PROBLEM TO BE SOLVED: To provide the movable body support structure which reduces unbalance of force applied to a plurality of leg parts of a movable body caused by disturbance such as unevenness of ground surface and holds a posture of an object constant with respect to the disturbance.SOLUTION: The movable body support structure includes three or more leg support parts attached to a lower part of a principal part of a movable body and leg parts which are provided for the respective leg support parts and can be displaced at least in a vertical direction for the leg support parts. Therein, the respective leg parts are connected with each other by such load distribution means that a change of displacement of one leg part is transferred to the other leg parts by the force which causes a change of displacement in a reverse direction to the other leg parts. The load distribution means is composed of moving pulleys attached to the respective leg parts, fixed pulleys attached to the respective leg support parts and a common wire retained by the fixed pulleys and the moving pulleys.
【課題】地面の凹凸などの外乱によって生じる移動体の複数の脚部にかかる力の不均衡を低減し,物体の姿勢を外乱に対して一定に保つ移動体支持構造を提供する。【解決手段】本発明の移動体支持構造は、移動体の主要部の下部に取り付けられた3つ以上の脚支持部と、そのそれぞれに対して設けられ、脚支持部に対して少なくとも上下方向に変位可能である脚部と、を有し、当該脚部のそれぞれは、1つの脚部の変位の変化を、他の脚部に逆方向の変位の変化をもたらす力によって他の脚部に伝達する荷重分配手段でお互いに接続されている。荷重分配手段は、脚部のそれぞれに対して取り付けられた動滑車と、脚支持部のそれぞれに対して取り付けられた固定滑車と、固定滑車及び動滑車で保持された共通のワイヤとから構成される。【選択図】図1
MOVABLE BODY SUPPORT STRUCTURE AND MOVABLE BODY HAVING THE SAME
移動体支持構造、及びそれを有する移動体
2015-10-08
Patent
Elektronische Ressource
Japanisch
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