| 摘要 |
PURPOSE:To uniformalize the load applied onto a leg by addition-installing an energy accumulating element onto the leg mechanism of a leg type shifting mechanism. CONSTITUTION:As for a leg mechanism, a joint type leg 2 is installed onto a shifting machine body, and the leg 2 is driven by an actuator 3. In order to utilize a part of the power of the actuator 3, an energy accumulating element 4 is installed onto the actuator 3. The energy accumulating element 4 is laid between the shifting machine body 1 and the leg 2, and the element 4 is constituted of a spring for urging the leg 2 in the driving direction in supporting time. A part of the power of the actuator 3 is accumulated when the leg returns, and the power is added with the power of the actuator in supporting time. |
