WO2014136775A1

WO2014136775A1 - Remote automatic machine assisting device and method

Info

Publication number: WO2014136775A1
Application number: PCT/JP2014/055465
Authority: WO
Inventors: 拓也上原; 謙司松崎; 直孝菅沼; 武人福島; 竜馬藤原; 祐輔三ツ谷; 落合　誠; 崇広三浦; 泰明徳永; 陽露木
Original assignee: 株式会社東芝
Priority date: 2013-03-05
Filing date: 2014-03-04
Publication date: 2014-09-12
Also published as: JP2014172095A; JP6021693B2

Abstract

By assisting movement of a remote automatic machine, field operations can be realized by the remote automatic machine quickly and at low cost. This remote automatic machine assisting device is a multi-leg robot assisting device (10) which mounts a remote automatic machine and moves, said remote automatic machine being a multi-leg robot (15) which is configured by equipping a body (17) with two or more legs (16) comprising a link mechanism (14) having multiple joints and which moves through the action of the legs (16), wherein this multi-leg robot assisting device (10) is configured to be provided with: a conveyance mechanism unit (11) which is provided so as to be able to mount the multi-leg robot (15) and is provided with wheels (34) or an endless track; and a support mechanism unit (12) which is attached to the conveyance mechanism unit (11) and supports the load of the body (17) of the multi-leg robot (15).

Description

Remote automatic machine support apparatus and method

Embodiments described herein relate generally to a remote automatic machine support apparatus and method for supporting movement of a remote automatic machine such as a multi-legged robot.

A remote automatic machine such as a robot having a walking mechanism of two or more legs (see, for example, Patent Document 1) is superior to those having an endless track type moving mechanism such as a wheel type or a crawler, and has a step or road surface condition. However, it is superior to wheel type or endless track type in poor environment.

On the other hand, the structure and control of the moving mechanism is more complicated than the wheel type or endless track type, so in an environment where the wheel type or endless track type can move sufficiently, such as on a flat road, The method is more advantageous.

JP 2005-161427 A

If you want to introduce a multi-legged remote automatic machine to a site that cannot be approached by wheel type or endless track type along a route where the road surface condition is not bad, it is not possible to move to the work site by the remote automatic machine itself For example, there is a problem that a load is applied to, for example, a leg of the remote automatic machine, the power is unnecessarily consumed, and the travel time to the work site is enormous.

An embodiment of the present invention has been made in consideration of the above-described circumstances, and a remote automatic machine support device that can realize field work by a remote automatic machine quickly and at low cost by supporting the movement of the remote automatic machine. And to provide a method.

A remote automatic machine support apparatus according to an embodiment of the present invention includes a remote automatic machine that includes two or more legs, each having a link mechanism having a plurality of joints, provided on a torso, and moves by movement of the legs. A remote automatic machine support apparatus that is mounted and moves, the remote automatic machine being provided so that the remote automatic machine can be mounted thereon, a transport mechanism having wheels or an endless track, and attached to the transport mechanism, the remote automatic machine And a support mechanism part for supporting the load of the body part.

In addition, the remote automatic machine support device according to the present invention includes a remote automatic machine that includes two or more legs formed of a link mechanism having a plurality of joints provided on the body and moves by the operation of the legs. A remote automatic machine support apparatus that is mounted so as to be capable of mounting the remote automatic machine, and is provided with a transport mechanism unit having wheels or an endless track, and is attached to the transport mechanism unit. And a holding mechanism portion that holds the leg so as to limit a movable range of the link mechanism.

Further, the support mechanism portion is provided with a body holding mechanism that holds the body portion of the remote automatic machine by applying an urging force to the body portion. Is.

Further, the support mechanism unit, the holding mechanism unit, or the transport mechanism unit is provided with a power supply mechanism that can supply power to the remote automatic machine.

In the remote automatic machine support method according to the embodiment of the present invention, the remote automatic machine support method is configured such that two or more legs including a link mechanism having a plurality of joints are provided on the trunk portion, and moves by movement of the legs. A remote automatic machine support method for mounting and moving a machine, wherein the remote automatic machine is mounted on a transport mechanism having wheels or an endless track and transported. The load of the trunk is supported, or the link mechanism of the leg of the remote automatic machine is held in a fixed state.

According to the embodiment of the present invention, by supporting the movement of the remote automatic machine to an area where the remote automatic machine can be moved by a wheel or an endless track, the field work by this remote automatic machine can be realized quickly and at low cost.

The side view which shows the multi-legged robot assistance apparatus which is the 1st form of the remote automatic machine assistance apparatus which concerns on this invention. (A) is a side view showing the action of the trunk holding mechanism of FIG. 1 before installation of the trunk, and (B) is a side view showing the action of the trunk holding mechanism of FIG. 1 after installation of the trunk. The side view which shows the multi-legged robot of FIG. The schematic perspective view which shows the arrangement | positioning condition of the joint in the leg of the multilegged robot of FIG. (A) is a side view showing a state of the first modified form of the body holding mechanism of FIG. 1 before installation of the body, and (B) is a first modification of the body holding mechanism of FIG. 1 after installation of the body. The side view which shows the state of a form. (A) is a side view showing a state of the second modified form of the body holding mechanism of FIG. 1 before installation of the body, and (B) is a second modification of the body holding mechanism of FIG. 1 after installation of the body. The side view which shows the state of a form. (A) is a side view showing a state of the third modified form of the body holding mechanism of FIG. 1 before installation of the body, and (B) is a third modification of the body holding mechanism of FIG. 1 after installation of the body. The side view which shows the state of a form. The schematic side view which shows the multilegged robot assistance apparatus which is 2nd Embodiment of the remote automatic machine assistance apparatus which concerns on this invention. FIG. 9A is a plan view showing a state of the holding mechanism portion of FIG. 8 before holding the leg link mechanism, and FIG. 9B is a plan view showing a state of the holding mechanism portion of FIG. 8 after holding the leg link mechanism. 8A is a partial perspective view showing a state of the first modified form of the holding mechanism portion of FIG. 8 before holding the leg link mechanism, and FIG. 8B is a view of the holding mechanism portion of FIG. 8 after holding the leg link mechanism. The fragmentary perspective view which shows the state of a 1st modification. 8A is a partial perspective view showing a state of the second modified form of the holding mechanism portion of FIG. 8 before holding the leg link mechanism, and FIG. 8B is a view of the holding mechanism portion of FIG. 8 after holding the leg link mechanism. The fragmentary perspective view which shows the state of a 2nd modification. (A) is a side view showing a state of carrying a robot in a multi-legged robot support device which is a third embodiment of the remote automatic device support device according to the present invention, and (B) is a view of the remote automatic device support device according to the present invention. The top view which shows the state at the time of robot conveyance in the multi-legged robot assistance apparatus which is 3rd Embodiment. FIG. 13A is a side view showing a state when the robot is installed in the multi-legged robot support apparatus of FIG. 12, and FIG. 13B is a plan view showing a state when the robot is installed in the multi-legged robot support apparatus of FIG. FIG. 13A is a side view showing a state when the robot leaves the multi-legged robot support apparatus of FIG. 12, and FIG. 13B is a plan view showing a state when the robot leaves the multi-legged robot support apparatus of FIG. (A) is a side view showing a state of a modified form of the multi-legged robot support device of FIG. 12 when the robot is installed, and (B) is a side view showing a state of a modified form of the multi-legged robot support device of FIG. Figure. The side view which shows the multilegged robot assistance apparatus in 4th Embodiment of the remote automatic machine assistance apparatus which concerns on this invention. The side view which shows the multilegged robot assistance apparatus in 5th Embodiment of the remote automatic machine assistance apparatus which concerns on this invention. The side view which shows an example of an effect | action in the multi-legged robot assistance apparatus of FIG. The side view which shows the other example of an effect | action in the multi-legged robot assistance apparatus of FIG. The side view which shows the multilegged robot assistance apparatus in 6th Embodiment of the remote automatic machine assistance apparatus which concerns on this invention. The side view which shows the effect | action of the multi-legged robot assistance apparatus of FIG. (A) is an overall side view showing a modified form of the multi-legged robot support device of FIG. 20, and (B) is a partial view taken along the line XXIIB of FIG. 22 (A). (A) is a side view showing a multi-legged robot support apparatus in a seventh embodiment of the remote automatic machine support apparatus according to the present invention, and (B) is a multi-leg in the seventh embodiment of the remote automatic machine support apparatus according to the present invention. The top view which shows a robot assistance apparatus. The figure which shows the screen displayed on the display apparatus of FIG. The side view which shows the multi-legged robot assistance apparatus in 8th Embodiment of the remote automatic machine assistance apparatus which concerns on this invention. (A) is a diagram showing a screen displayed on the display device of FIG. 25 when the surface pressure state is good, and (B) is a screen displayed on the display device of FIG. 25 when the surface pressure state is not good. Figure.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.
[A] First embodiment (FIGS. 1 to 7)
FIG. 1 is a side view showing a multi-legged robot support apparatus which is a first embodiment of a remote automatic machine support apparatus according to the present invention. FIG. 3 is a side view showing the multi-legged robot of FIG. A multi-legged robot support apparatus 10 as a remote automatic machine support apparatus shown in FIG. 1 is equipped with a multi-legged robot 15 as a remote automatic machine and supports its movement, and includes a transport mechanism section 11 and a support mechanism section 12. It is comprised.

Here, the multi-legged robot 15 is configured by providing two or more (for example, four) legs 16 on the trunk portion 17, and each leg 16 includes a plurality of

joints

18, 19, and 20 (FIG. 4). ). The multi-legged robot 15 moves (walks) when the operation of the leg 16 is operated by the operation unit 13 (FIG. 3).

That is, in the multi-legged robot 15, as shown in FIGS. 3 and 4, four respective legs 16 are installed in the lower corner portion of the trunk portion 17. Each leg 16 includes a link mechanism 14 in which a first joint 18, a second joint 19, and a third joint 20 are sequentially connected downward by a link 21, and the first joint 18 has a trunk portion 17. It is attached to the lower part. The rotation axis of the first joint 18 is arranged orthogonal to both rotation axes of the second joint 19 and the third joint 20.

As the second joint 19 and the third joint 20 rotate, the multi-legged robot 15 moves forward or backward in the direction of the arrow X (FIG. 4). Further, by the rotation of the first joint 18, the multi-legged robot 15 moves leftward or walks rightward (sidewalks) in the direction of the arrow Y (FIG. 4). Furthermore, by combining the rotations of the first joint 18, the second joint 19, and the third joint 20, the multi-legged robot 15 turns in the direction of the arrow Z (FIG. 4). Each joint 18, 19, and 20 is comprised by the combination of an electric motor, a gear, an encoder, etc., for example.

The multi-legged robot 15 of the present embodiment including the leg 16 configured as described above normally performs forward walking, backward progress, left moving walking, right moving walking, left turning walking, or right turning walking continuously. The walking mode and the manual operation walking mode in which the leg tip position of the leg 16 is operated by manual operation by an operator for each leg and walking are alternatively executed.

The walking by the legs 16 of the multi-legged robot 15 as described above is operated and controlled by the leg operation control device. The leg operation control device includes an operation unit 13, various sensors (image acquisition unit 22, ground reaction force sensor 23, posture sensor 24, distance sensor 25) installed in the multilegged robot 15, a sensor processing unit 26, and the like. The gait pattern generation unit 27, the control unit 28 as control means, and a signal transmission / reception unit 29 are configured.

The operation unit 13 outputs an operation command or the like to the control unit 28 of the multi-legged robot 15 in order to make the multi-legged robot 15 walk by an operator's operation. For example, the operation unit 13 outputs an operation command for causing the multi-legged robot 15 to walk forward or backward in the direction of the arrow X (FIG. 4) in the normal walking mode, and in the manual operation walking mode, the operation target leg 16 An operation command for moving the leg tip of the leg is output.

The image acquisition unit 22 is, for example, a camera installed at the front portion of the trunk portion 17 of the multi-legged robot 15, and acquires a moving image and a still image around the multi-legged robot 15 as image data. The image acquisition unit 22 may be installed at the front and rear of the trunk 17 in the multi-legged robot 15. The ground reaction force sensor 23 is installed at the tip of the four legs 16 in the multi-legged robot 15 and measures the ground reaction force acting on the legs 16 when the legs 16 are grounded.

The posture sensor 24 is installed on the bottom surface of the trunk portion 17 of the multi-legged robot 15 and is composed of a plurality of sensors for detecting the posture of the multi-legged robot 15 such as acceleration, angular velocity, and tilt angle. The distance sensors 25 are installed at the front and rear portions of the trunk portion 17 of the multi-legged robot 15, and are in contact with the distance between the trunk portion 17 and the grounding surface and the leg tip of the leg 16 (particularly, the leg 16 to be operated). Measure the distance between the ground.

The sensor processing unit 26 in the multi-legged robot 15 is configured by a personal computer, for example, and includes image data from the image acquisition unit 22, ground reaction force data by the ground reaction force sensor 23, posture data by the posture sensor 25, and distance by the distance sensor 25. Processes analog data such as data into digital data.

The gait pattern generation unit 27 in the multi-legged robot 15 is configured by, for example, a personal computer, and the gait in the normal walking mode combined with the order of moving the four legs 16 and the action of moving the center of gravity of the multi-legged robot 15. Generate a pattern. In this gait pattern, a crawl gait in which the legs 16 of the multi-legged robot 15 are moved one by one, a trot gait in which the two diagonal legs 16 are simultaneously operated, and the front and rear two legs 16 are alternately left and right at the same time. There are pace gaits to be operated automatically, gaits in which each of these gaits is combined with a movement of the center of gravity.

The control unit 28 in the multi-legged robot 15 is composed of, for example, a personal computer, and determines the rotation angles of the joints 18 to 20 of the four legs 16 from the gait and the like generated by the gait pattern generation unit 27. The operation of the legs 16 is controlled. That is, based on the operation command from the operation unit 13, the control unit 28 continuously performs forward walking, backward progress, left moving walking, right moving walking, left turning walking, or right turning walking. Is executed by the multi-legged robot 15. Further, the control unit 28 executes a manual operation walking mode in which the leg position of the leg 16 is operated by a manual operation by an operator for each leg based on an operation command from the operation unit 13 for the multi-legged robot 15. Let
Each link mechanism 14 of the multi-legged robot 15 has a configuration in which the posture cannot be maintained when the power supply is stopped, and a certain torque is required for the rotation of the link mechanism 14 even when the power supply is stopped. Each of them can be held (for example, a brake motor is used for the link mechanism 14). However, even when the power supply is stopped, the posture can be maintained, and the force for maintaining the posture of the link mechanism 14 by the stop of the power supply is reduced, and the stability is often lowered.

The multi-legged robot support device 10 (FIG. 1) supports the movement (walking) of the multi-legged robot 15 configured as described above up to an area where the multi-legged robot 15 can move by wheels or an endless track. The multi-legged robot support device 10 includes the transport mechanism unit 11 and the support mechanism unit 12 as described above, and includes the power supply 30, the cable winding mechanism 31, the wireless communication mechanism 32, and the monitoring device 33. .

The transport mechanism unit 11 is provided so that the multi-legged robot 15 can be mounted, and has a wheel 34 or an endless track (for example, a crawler), and the mounted multi-legged robot 15 is moved to the work site by driving the wheel 34 or the like. The vehicle is transported to a movable area by the wheels 34. A power source 30, a cable winding mechanism 31, and a wireless communication mechanism 32 are installed in the transport mechanism unit 11.

The cable winding mechanism 31 is a mechanism that winds or feeds a power cable 35A connected to the power supply 30 and a communication cable 35B connected to a control unit (not shown) that controls driving of the wheels 34, the monitoring device 33, and the like. . The wireless communication mechanism 32 is installed when the communication cable 35B is not provided. The power source 30 is a primary battery, a secondary battery, a capacitor, a generator, or the like. When the power source 30 is a primary battery or a generator, it is not necessary to provide the power cable 35A.

The monitoring device 33 is, for example, a camera installed at the tip of the support frame 36 erected on the transport mechanism unit 11. This monitoring device 33 has a zoom function, a pan function, and a tilt function, and acquires surrounding images including the front in the traveling direction of the multi-legged robot support device 10. The monitoring device 33 also has a function of tracking and monitoring the multi-legged robot 15 that moves (walks) away from the multi-legged robot support device 10.

As described above, the transport mechanism 11 in which the power supply 30, the cable winding mechanism 31, the wireless communication mechanism 32, and the monitoring device 33 are installed is based on the image information captured by the monitoring device 33. The control unit moves (self-propelled) by driving and controlling the wheels 34 or is remotely operated by the operator by transmitting image information of the monitoring device 33 to the operator side using the communication cable 35B or the wireless communication mechanism 32. Move by being manually pushed by an operator. At this time, the transport mechanism unit 11 may move following the multi-legged robot 15 that moves away from the multi-legged robot support apparatus 10 and moves (walks).

A plurality of support mechanism units 12 are installed on the transport mechanism unit 11 and support the load of the torso portion 17 of the multi-legged robot 15 by placing the torso portion 17 of the multi-legged robot 15. The load of the trunk portion 17 is prevented from acting. And even if the position of the trunk portion 17 is shifted from the position where the trunk portion 17 of the multi-legged robot 15 is placed on the support mechanism portion 12, the trunk portion 17 is guided to the desired position and mounted. A body holding mechanism 37 to be placed is installed. For example, as shown in FIG. 2, the trunk portion holding mechanism 37 is configured by arranging a guide plate 40 via a rotating portion 39 on a base 38 having an L shape in side view. The guide plate 40 slides in the surface direction B of the guide plate 47 while rotating around the rotation portion 39 in the direction of the arrow A, thereby guiding the body portion 17 in contact with the desired placement position.

FIG. 5 shows a trunk portion holding mechanism 37A according to a first modification, in which a spring 41 is disposed between the base 38 and the guide plate 40. The urging force F of the spring 41 acts on the body portion 17 via the guide plate 40, so that the body portion 17 is held in the horizontal direction on the support mechanism portion 12.

FIG. 6 shows a trunk holding mechanism 37B according to a second modification. In the body holding mechanism 37B, the swing plate 42 is supported on the base 38 via the rotation shaft 43, and the guide plate 44 is supported on the tip of the swing plate 42 via the rotation shaft 45. The guide plate 44 and the base The spring 41 is disposed between the spring 38 and the spring 38. The swing plate 42 rotates around the rotation axis 43 in the direction of arrow C, and the guide plate 44 rotates around the rotation axis 45 in the direction of arrow D, so that the trunk portion 17 in contact with the swing plate 42 and the guide plate 44 is touched. Is led to the desired position. The body portion 17 is held in the horizontal direction on the support mechanism portion 12 by the urging force F of the spring 41.

FIG. 7 shows a trunk holding mechanism 37 </ b> C according to a third modification, in which a first magnet 46 installed on the mounting section of the support mechanism section 12 and a second magnet installed on the trunk section 17 of the multi-legged robot 15. 47. Due to the magnetic force of the first magnet 46 and the second magnet 47, the trunk portion 17 is placed at a desired position of the support mechanism portion 12. Here, the first magnet 46 and the second magnet 47 are permanent magnets or electromagnets. In the case of an electromagnet, it is possible to electrically control the magnetization and separation of both the first magnet 46 and the second magnet 47.
The multi-legged robot 15 by the urging force of the spring 41 acting on the trunk portion 17 and the magnetic force of the electromagnet without requiring high accuracy for positioning when placing the trunk portion 17 by the trunk portion holding mechanism 37 as described above. Can be held so that there is no backlash. In other words, by using the body holding mechanism 37 as described above, the margin of positioning accuracy when placing the body 17 on the support mechanism 12 can be increased.

With the configuration as described above, the following effects (1) and (2) are achieved according to the first embodiment.
(1) The multi-legged robot 15 is transported by being mounted on the transport mechanism 11 having the wheels 34 or the endless track, and during this transport, the load on the trunk 17 of the multi-legged robot 15 in particular is transported. It is supported by the support mechanism unit 12 installed in the. For this reason, since the movement (walking) of the multi-legged robot 15 can be supported up to an area that can be moved by the wheels 34 or the endless track of the transport mechanism 11, the amount of walking by the multi-legged robot 15 itself can be reduced. Accordingly, on-site work by the multi-legged robot 15 from the start to withdrawal of the multi-legged robot 15 can be realized quickly and at low cost (low power consumption).

(2) During the transport of the multi-legged robot 15 by the transport mechanism 11, the load of the torso 17 of the multi-leg robot 15 is supported by the support mechanism 12 installed in the transport mechanism 11. It is possible to prevent the multi-legged robot 15 from becoming unstable. For this reason, the multi-legged robot 15 can be safely carried and the carrying speed can be increased, so that the work time from the start to withdrawal of the multi-legged robot 15 can be further reduced. In addition, a stable state can be maintained without supplying power to the legs 16 of the multi-legged robot 15 during the transportation of the multi-legged robot 15 by the multi-legged robot support apparatus 10.

[B] Second embodiment (FIGS. 8 to 11)
FIG. 8 is a schematic side view showing a multi-legged robot support apparatus which is a second embodiment of the remote automatic machine support apparatus according to the present invention. FIG. 9 shows the holding mechanism portion of FIG. 8, (A) is a plan view before holding the leg link mechanism, and (B) is a plan view showing the respective states after holding the leg link mechanism. In the second embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description is simplified or omitted.

The multi-legged robot support device 50 as the remote automatic machine support device of the second embodiment is different from the first embodiment in that the leg 16 of the multi-legged robot 15 is replaced with the support mechanism section 12 of the first embodiment. This is the point that a holding mechanism portion 51 and a leg tip holding portion 66 for holding the link mechanism 14 so as to limit the movable range of the link mechanism 14 are provided.

The holding mechanism 51 holds the first joint 18, the second joint 19, the third joint 20 (particularly the second joint 19, the third joint 20), and the tip of the leg 16 from both sides, The link mechanism 14 of the leg 16 is held in a fixed state, and includes a substrate 52 and a holding portion 53. The substrate 52 is provided corresponding to the number of legs 16 of the multi-legged robot 15 and is pivotally supported by the transport mechanism 11 via the pivot shaft 54 so as to be swingable in the direction of arrow E.
The leg tip holding part 66 is a cylindrical body (which may be a cylinder or a polygonal cylinder, but will be described as a square cylinder in the present embodiment) fixed to the upper surface of the transport mechanism unit 11, and corresponds to the number of legs 16. Provided.

The holding parts 53 are installed on the respective substrates 52 by the number corresponding to the joints to be sandwiched (for example, the second joint 19 and the third joint 20) and the tips of the legs 16. As shown in FIG. 9, the holding portion 53 has a pair of guide plates 56 disposed on a base 55 having a U-shape in plan view fixed to the substrate 52 so as to face each other via a rotating portion 57. Further, a spring 65 is arranged between the guide plate 56 and the base 55.

After the multi-legged robot 15 is mounted on the transport mechanism unit 11, when the substrates 52 arranged opposite to each other swing in a direction approaching each other about the pivot shaft 54, a pair of holding units 53 installed on each substrate 52. The guide plate 56 rotates in the arrow G direction around the rotating portion 57 against the urging force of the spring 65 (FIG. 9A). As a result, for example, the second joint 19, the third joint 20, and the distal end portion of the leg 16 in the leg 16 of the multi-legged robot 15 are attached with the spring 65 via the guide plate 56 even if there is some positional deviation. The link mechanism 14 of the leg 16 is held in a fixed state by being pinched from both sides by the force (FIG. 9B).

FIG. 10 shows the holding mechanism portion 58 of the first modified embodiment, and shows only a portion that holds one joint of the leg 16. In this holding mechanism portion 58, the substrate 59 is erected on the transport mechanism portion 11 so as not to swing. Then, each of the pair of holding plates 60 is pivotally supported on both sides of the substrate 59 via the rotation shaft 61 so as to be rotatable within a range of 90 degrees, for example. When the multi-legged robot 15 is mounted on the transport mechanism 11 and the leg 16 is positioned in the vicinity of the substrate 59, the pair of holding plates 60 rotate in the direction of the arrow H, and the leg 16 is connected to the second joint 19 for example. By sandwiching the third joint 20 and the tip of the leg 16, the link mechanism 14 of the leg 16 is held in a fixed state.

FIG. 11 shows the holding mechanism portion 62 of the second modified form, and shows only a portion that sandwiches one joint of the leg 16. In this holding mechanism 62, a holding part 63 having a U-shaped cross section is arranged near a joint (for example, the second joint 19 and the third joint 20) in the leg 16 of the multi-legged robot 15 via a rotating shaft 64. is there. After the multi-legged robot 15 is mounted on the transport mechanism unit 11, the holding unit 63 rotates in the direction of the arrow I around the rotation shaft 64, holds the joint of the leg 16 from both sides, and the link mechanism 14 of the leg 16. Is held fixed.

In addition to the above-described

holding mechanism portions

51, 58, and 62, a holding mechanism portion that holds the legs 16 of the multi-legged robot 15 from both sides by using an air cylinder or an electromagnet may be used. In addition, the operation of the

holding mechanism units

51, 58 and 62 including this holding mechanism unit is executed by remote operation, control of the control unit provided in the multi-legged robot support device 50, or manually by the operator. Is done.
In addition, the tip end of each leg 16 is inserted into the leg tip holding portion 66, and the vicinity of the tip end of the leg 16 is held with the same spring and holding plate as the holding mechanism portion 58 inside.

With the configuration as described above, the following effects (3) and (4) are achieved according to the second embodiment.
(3) In the multi-legged robot support device 50, the multi-legged robot 15 is transported by being mounted on the transport mechanism 11 provided with the wheels 34 or the endless track, and the support installed in the transport mechanism 11 during the transport. The link mechanism 14 of the leg 16 of the mounted multi-legged robot 15 is held in a fixed state by the

mechanism portions

51, 58, 62 and the like. For this reason, since the movement (walking) of the multi-legged robot 15 can be supported up to an area that can be moved by the wheels 34 or the endless track of the transport mechanism 11, the amount of walking by the multi-legged robot 15 itself can be reduced. Accordingly, the field work by the multi-legged robot 19 from the start to withdrawal of the multi-legged robot can be realized quickly and at low cost (low power consumption).

(4) While the multi-legged robot 15 is being transported by the transport mechanism 11, the link mechanism 14 of the leg 16 in the multi-legged robot 15 is held in a fixed state by the holding

mechanism

51, 58, 62, etc. The tip of the leg is held by the leg tip holding part 66. For this reason, even if the power supply to the legs 16 of the multi-legged robot 15 is stopped during the transportation of the multi-legged robot 15, the multi-legged robot 15 can be stably held.

[C] Third embodiment (FIGS. 12 to 15)
FIGS. 12A and 12B show a state when the robot is transported in the multi-legged robot support device which is the third embodiment of the remote automatic machine support device according to the present invention, where FIG. 12A is a side view and FIG. In the third embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description is simplified or omitted.

The multi-legged robot support device 70 as the remote automatic machine support device of the third embodiment is different from the first embodiment in that the multi-legged robot 15 moves to the transport mechanism section 11 and the multi-legged robot 15 moves to the transport mechanism section 11. In addition, a notch 71 is formed in which the leg 16 can walk and enter and retreat.

That is, as shown in FIG. 12B, the notch portion 71 is formed at two locations penetrating from the upper surface to the lower surface of the transport mechanism portion 11, and the multi-leg robot 15 has the trunk portion 17 having the multi-leg robot support device 70. The leg 16 is walked in the notch 71 at the time of installation supported by the support mechanism 12 (FIG. 13) or at the time of disengagement (FIG. 14) that moves away from the multi-legged robot support device 70 (FIG. 14). Make it work.

That is, at the time of the installation shown in FIG. 13, the multi-legged robot 15 is caused to walk with the legs 16 standing independently to approach the multi-legged robot support device 70, and in the transport mechanism unit 11 of the multi-legged robot support device 70. The leg 16 is caused to walk within the notch 71, and the independent state of the leg 16 is released at a predetermined position. As a result, as shown in FIG. 12, the multi-legged robot 15 has the body portion 17 supported by the support mechanism portion 12 of the multi-legged robot support device 70 via the body portion holding mechanism 37, and the multi-legged robot support device 70. It is ready for transport. Further, when the multi-legged robot 15 is detached as shown in FIG. 14, the leg 16 is brought into a self-supporting state with the trunk portion 17 supported by the support mechanism portion 12 of the multi-legged robot support device 70, and the leg 16 is transported. The notch part 71 of the part 11 is passed through and grounded, and the body part 17 is separated from the support mechanism part 12 to be independent. Then, the multi-legged robot 15 walks the leg 16 in the notch 71 and leaves the multi-legged robot support device 70.

Therefore, according to the third embodiment, in addition to the effects (1) and (2) of the first embodiment, the following effect (5) is obtained.

(5) Since the transport mechanism unit 11 of the multi-legged robot support device 70 is formed with a notch 71 that allows the legs 16 of the multi-legged robot 15 to walk and enter and retreat, the multi-leg robot 15 When this is mounted, the operation of placing the multi-legged robot 15 on the upper surface of the transport mechanism unit 11 becomes unnecessary. As a result, the carrying operation of the multi-legged robot 15 by the multi-legged robot support device 70 can be facilitated and speeded up.
When the leg 16 cannot maintain its posture due to the stop of the power supply, after placing the trunk portion 17 on the upper surface of the support mechanism portion 12, the tip end of the leg 16 is lifted and spread outward, and the outside of the notch portion 71. You may add the operation | movement put on the upper surface of the conveyance mechanism part 11 located in this. In this case, since the trunk portion 17 is fixed on the support mechanism portion 12, a plurality of legs 16 can be driven simultaneously, and control is easier than the operation of placing the multi-leg robot 15 on the upper surface of the transport mechanism portion 11 by walking. Become.
In addition, when the leg 16 can maintain its posture even when the power supply is stopped, the power supply may be stopped after the trunk portion 17 is placed on the upper surface of the support mechanism unit 12 and then the leg 16 is bent to some extent. In this case, although it stops in the state shown to FIG. 12 (A), since the leg 16 does not apply a load, possibility that a posture will collapse will become low.

In the multi-legged robot support device 70 of the third embodiment, as shown in FIG. 15, the support mechanism portion 12 is pivotally supported by the transport mechanism portion 11 via the rotation shaft 72 and the multi-legged robot 15 is detached. You may be comprised so that rotation to the arrow J direction which is a direction side is possible. In this case, when the multi-legged robot 15 is disengaged, the multi-legged robot 15 is in a state where the trunk portion 17 is supported by the support mechanism portion 12 of the multi-legged robot support device 70, the leg 16 is in an independent state, and the leg 16 The front end of the slab is grounded through the notch 71. Then, the multi-legged robot support device 70 is moved in the direction K opposite to the direction in which the multi-legged robot 15 is detached while the trunk portion 17 of the multi-legged robot 15 is in contact with the support mechanism portion 12 of the multi-legged robot support device 70. As a result, the support mechanism unit 12 rotates in the direction of arrow J, and the multi-legged robot 15 can be detached from the multi-legged robot support device 70 without causing the legs 16 of the multi-legged robot 15 to perform a walking motion.

Here, the rotating shaft 72 is provided at the end of the lower end surface of the support mechanism 12 on the arrow J direction side. As a result, an end portion of the lower end surface of the support mechanism unit 12 where the rotation shaft 72 is not provided comes into contact with the upper surface of the transport mechanism unit 11, so that the support mechanism unit 12 rotates in the direction opposite to the arrow J direction. Thus, the body portion 17 of the multi-legged robot 15 can be stably supported.
As a modification of the multi-legged robot support device 70 of the present embodiment, a slide plate is installed at the lower part of the rear part 11 of the transporter, the multi-legged robot 15 is installed in the support mechanism section 12, and the legs 16 of the multi-legged robot 15 are arranged. It is good also as a structure which can install the leg part of the multi-legged robot 15 in the conveyance mechanism part 11 by raising the front-end | tip to the height more than the upper surface of the transporter rear part 11, and sliding a slide plate so that the notch part 71 may be plugged up. . In this case, the slide plate may be moved manually or remotely, but first, the multi-legged robot 15 is mounted on the multi-legged robot support device 70 in an environment where the worker can approach and moved to a position close to the work area. Since it is operated remotely, it is desirable that the slide plate can be operated manually or remotely. For remote sliding movement, for example, it is considered that the shaft provided on the slide plate and the motor provided on the transport mechanism unit 11 are engaged with each other and driven, or configured to be slidable using a linear actuator such as an air piston. It is done. Even in such a configuration, the tip of the leg 16 does not touch the floor surface while the multi-legged robot support device 70 is moving.
As another modification, the support mechanism unit 12 may have a lifting function. In this case, after the multi-legged robot 15 is installed on the support mechanism section 12, the support mechanism section 12 is raised so that the tip of the leg 16 does not touch the floor during the movement of the multi-legged robot support device 70. Also in this case, it is desirable to be able to operate manually or remotely as in the case of the slide plate. Remote elevation is configured using a motor, an air piston, or the like.
As yet another modification, a slope (inclined) groove may be formed instead of the notch 71. In this case, the slope is formed so that the side on which the multi-legged robot 15 enters and leaves is low. By causing the multi-legged robot 15 to enter from a position where the bottom of the groove is low, the step that must be exceeded in order for the multi-legged robot 15 to ride on the upper surface of the transport mechanism unit 11 can be reduced.

[D] Fourth embodiment (FIG. 16)
FIG. 16 is a side view showing a multi-legged robot support apparatus in the fourth embodiment of the remote automatic machine support apparatus according to the present invention. In the fourth embodiment, the same parts as those in the first and second embodiments are denoted by the same reference numerals, and the description will be simplified or omitted.

The multi-legged robot support device 75 as the remote automatic machine support device of the fourth embodiment is different from the first and second embodiments in that the transport mechanism unit 11 or the support mechanism unit 12 (for example, the support mechanism unit 12) A power supply mechanism 76 capable of supplying power to the multi-legged robot 15 is provided.

That is, the power supply mechanism 76 is provided, for example, in at least one of the plurality of support mechanism sections 12 and supplies power to the multi-legged robot 15 with power from the power supply 30 or power supplied via the power cable 35A. The power supply mechanism 76 may be either contact-type power supply or non-contact type power supply, and may be configured such that power supply is automatically started when the multi-legged robot 15 is installed in the power supply mechanism 76. The power feeding mechanism 76 may be installed in the transport mechanism unit 11 when the holding mechanism unit 51 (FIG. 8) is provided instead of the support mechanism unit 12.

As described above, according to the fourth embodiment, in addition to the effects (1) to (4) of the first and second embodiments, the following effect (6) is obtained. Play.

(6) The power supply mechanism 76 is installed in, for example, the support mechanism unit 12 of the multi-legged robot support device 75, and the power supply mechanism 76 supplies power to the multi-legged robot 15. The multi-legged robot 15 can be appropriately powered during the transportation of 15 or at the work site. As a result, the operation time of the multi-legged robot 15 can be extended.

[E] Fifth embodiment (FIGS. 17 to 19)
FIG. 17 is a side view showing a multi-legged robot support apparatus in the fifth embodiment of the remote automatic machine support apparatus according to the present invention. In the fifth embodiment, the same parts as those in the first and second embodiments are denoted by the same reference numerals, and the description is simplified or omitted.

The multi-legged robot support device 80 as the remote automatic machine support device of the fifth embodiment is different from the first and second embodiments in that a slope plate 82 as a walking board is developed from the transport mechanism 11 and mounted. The formed multi-legged robot 15 forms a walkable walking floor, and the slope as a walking floor unfolding mechanism that guides the multi-legged robot 15 to the work site or from the work site to the transport mechanism unit 11 of the multi-legged robot support device 80. The mechanism 81 is a point provided in the transport mechanism unit 11.

That is, in the slope mechanism 81, the slope plate 82 on which the multi-legged robot 15 can safely walk is disposed at one end of the transport mechanism unit 11 via the pivot shaft 83. When the multi-legged robot 15 is transported by the multi-legged robot support device 80, the slope plate 82 is erected with respect to the transport mechanism unit 11 as shown in FIGS. When the multi-legged robot 15 is set on or removed from the multi-legged robot support device 80, the slope plate 82 is controlled by a control unit (not shown) in the multi-legged robot support device 80. The tip is grounded by remote operation or manual operation by the operator. As a result, the multi-legged robot 15 can walk on the slope plate 82 and move to the work site, or can walk from the work site on the slope plate 82 of the multi-legged robot support device 80 to the transport mechanism 11. When the multi-legged robot support device 80 is manually pushed and moved by an operator, the slope plate 82 in the standing state also functions as a handle that can be used by the operator.

As shown in FIG. 19, when there is a step 84 in the moving path of the multi-legged robot support device 80, a slope plate 82 is disposed so as to cover all or part of the step 84, and the multi-legged robot 15. However, by walking on the slope plate 82, it is possible to prevent the multi-legged robot 15 from walking all or part of the step 84.

As described above, according to the fifth embodiment, in addition to the same effects as the effects (1) to (4) of the first and second embodiments, the following effect (7) is obtained. Play.

(7) The slope mechanism 81 that guides the work site or the transport mechanism unit 11 of the multi-legged robot support device 80 by walking the multi-leg robot 15 is installed in the transport mechanism unit 11 of the multi-leg robot support device 80. Therefore, when the multi-legged robot 15 walks on the slope plate 82 of the slope mechanism 81, the multi-legged robot 15 can be safely moved to the work site or the transport mechanism section 11.
In addition, although it has demonstrated with the name of the slope mechanism 81 for convenience, naturally it may become flat continuously with the upper surface of the conveyance mechanism part 11 depending on the place which develops a slope board, without becoming a slope. For example, when the slope plate 82 is developed on the floor where small obstacles are scattered. Especially where the floor condition is not good and it is not desired to be grounded directly, even if it does not extend beyond the step (if small obstacles are scattered, small holes or grooves are formed) It is effective when passing through, such as when oil is slippery.

Further, even when there is a step 84 that the multi-legged robot 15 cannot walk, the multi-legged robot 15 can get over the step 84 by covering the step 84 with the slope plate. Further, even when the step 84 is a step that can be walked by the multi-legged robot 15, the multi-legged robot walks on the slope plate 82 that covers all or part of the step 84, thereby walking the step 84. The time required for can be reduced or shortened.

[F] Sixth embodiment (FIGS. 20 to 22)
FIG. 20 is a side view showing a multi-legged robot support apparatus in the sixth embodiment of the remote automatic machine support apparatus according to the present invention. In the sixth embodiment, the same parts as those in the first and second embodiments are denoted by the same reference numerals, and the description will be simplified or omitted.

The multi-legged robot support device 90 as the remote automatic machine support device of the sixth embodiment is different from the first and second embodiments in that the multi-legged robot 15 is supported directly or indirectly, and the transport mechanism 11 is A posture stabilization mechanism 91 that stabilizes the posture of the multi-legged robot 15 by holding the mounted multi-legged robot 15 in a state that is closer to the horizontal than the transport mechanism 11 when tilting is provided. This is a point provided.

In this posture stabilization mechanism 91, for example, an elevating device 93 such as a hydraulic cylinder device is disposed between the transport mechanism unit 11 and the substrate 92 on which the support mechanism unit 12 (or the holding mechanism unit 51) is erected. Composed. The lifting device 93 is preferably configured to be arranged before and after the traveling direction L of the multi-legged robot support device 90, and further arranged to be arranged before and after the direction orthogonal to the traveling direction L in the horizontal plane. . When the multi-legged robot support device 90 is mounted on the multi-legged robot 15 and moves on the inclined road surface 94, the elevating device 93 is extended by the elevating device 93 positioned on the lower side of the road surface 94, thereby extending the substrate 92. Is held in a horizontal state, and the posture of the multi-legged robot 15 on the substrate 92 is stabilized.

Further, as shown in FIG. 22, the posture stabilization mechanism 91 is disposed between the transport mechanism unit 11 and the support mechanism unit 12 (or the holding mechanism unit 51), and is moved by a gonio stage 95 that is bent and moved by its own weight. It may be configured. The gonio stage 95 includes a gonio stage stationary unit 96 installed in the transport mechanism unit 11, and a gonio stage movable unit 97 that can bend and move in the advancing direction L of the multi-legged robot support device 90 with respect to the gonio stage stationary unit 96. The support mechanism section 12 (or the holding mechanism section 51) is erected on the goniostage movable section 97.

Even when the posture stabilization mechanism 91 is configured by the gonio stage 95, when the multi-legged robot support device 90 is mounted on the multi-legged robot 15 and moves on the inclined road surface 94, the gonio stage movable unit 97 is not equipped with the gonio stage 95. It is held in a horizontal state by bending and moving under its own weight with respect to the stationary part 96 to the downside of the road surface 94, and the posture of the multi-legged robot 15 on the goniostage movable part 97 is stabilized.

In addition, it is preferable that the gonio stage 95 is further comprised of a gonio stage as shown by a two-dot chain line in FIG. In this case, the element 96B on the side in contact with the goniostage movable portion 97 can be curved and moved in the direction M perpendicular to the traveling direction L in the horizontal plane with respect to the element 96A on the side installed in the transport mechanism unit 11. Composed.

With the configuration as described above, the sixth embodiment also provides the following effects (8) in addition to the same effects as the effects (1) to (4) of the first and second embodiments. .

(8) Since the multi-legged robot support device 90 is provided with the posture stabilization mechanism 91 for stabilizing the posture of the mounted multi-legged robot 15 in the transport mechanism unit 11, the road surface 94 on which the multi-legged robot support device 90 is inclined. Even when the robot is moved, the multi-legged robot 15 can be held and stabilized in a horizontal state.

[G] Seventh embodiment (FIGS. 23 and 24)
FIG. 23 shows a multi-legged robot support apparatus in a seventh embodiment of the remote automatic machine support apparatus according to the present invention, wherein (A) is a side view and (B) is a plan view. In the seventh embodiment, the same parts as those in the first and second embodiments are denoted by the same reference numerals, and description thereof is simplified or omitted.

The multi-legged robot support device 100 as the remote automatic machine support device in the seventh embodiment is different from the first and second embodiments in that a leg position detection mechanism that detects the position of the leg 16 of the mounted multi-legged robot 15. Reference numeral 101 denotes a point provided in the transport mechanism unit 11.

The leg position detection mechanism 101 is preferably configured to include a position sensor 102 such as a line laser sensor, and further includes a display device 103. For each leg 16 of the multi-legged robot 15, two position sensors 102 are installed for one leg 16 so that laser light can be output from directions orthogonal to each other. The leg position information detected by the position sensor 102 is output to the control unit 28 (FIG. 3) of the multi-legged robot 15 mounted on the multi-legged robot support apparatus 100. Feedback control is performed so that the robot support apparatus 100 is in an optimum position.

Alternatively, the leg position information of the legs 16 of the multi-legged robot 15 detected by the position sensor 102 is the display device 103 installed on the support frame 36 of the multi-legged robot support apparatus 100, the multi-legged robot 15 and the multi-legged robot. The display is performed as shown in FIG. 24 on the display device 103 installed at a site where the operator of the support apparatus 100 stays. An operator in the vicinity of the multi-legged robot support apparatus 100 or an operator in the site operates the multi-legged robot 15 using, for example, the operation unit 13 (FIG. 3) based on the leg position information on the display device 103. The leg 16 of the multi-legged robot 15 is moved to an optimum position with respect to the multi-legged robot support apparatus 100. At this time, the leg position allowable range 105 is displayed on the display device 103 and whether or not the leg position detected by the position sensor 102 is within the leg position allowable range 105 is displayed in real time. Is preferred.

Since it is configured as described above, this embodiment has the same effects as the effects (1) to (4) of the first and second embodiments, and the following effect (9).

(9) In the multi-legged robot support device 100, the leg position detection mechanism 101 that detects the positions of the legs 16 of the mounted multiple robots 15 is provided in the transport mechanism unit 11. By correcting the position of the leg 16 of the multi-legged robot 15 based on the leg position information, the multi-legged robot 15 can be stably mounted on the transport mechanism 11 of the multi-legged robot support apparatus 100.

[H] Eighth Embodiment (FIGS. 25 and 26)
FIG. 25 is a side view showing a multi-legged robot support apparatus in the eighth embodiment of the remote automatic machine support apparatus according to the present invention. In the eighth embodiment, the same parts as those in the first and second embodiments are denoted by the same reference numerals, and the description will be simplified or omitted.

The multi-legged robot support device 110 as the remote automatic machine support device in the eighth embodiment is different from the first and second embodiments in that the legs 16 of the mounted multi-legged robot 15 act on the transport mechanism unit 11. A surface pressure detection mechanism 111 that detects pressure together with the position of the legs 16 is provided in the transport mechanism unit 11.

The surface pressure and position information 113 of the legs 16 of the multi-legged robot 15 detected by the face-pressure detecting mechanism 111 is the display device 112 installed on the support frame 36 of the multi-legged robot support device 110 or the multi-legged robot 15. And it is displayed as shown in FIG. 26 on a display device 112 installed at a site where an operator who operates the multi-legged robot support device 110 stays. An operator in the vicinity of the multi-legged robot support device 110 or an operator in the site may, for example, if the surface pressure and position information 113 of the leg 16 on the display device 112 is not good as shown in FIG. The multi-legged robot 15 is operated using the operation unit 13 (FIG. 3) so that the information 113 on the surface pressure and position of the leg 16 on the display device 112 becomes good as shown in FIG. The posture of the robot 15 and the position of the leg 16 are controlled.

Also, the surface pressure and position information 113 of the legs 16 of the multi-legged robot 15 detected by the face-pressure detecting mechanism 111 is used as a control unit 28 (see FIG. 3) of the multi-legged robot 15 mounted on the multi-legged robot support apparatus 110. The control unit 28 feedback-controls the posture of the multi-legged robot 15 and the position of the leg 16 so that the surface pressure and position information 113 of the leg 16 with respect to the multi-legged robot support device 110 becomes good. The

With the configuration as described above, the eighth embodiment has the same effects as the effects (1) to (4) of the first and second embodiments, and the following effect (10). .

(10) The multi-legged robot support device 110 includes a surface pressure detection mechanism 111 that detects the surface pressure applied by the legs 16 of the mounted multi-legged robot 15 together with the position of the leg 16. Since it is provided in the mechanism unit 11, the posture of the multi-legged robot 15 and the position of the leg 16 are corrected based on the surface pressure and position information 113 of the legs 16 of the multi-legged robot 15 obtained by the surface pressure detecting mechanism 111. By doing so, the multi-legged robot 15 can be stably mounted on the multi-legged robot support apparatus 110.

As mentioned above, although some embodiment of this invention was described, these embodiment is shown as an example and is not intending limiting the range of invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention, and are disclosed in each embodiment. These configurations can be arbitrarily combined. Such substitutions and changes are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.
For example, the torso holding mechanism 37 and the holding mechanism 51 have a structure using a spring or the like to increase the stability and positioning tolerance when holding the multi-legged robot 15. Instead, a simple L-shape, U-shape, cylindrical shape, or the like may be used.
In addition, a recess such as a notch is provided in the body portion 17 and a protrusion that fits into the recess portion of the body portion 17 is provided in the body portion holding mechanism 37 to improve positioning tolerance and holding stability with a simple configuration. It is good also as the structure made to do.
Further, it is not necessary to provide the leg tip holding part 66 and the holding mechanism part 51 corresponding to all the legs 16 or the link mechanisms 14, and any number may be provided.
Moreover, although some embodiment demonstrated as what can be stably conveyed even if it stops the electric power supply to the leg 16, it is not necessary to stop an electric power supply. Even in such a case, the effect of reducing the load is exerted so that the load on the leg 16 is not applied.

10 Multi-legged robot support device (remote automatic machine support device)
11 Transport mechanism 12 Support mechanism 14 Link mechanism 15 Multi-legged robot (remote automatic machine)
16 legs 17 body 34 wheels 37 body holding mechanism 50 multi-legged robot support device (remote automatic machine support device)
51 Holding Mechanism 53 Holding Unit 70 Multi-legged Robot Support Device (Remote Automatic Machine Support Device)
71 Notch 75 Multi-legged robot support device (remote automatic machine support device)
76 Power supply mechanism 80 Multi-legged robot support device (remote automatic machine support device)
81 slope mechanism 82 slope plate 90 multi-legged robot support device (remote automatic machine support device)
91 Posture stabilization mechanism 93 Lifting device 95 Goniometer stage 100 Multi-legged robot support device (remote automatic machine support device)
101 Leg position detection mechanism 102 Position sensor 110 Multi-legged robot support device (remote automatic machine support device)
111 Surface pressure detection mechanism

Claims

A remote automatic machine support apparatus that moves by mounting a remote automatic machine that moves by the operation of the legs, wherein two or more legs composed of a link mechanism having a plurality of joints are provided on the body,
A transport mechanism provided with a wheel or an endless track, provided so that the remote automatic machine can be mounted;
A remote automatic machine support apparatus, comprising: a support mechanism part attached to the transport mechanism part and supporting a load of the body part of the remote automatic machine.
A remote automatic machine support apparatus that moves by mounting a remote automatic machine that moves by the operation of the legs, wherein two or more legs composed of a link mechanism having a plurality of joints are provided on the body,
A transport mechanism provided with a wheel or an endless track, provided so that the remote automatic machine can be mounted;
A remote automatic machine support comprising: a holding mechanism part attached to the transport mechanism part and holding the leg mechanism of the remote automatic machine so as to limit a movable range of the link mechanism. apparatus.
The body portion holding mechanism that holds the body portion of the remote automatic machine by applying an urging force to the body portion is provided in the support mechanism portion. 2. The remote automatic machine support device according to 1.
2. The remote according to claim 1, wherein the transport mechanism is formed with a notch that allows a leg to walk and retreat when the remote automatic machine moves relative to the transport mechanism. Automatic machine support device.
3. The remote automatic machine support device according to claim 1, wherein the support mechanism unit, the holding mechanism unit, or the transport mechanism unit is provided with a power supply mechanism capable of supplying power to the remote automatic machine.
The walking mechanism is provided with a walking board unfolding mechanism that unfolds the walking board from the transportation mechanism and forms a walking floor on which the mounted remote automatic machine can walk. Or the remote automatic machine assistance apparatus of 2 description.
The transport mechanism unit supports the remote automatic machine directly or indirectly, and when the transport mechanism part is tilted, the remote automatic machine mounted is held in a state closer to the horizontal than the transport mechanism part. The remote automatic machine support device according to claim 1, further comprising a posture stabilization mechanism for performing the operation.
The remote automatic machine support device according to claim 1 or 2, wherein the transport mechanism unit is provided with a leg position detection mechanism for detecting a position of a leg in the mounted remote automatic machine.
3. The remote according to claim 1, wherein the transport mechanism is provided with a surface pressure detection mechanism that detects a surface pressure acting on a leg of a mounted remote automatic machine together with a position of the leg. Automatic machine support device.
A remote automatic machine support method in which two or more legs comprising a link mechanism having a plurality of joints are provided on the trunk, and a remote automatic machine that moves by movement of the legs is mounted and moved.
The remote automatic machine is carried on a transport mechanism having wheels or an endless track, and supports the body load of the remote automatic machine during the transport, or the legs of the remote automatic machine The link mechanism is held in a fixed state.