US1576956A - Quadruped-walking mechanism - Google Patents

Description

mmh 1,576,956

E. DUNSHEE QUADRUPED WALKING MECHANISM Filed May 3', 1924 ...L g.. Z.-

, /7 @5% W@ f@ Ymf6 I l li T-Y Patented {li/ian 16, 1926..

UNITED srares naar.. nunsnnn, or Los ANGELES, cnLIFoarnjnA QUADRUPED-WALKING MECHANISM.

Application led May 3,

To all whom it may concern:

' Be -itvkn'own that I, EARL DUNSHEE, a

licitizen of theUnited States, residing at Los Angeles, in the county of Los Angeles and State of California, have invented a new and useful,` Quadruped-iValking Mechanism, of which a specification is set forth below.

In this 'specificatiom and the accompany ing drawing, I shall describe and show a preferred form of my invention, and specically mention certain of its more important objects. I do not limit myself to the forms i"disclosed, since various changes and adapta- @tions may be made therein without 'departqng from the essence of my invention as hereinafter claimed; and objects and advantages, other than those specifically mentioned, are included within its scope.

My invention relates to mechanism for simulating the walking and running motions of uadrupeds, und among its salient objects are: first, to produce a mechanism of this kind that is Well adapted for animated toys; second, to provide means whereby various gaits such as trotting, running,

' single-foot, etc., may be closely imitated in a device of this nature; third, to furnish convenient means for altering or adjusting the gait to suit the requirements; and, fourth, /to accomplish the above in a very simple vand relatively inexpensive construction.l

My objects are attained in the manner il lustrated in the accompanying drawing, in whichi Figure 1 is a side elevation of the complete mechanism; and Figure 2 is a plan View of the same.

Similar reference numerals refer to aimilar parts throughout both views.

In the form of my invention selected for illustrative purposes, I employ any suitable clockwork driving mechanism, self-contain ed between side plates 3 and 43 which are spaced by cross struts 5 to which the plates are attachcd by screws 6.

Such a mechanism as shown is driven by a spiral spring 7, wound up in `.the usual manner by ratchet 8 and key post 9. The spring power drives the main Loperating shaft l() through suitable multiplying gearing, and the shaft carries a double throw overhung crank at each of its ex,- tremiliiesas shown in Figure 2.

As a usual thing the two cranks at either end of the operating shaft are not diametrically opposed; and the two cranks at one 1924. serial No; 710,967.

A pair ofupright stanchions l1, spaced by struts l2, are pivoted to the side plates at 13, and may be vertically positioned atv variousangles by means of screws 14 and tapped holes 15. This positioning also effects the gait of the mechanism.

The walking mechanism' proper comprises four bell-crank levers 16 pivoted at` their apexes 17 to links 18, which in turn are pivoted at 19 to the top end of stanchions 1l. One arm of each of these levers is operatively connected to one of the cranks 20 on the operating shaft. The other serves as a walking leg of the mechanism, and the weight of the latter rests wholly upon 'the extremities of either two or three of these legs at all times.

In the mechanism described the lower extremities of the legs, corresponding to the feet of a quadruped, describe elongated closed curves when the operating shaft is rotated. Assuming the proportions and angular adjustments illustrated in the drawl ing, the lower extremities of the legs actually move' in the narrow elliptical paths 21.

These are nearly, but not quite, parallel with yrelatively moving rearward to the right and give the mechanism an absolute forward inotion to the left. Feet 24 and 25 are raised above the ground and relatively are moving forward to the left. Crank shaft l0 is being turned left handedly, or counter-clock wisc in this case.

As indicated above, the paths 21 may be given various Shapes, by varying the angular relation of the cooperating parts, to produce a variety of gaits. Stanchions 11 are variably positioned for this purpose by screws 14 and tapped holes 15u The two cranks 2O of either pair may have their angular relation changed by twisting, or. outer arm. Tl is also results 1n changing the throwof the outer crank. The two crank pairs may have their angular relation changed by givin the intermediate portion of operating shait l0 a slight t\vist. 0h viously 'many varieties of gaits may he obtained in this manner.

Before passing on it is to he noted that the feet of each side of ,thernechanisin al- Ways move in opposite directions, as is the case in most gaits of normal animals. It is also. :to he noted that the two feetfin contact with the ground are always moving` in the same direction, and that these feet are diagonally opposite.

For giving a wegging motionto the tail and head of an animal to he simulated I use light levers 26, intermediately pivoted at?? to ears 28 turned over from the top of side late 4. .The inner ends of these levers are ifurcated, landengage the periphery of a wave shaped disk-29 mounted upon driving shaft ,30, or upon any other convenient rotating shaft of the mechanism. The outer ends of levers 26 may he bent upwardlyas shown inlFigure 1, to attach to a pivoted head or tail.

The parts 31 shown `in Figure 2 are merely by'hending the Lames@ cylindrical spacers. VBell-crank levers 16 ordinarily should have angles of less than 90 degrees`v and their apeXes 17 should be above operating shaft 10 in most eases.

For simulating an animal, askin or im' is mounted upon a suitably shaped shell to which the headand tail are-pivoted. This shell maybe attached to struts 12, or any other fixed part of the construction, and the outer ends of levers 26 are then operatively connected to the head and tail. Thert'eet ma he shaped to imitate hoofs or paws, an -the legs may he covered with fur. ;`Having thus fully described my invention, l claim:

Quadruped walking mechanism compris? i ing;v a trarne; a link pivo'tally suspended from each eorner'of the trame; a hell-craniall lever pivotally suspended at its apex from the free end of each link; a four-throw crank shaft; and a power source adapted to rotate said shaft; one of the arms of each of said levers being separately engaged by a cranln otsaid shaft, and the othererm being adapted to act as a walking leg; the crank throws being arranged in non-diametrically opposed pairs at each side' of the mechanism and so disposed that the corresponding lever legs on the respective sides may be o'scillated op ositelvy.

- ARL DUNSHEE.-

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