourth link (π) is pivoted A foot (57) is attached to the ground. When walking, as shown in the first, second, third, and fourth figures, the power source (2) is supplied by an external power source, and the power source (2) is The first transmission gear (31), the second transmission gear (32), the third transmission gear (33), and the fourth transmission gear (34) of the transmission gear set (3) can be directly driven to rotate, and the fourth gear (34) The driving gear (41) and the driven gear (42) of the shifting gear set (4) can be synchronously driven, so that the connecting rod (43) on the shaft of the driven gear (42) can be connected to drive the six-link group (5). The crank (51) of the left forefoot (5A), the right forefoot (5B), the left rear foot (5C), and the right rear foot (5D) rotates, as shown in the fifth figure, when the crank (51) is driven by the driven gear (42) When the shaft (43) rotates as the center of the circle, the first link can be driven ( 53) interlocking the second and third links (54), (55), the third link (55) is rotated by the pivot point (122) of the fixed piece (121), by the second link (54) and the third link (55) jointly drive the fourth link (56) to form a six-link motion, as shown in the seventh and eighth figures, wherein the high speed segment of the drive gear (41) (411) and the low speed section (412) 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) is low speed # (412) and driven The high speed section (421) of the gear (42) begins to temper to generate the high speed 1287467: the starting point (A) to the end point (B), which corresponds to the fourth link (56) foot (57) The foot track time from the starting point (A1) to the ending point (B1) when the ground is off, since the high speed section (421) of the driven gear (42) is driven by the meshing, the turning time is less than 174, that is, The fourth link (56) is relatively less than 1/4 of the time from the ground. As shown in the ninth and tenth figures, when the high speed section (411) of the driving gear (41) and the low speed section (422) of the driven gear (42) start to squirt, the starting point (匸) to the end of the low speed is generated. The time of the point (D), that is, the foot track time of the starting point (C1) to the ending point (D1) when the foot of the fourth link (56) is (5), due to the After the low speed section (421) of the driven wheel (42) is engaged by the meshing, the rotation time is greater than about 3/4, that is, the time at which the fourth link (56) foot (57) is grounded is relatively greater than about 3/4. The starting point (A1) to the ending point (μ) of the grounding will form a foot trajectory of an arc, and the starting point (C1) to the ending point (D1) of the grounding time will form a foot of a straight line. The trajectory, connecting the two-segment foot trajectory, can form a cycle foot trajectory shape, and the six-link group (5) of which one set of the fourth link (56) foot seat (57) is less than 1 Within 4 hours, the starting point ^^ to the ending point (B1) of the grounding/foot point trajectory, while the other three groups of the fourth link (56) feet (57) are respectively greater than 3 Within /4, the foot trajectory can be passed from the starting point (C1) to the ending point (D1). As shown in Fig. 11, the crank (51) angle of the left forefoot (5A) is 234°, and the crank (51) angle of the right forefoot (5B) is 158. The left rear foot (5C) crank (51) has an angle of 333° and the right rear foot (5D) crank (51) has an angle of 156. As an illustration of the present embodiment, the crank (51) angles of the forefoot [left forefoot (5A) and right forefoot (5B)] are located at 254° to 11〇. Between [clockwise, interval 144 9 1287467:. 〕, is a low-speed rotation (E) [that is, the high-speed section (411) of the driving gear (41) and the low-speed section (422) of the driven gear (42) start to mesh], and the corresponding foot points are all at the ground From the starting point (C1) to the end point (D1) on the straight track, and the crank (51) in the remaining angle, it belongs to the 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) begins to mesh, and its corresponding foot point is located between the starting point (A1) and the ending point (B1) when the ground is off. When the rear foot (left rear foot (5C) and right rear foot (5D)) crank (51) angle is between ξβ 70 to 286 [clockwise, interval 144. 〕, is a low-speed rotation (Ε) [ie the high-speed segment (411) of the drive gear (41) and the low-speed segment (422) of the driven gear (42)], the corresponding foot is located at the ground From the starting point ([I) to the end point (D1) on the straight track, and the crank (η) in the remaining angle, it belongs to the high speed rotation (F) [ie the low speed section (412) of the drive gear (41) and The high speed section (421) of the driven gear (42) begins to mesh, and its corresponding foot point is located between the starting point (Α1) and the ending point (Β1) when the ground is off. Therefore, the crank angles of the left forefoot (5Α), the right forefoot (5Β), and the left rear foot (5Β) are 234 and 158, respectively. And 333. At the time of the low speed rotation (Ε), the front foot is between 254° and 11〇. Between [clockwise], the back foot is at 7 inches. To 286. Between [clockwise], it is the state of the ground, and only the crank (51) of the right rear foot (5D) has an angle of 156°, which is out of range, and 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 each crank (51) of the six-link group (5) is rotated by the shift gear (4) to change the angle, it can be obtained from each of the eleventh /, the walking trajectory of the connecting rod group (5) clearly shows that when the right rear foot (5j) is off the ground, the right front foot (5B) and the left rear foot (5 〇 and the left front foot (5A) are successively separated. 1287467 Ground, in this way, since each of the four links (56) of the six-link group (5) can form a foot track composed of an arc and a straight line respectively (as shown in the sixth figure), and utilize The foot (57) of the fifth link (56) of the left front foot (5A), the right front foot (5B), the left rear foot (5C), and the right rear foot (5D) of the six-link group (5) can be advanced in turn. And the walking sequence of the left front foot (5A), the right front foot (5B), the left rear foot (5C), and the right rear foot (5D) of the six-link group (5) mimics the shape of the animal, that is, the wave type State line
走，並使整個架體（1)係可相對向前移動，以具有模擬動物獨立 前進之作用。 【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侧視圖。 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。 第六圖係為本發明六連桿組作動及循環足點軌跡相對應之示意 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。 第八圖係為本發明六連桿組相對應於第七圖變速齒輪組轉動後 之行走軌跡示意圖。 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 始嘴合示意圖。 第十圖係為本發明六連桿組相對應於第九圖變速齒輪組轉動後 11 1287467 之行走執跡示意圖。 第十一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執跡示意圖。 【主要元件符號說明】Walk and move the entire frame (1) relatively forward to simulate the independent advancement of the 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 six-link group actuation and the cyclic foot track of the present invention. The seventh figure is a schematic diagram of 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 trajectory of the six-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 of the nozzle 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 of the six-link set of the present invention corresponding to the rotation of the shift gear set of the ninth figure after 11 1287467. The eleventh figure 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 footing of the foot when walking. [Main component symbol description]
(1) 架體 (11) 第一固定板 (12) 第二固定板 (121) 固定片 (122) 樞接點 (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) 動力源 (21) 傳動轴 (22) 電源線 (3) 傳動齒輪組 (31) 第一傳動嵩輪 (32) 第二傳動齒輪 (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) 南速段 (412) 低速段 (42) 從動齒輪 (421) 高速段 (422) 低速段 (43) 軸桿 (5) 六連桿組 (5A) 左前腳 (5B) 右前腳 (5C) 左後腳 (5D) 右後腳 (51) 曲柄 (511) 另端 (53) 第一連桿 (531) 第二端 (532) 第三端 (54) 第二連桿 12 1287467(1) Frame body (11) First fixing plate (12) Second fixing plate (121) Fixing plate (122) Pivot point (13) Third fixing plate (14) Fixing seat (15) First fixing rod ( 16) Second fixed rod (17) Third fixed rod (2) Power source (21) Drive shaft (22) Power line (3) Transmission gear set (31) First transmission wheel (32) Second transmission gear ( 33) Third transmission gear (34) Fourth transmission gear (35) Shaft (4) Transmission gear set (41) Drive gear (411) South speed section (412) Low speed section (42) Driven gear (421) High speed Section (422) Low speed section (43) Shaft (5) Six-link set (5A) Left front foot (5B) Right front foot (5C) Left rear foot (5D) Right rear foot (51) Crank (511) Other end (53) First link (531) second end (532) third end (54) second link 12 1287467
(541) 另端 (55) 第三連桿 (551) 第三端 (56) 第四連桿 (561) 第三端 (57) 腳座 (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(541) The other end (55) The third link (551) The third end (56) The fourth link (561) The third end (57) The foot (A) The high speed starting point (A1) Starting from the ground Point (B) High speed end point (B1) Ground end point (C) Low speed start point (C1) Grounding start point (D) Low speed end point (D1) Ground end point (E) Low speed rotation (F) High speed rotation
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