JP2017100533A - Crawler type robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a crawler type robot capable of passing through a passage way having a narrow width and a crank, and of bridging over steps.SOLUTION: Crawler belts 14 are wound over among a pair of left and right front wheels 12 provided at a front portion of a robot main body 11 and a pair of left and right rear wheels 13 provided at a rear portion of the robot main body 11. At least two or more pairs of a pair of left and right ground wheels 15a and 15b for pressing the crawler belts 14 against a traveling route are provided among the front wheels 12 and the rear wheels 13. A multifunctional portable terminal 16 for collecting information of surroundings of the robot main body is mounted on the robot main body. The robot main body has a direction turnabout section 18 converting a direction of propulsion such that the propulsion is oriented in a direction in which the robot main body bridges over the stepped portion when a front side of the robot main body 11 comes to a stepped portion of the traveling route. A tail portion 19 preventing the robot main body 11 from turning upside down on its backside when turnabout thereof is performed by the direction turnabout section 18 is provided at the rear portion of the robot main body 11.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a crawler robot that investigates a place where a human cannot enter.

  For example, in a nuclear power plant, there are places where radiation is high and there are narrow areas where humans cannot enter. In order to investigate such a location, an operator remotely controls the robot in the operation room so that the robot travels in the investigation area. As a remotely operated robot, a small crawler type robot having a pair of crawlers on the side surface of the robot body has been developed. This crawler-type robot is suitable not only for leveling but also for traveling on rough ground, and can overcome some level differences. Furthermore, crawler robots that can overcome high obstacles and steps are also being developed.

  As a crawler-type robot that can exceed high obstacles and steps, one end of a plate-shaped elastic body is fixed to the rear end of the body via a bracket, and the crawler-type robot tilts when climbing obstacles or steps Then, the elastic body hits the ground and is elastically deformed, and there is one in which the performance of overcoming obstacles and steps is increased without incurring costs (for example, see Patent Document 1).

  In addition, as a crawler-type traveling vehicle with improved step-over performance, a front crawler that protrudes forward is provided at the front of the main crawler, and the front crawler faces obliquely upward and is fixed in a non-rotatable state. The vehicle can be smoothly moved up to the upper surface side of the step part through the front end of the front crawler facing diagonally upward and forward only by moving forward toward the step part of the climb. (See, for example, Patent Document 2).

JP 2012-232631 A Japanese Patent No. 5536403

  However, in the thing of patent document 1, since the flat-plate-shaped elastic body is provided in the rear end part of the body, it is necessary to lengthen the elastic body in order to get over the high step, and the total length of the crawler robot becomes long. It becomes difficult to pass through a narrow crank.

  Moreover, in the thing of patent document 2, since the front-and-back crawlers are coaxially provided outside the pulley of the main crawler, the width of the crawler robot becomes wide and is not suitable for a narrow passage. Furthermore, a mechanism for controlling the rotation of the front and rear crawlers is required, which increases the manufacturing cost.

  To make it easier for a crawler robot to get over a level difference, it is conceivable to increase the crawler or lengthen the crawler. When the crawler is raised, in the case of a crawler type robot that passes through a narrow passage, the width is narrowed, so that the crawler becomes a robot that is higher than the width of the crawler type robot, and tends to fall sideways. On the other hand, if a crawler is lengthened, it will become a robot which cannot pass a narrow crank.

  An object of the present invention is to provide a crawler type robot that can pass through a passage with a narrow crank and can get over a step.

  The crawler type robot according to the invention of claim 1 is a pair of left and right front wheels provided at a front portion of a robot body, a pair of left and right rear wheels provided at a rear portion of the robot body, the front wheels and the rear wheels. A crawler belt spanned between the wheels, at least two or more pairs of left and right grounding wheels provided between the front wheels and the rear wheels for pressing the crawler belts on the road, and the robot body A multi-function portable terminal for collecting surrounding information and the direction of the propulsive force so that the propulsive force is directed in the direction over the step when the front side of the robot body comes to the step of the travel path And a tail portion which is provided at a rear portion of the robot main body and prevents the robot main body from turning over when the direction is changed by the direction changing portion.

  A crawler type robot according to a second aspect of the present invention is the crawler type robot according to the first aspect, wherein when the robot body comes to the stepped portion, the front wheel first contacts the side wall of the stepped portion. The front wheel protrudes forward from the robot body so that the front wheel reaches the nose of the stepped portion by the propulsive force of the front and rear wheels.

  A crawler type robot according to a third aspect of the present invention is the crawler type robot according to the first aspect, wherein when the robot body comes to the stepped portion, the tip portion first contacts the nose of the stepped portion. It is a guide part for guiding the robot main body in a direction to get over the step part so that the front wheel reaches the nose of the step part by the propulsion force of the front wheel and the rear wheel.

  A crawler type robot according to a fourth aspect of the present invention is the crawler type robot according to any one of the first to third aspects, wherein the robot main body is driven by a driving force from a driving motor on one of the pair of left and right front wheels. And a rear gear box for transmitting a driving force from the drive motor to either one of the pair of left and right rear wheels. The crawler type robot according to any one of claims 1 to 3.

  A crawler robot according to a fifth aspect of the present invention is the crawler type robot according to any one of the first to fourth aspects, wherein the crawler belt between the grounding wheel on the rear side of the robot body and the rear wheel, and the grounding ring. The angle formed by the crawler belt that is in contact with the crawler belt when the direction change portion is changed in the direction to get over the stepped portion, the crawler belt between the ground wheel and the rear wheel is in contact with the traveling road, The front wheel has an angle that reaches the height of the nose of the stepped portion.

  A crawler robot according to a sixth aspect of the present invention is the crawler-type robot according to any one of the first to fifth aspects, wherein the grounding wheel moving mechanism unit that moves the position of the grounding wheel on the rear side of the robot body in the front-rear direction. Providing a crawler belt between the ground wheel and the rear wheel on the rear side of the robot body by changing the length of the crawler belt between the ground wheel and the rear wheel on the rear side of the robot body; The angle formed by the crawler belt in contact with the grounding wheel is adjusted to an angle at which the front wheel reaches the height of the nose of the stepped portion.

  A crawler type robot according to a seventh aspect of the invention is characterized in that, in the invention according to any one of the first to sixth aspects, a wire for lifting the robot main body is hooked on a rear portion of the robot main body.

  According to the present invention, the direction changing unit changes the direction of the propulsive force so that the propulsive force is directed in a direction to get over the step when the front side of the robot main body comes to the stepped portion of the traveling path. It is possible to prevent the robot body from being turned upside down at the tail portion even when the inclination becomes steep. Accordingly, the step can be overcome without increasing the overall length of the robot body, and the overall length of the robot body can be shortened, so that a narrow crank can also pass.

The side view of the crawler type robot concerning a 1st embodiment of the present invention. The front view and top view of a crawler type robot concerning a 1st embodiment of the present invention. Explanatory drawing of the operation | movement in which the crawler type robot which concerns on 1st Embodiment of this invention gets over a level | step difference part. The side view of the crawler type robot concerning a 2nd embodiment of the present invention. Explanatory drawing of the operation | movement in which the crawler type robot which concerns on 2nd Embodiment of this invention gets over a level | step-difference part. The schematic block diagram of the crawler type robot which concerns on 3rd Embodiment of this invention.

  Embodiments of the present invention will be described below. FIG. 1 is a side view of a crawler type robot according to a first embodiment of the present invention, FIG. 1 (a) is a side view of a state in which a multi-function mobile terminal is set up, and FIG. 1 (b) is a multi-function mobile terminal. It is a side view of the folded state.

  A pair of left and right front wheels 12 are provided at the front of the robot body 11, and a pair of left and right rear wheels 13 are provided at the rear of the robot body 11. Since FIG. 1 is a side view, only a pair of left and right front wheels 12 and a pair of left and right rear wheels 13 are shown on the front side. A crawler belt (crawler) 14 is stretched between the front wheel 12 and the rear wheel 13, and three sets of left and right 1 for pressing the crawler belt 14 against the traveling path are provided between the front wheel 12 and the rear wheel 13. A pair of grounding wheels 15a, 15b, and 15c are provided. As for the pair of left and right grounding wheels 15a, 15b, and 15c, only the front side is shown in the same manner as the pair of left and right front wheels 12 and the pair of left and right rear wheels 13. Although FIG. 1 shows a case where three sets of grounding rings 15a, 15b, and 15c are provided, two sets or four sets may be used. Three sets are desirable for practical use. This is because the robot body 11 can be easily turned by installing the grounding wheel 15b located at the center of the three grounding wheels 15a, 15b, and 15c slightly protruding from the other grounding wheels 15a and 15c. is there. That is, when the robot body 11 turns, the grounding wheel 15b in the central portion that is slightly protruded can be used as a fulcrum.

  A multifunctional mobile terminal 16 is mounted on the robot body 11. The multifunctional mobile terminal 16 includes various sensors, such as a camera, a microphone, an acceleration sensor, a temperature sensor, and a light (illumination element), WiFi, and a speaker, and collects surrounding information. To do. For example, the surroundings are photographed with a camera, ambient sounds are collected with a microphone, the tilt of the robot body 11 is detected with an acceleration sensor, and the ambient temperature is detected with a temperature sensor. Further, the multi-function portable terminal 16 is attached by a pan / tilt mechanism unit 17, and the pan / tilt mechanism unit 17 can swing in the horizontal direction and swing in the vertical direction. The multifunctional portable terminal 16 is moved in the direction of collecting information by swinging in the horizontal direction and swinging in the vertical direction. In addition to collecting information, the position of the center of gravity of the crawler robot itself can be adjusted. When the multi-function mobile terminal 16 is tilted forward in front of the robot body 11 due to vertical swing, the center of gravity is more than the front, and when the multi-function mobile terminal 16 is tilted behind the robot body 11, the center of gravity is Will be later. When climbing over a step, the center of gravity of the crawler robot itself is moved to make it easier to get over.

  Here, the front wheel 12 is provided to protrude in front of the robot body 11. This is because the direction of the propulsive force is changed so that the propulsive force is directed in a direction to get over the step portion when the front side of the robot body 11 comes to the step portion of the traveling path. That is, the structure in which the front wheel 12 is provided to protrude in front of the robot body 11 forms the direction changing portion 18. The operation of the direction changing unit 18 will be described later.

  A tail portion 19 is provided at the rear of the robot main body 11 to prevent the robot main body 11 from turning upside down when the direction changing portion 18 changes the direction. The tail portion 19 is provided with a plurality of rollers 20, and when the tail portion 19 comes into contact with the travel path, the roller 20 reduces the frictional resistance with the travel path. The tail portion 19 is provided with a latching portion 21 for latching the wire. The reason for hooking the wire to the hooking portion 21 is that the crawler-type robot travels in a place where humans cannot enter, so when the crawler-type robot rolls over or cannot run due to an obstacle, the wire This is because the crawler-type robot can be lifted up and returned to a normal posture by pulling. Also, when collecting the crawler robot, it is collected by pulling the wire.

  2A and 2B are a front view and a plan view of the crawler robot according to the first embodiment of the present invention. FIG. 2A is a front view and FIG. 2B is a plan view. In FIG. 2A, a crawler belt 14 is stretched over a pair of left and right front wheels 12, a pair of left and right rear wheels 13, and a pair of left and right grounding wheels 15a, 15b and 15c. A multi-function mobile terminal 16 is mounted via the mechanism unit 17.

  2B, the robot body 11 houses one front gear box 22 and one rear gear box 23. In FIG. 2B, illustration of the crawler belt 14 and the multi-function portable terminal 16 is omitted. One front gear box 22 transmits a driving force from a driving motor (not shown) to any one of the front wheels 12. Similarly, one rear gear box 23 transmits a driving force from a driving motor (not shown) to any one of the rear wheels 13.

  The reason for this configuration is to reduce the width of the robot body 11. In order to transmit the driving force from the drive motor to both front wheels 12, two front gear boxes 22 are required. Similarly, in order to transmit the driving force from the drive motor to both rear wheels 13, two This is because the rear gear box 23 is necessary, and if the two front gear boxes 22 and the two rear gear boxes 23 are provided, the width of the robot body 11 becomes large, and the robot body 11 cannot be reduced in size. In the first embodiment of the present invention, in order to reduce the width of the robot body 11, one front gear box 22 and one rear gear box 23 are provided, and the front wheel 12 and the rear wheel 13 that are in the diagonal positions are driven wheels. And

  FIG. 3 is an explanatory diagram of the operation of the crawler robot according to the first embodiment of the present invention over the stepped portion. As shown in FIG. 3A, it is assumed that the crawler robot that has traveled on the flat travel path 24 has reached the step portion 25. Since the direction changing portion 18 has a structure in which the front wheels 12 are provided to protrude in front of the robot body 11, when the crawler type robot reaches the step portion 25, the crawler belt 14 first contacts the side wall of the step portion 25. .

  When the front wheel 12 and the rear wheel 13 are continuously driven in this state, the front wheel 12 reaches the nose of the step portion 25 by the frictional force between the crawler belt 14 and the side wall of the step portion 25 due to the propulsive force of the front wheel 12 and the rear wheel 13. The step 25 is hung up like this. Then, as shown in FIG. 2 (b), the front wheel 12 reaches the step nose of the step portion 25.

  At this time, the crawler belt 14a between the grounding wheel 15c on the rear side of the robot body 11 and the rear wheel 13 is in contact with the traveling path 24, and the crawler belt 14b in contact with the grounding wheels 15a, 15b, 15c is in the air. It is in a floating state. At this time, an angle formed by the crawler belt 14a between the ground ring 15c on the rear side of the robot body 11 and the rear wheel 13 and the crawler belt 14b in contact with the ground wheels 15a, 15b, 15c is defined as an elevation angle θ. The arrangement of the front wheel 12, the grounding wheels 15a, 15b, 15c, and the rear wheel 13 is determined in advance so that the elevation angle θ can be secured. This is because the height of the stepped portion at the location where the crawler-type robot travels and investigates is known.

  When the front wheels 12 and the rear wheels 13 continue to be driven in a state where the front wheels 12 reach the nose of the step portion 25, the crawler belts 14 and 14 are caused by the propulsive force of the front wheels 12 and the rear wheels 13 as shown in FIG. The tail part 19 comes into contact with the travel path 24 by moving forward over the nose of the step part 25 by the frictional force with the nose of the step part 25.

  If the driving of the front wheel 12 and the rear wheel 13 is further continued in the state of FIG. 3C, the crawler belt 14 and the step portion 25 are driven by the propulsive force of the front wheel 12 and the rear wheel 13 as shown in FIG. The tail part 19 remains in contact with the traveling path 24 as it further moves forward so as to get over the step nose of the step part 25 by the frictional force with the nose. Since the tail portion 19 is in contact with the travel path 24, the crawler robot can be prevented from being turned upside down. 3 (c) and 3 (d) show the folded state as the position of the multi-function mobile terminal 16, but the pan-tilt mechanism unit 17 tilts the multi-function mobile terminal 16 forward so that the center of gravity is forward. By moving, it is easy to get over the stepped portion 25 of the crawler type robot.

  If the driving of the front wheel 12 and the rear wheel 13 is further continued in the state of FIG. 3D, the crawler belt 14 and the step portion 25 are driven by the propulsive force of the front wheel 12 and the rear wheel 13 as shown in FIG. It will be in the state which got over the nose of the level | step-difference part 25 with the frictional force with no nose.

  Thus, when the front wheel 12 is provided as a direction changing portion 18 so as to protrude forward of the robot body 11, the front wheel 12 first contacts the side wall of the step portion 25, and the front wheel 12 and the rear wheel 13 Since the driving force causes the propulsive force to go over the step portion 25, the step portion 25 can be overcome. In this case, since the height of the step portion 25 where the crawler-type robot travels and investigates is known, the front wheel 12 can be secured in advance so that the inclination (elevation angle θ) of the robot body 11 that can get over the step portion 25 can be secured. The arrangement of the grounding wheels 15a, 15b, 15c and the rear wheel 13 is determined in advance.

  Further, since the robot body 11 is supported by the tail portion 19 even when the elevation angle θ of the robot body 11 is increased, the robot body 11 can be prevented from being turned upside down. As a result, the step can be overcome without increasing the overall length of the robot body. Since the overall length of the robot body can be shortened, a narrow crank can pass through. Furthermore, the front gear box 22 and the rear gear box 23 are provided as one, and the front wheel 12 and the rear wheel 13 that are in the diagonal positions are used as driving wheels. Therefore, the width of the robot body 11 can be reduced and narrow. You can go through the passage.

  FIG. 4 is a side view of a crawler robot according to a second embodiment of the present invention, FIG. 4 (a) is a side view of the multi-function mobile terminal standing up, and FIG. 4 (b) is a multi-function mobile terminal. It is a side view of the state which folded up. Instead of the direction changing portion 18 having a structure in which the front wheel 12 in the first embodiment shown in FIG. 1 protrudes in front of the robot main body 11, the robot main body 11 is moved in a direction over the step portion 25 as the direction changing portion 18. A guide portion 26 for guiding is provided. The same elements as those in FIG. 1 are denoted by the same reference numerals, and redundant description is omitted.

  When the robot body 11 comes to the step portion 25, the guide portion 26 as the direction changing portion 18 first contacts the nose of the step portion 25 when the robot body 11 comes to the step portion 25, and the propulsive force of the front wheel 12 and the rear wheel 13. Thus, the robot main body 11 is guided so that the front wheel 12 reaches the nose of the step portion 25. As a result, the robot body 11 is guided in a direction over the stepped portion 25.

  FIG. 5 is an explanatory diagram of the operation of the crawler robot according to the second embodiment of the present invention over the stepped portion. As shown in FIG. 5A, it is assumed that the crawler robot that has traveled on the flat travel path 24 has reached the step portion 25. Since the guide portion 26 which is the direction changing portion 18 has a structure in which the guide portion 26 is provided to protrude in front of the robot body 11, when the crawler type robot reaches the step portion 25, the guide portion 26 is the first step. The nose of part 25 is contacted.

  If the front wheel 12 and the rear wheel 13 are continuously driven in this state, the front wheel 12 and the rear wheel 13 are driven by the guide portion 26 so that the front wheel 12 reaches the nose of the step portion 25 by the propulsive force of the front wheel 12 and the rear wheel 13. Hung up. Then, as shown in FIG. 5B, the front wheel 12 reaches the step nose of the step portion 25.

  At this time, the crawler belt 14a between the grounding wheel 15c on the rear side of the robot body 11 and the rear wheel 13 is in contact with the traveling path 24, and the crawler belt 14b in contact with the grounding wheels 15a, 15b, 15c is in the air. It is in a floating state. At this time, an angle formed by the crawler belt 14a between the ground ring 15c on the rear side of the robot body 11 and the rear wheel 13 and the crawler belt 14b in contact with the ground wheels 15a, 15b, 15c is defined as an elevation angle θ. The arrangement of the front wheel 12, the grounding wheels 15a, 15b, 15c, and the rear wheel 13 is determined in advance so that the elevation angle θ can be secured. This is because the height of the stepped portion at the location where the crawler-type robot travels and investigates is known.

  When the front wheel 12 and the rear wheel 13 continue to be driven in a state where the front wheel 12 has reached the nose of the stepped portion 25, the crawler belt 14 and The tail part 19 comes into contact with the travel path 24 by moving forward over the nose of the step part 25 by the frictional force with the nose of the step part 25.

  If the driving of the front wheels 12 and the rear wheels 13 is further continued in the state of FIG. 5C, the crawler belt 14 and the stepped portion 25 are driven by the propulsive force of the front wheels 12 and the rear wheels 13 as shown in FIG. The tail part 19 remains in contact with the traveling path 24 as it further moves forward so as to get over the step nose of the step part 25 by the frictional force with the nose. Since the tail portion 19 is in contact with the travel path 24, the crawler robot can be prevented from being turned upside down. 5C and 5D show the folded state as the position of the multi-function mobile terminal 16, but the pan-tilt mechanism unit 17 tilts the multi-function mobile terminal 16 forward so that the center of gravity is located forward. By moving, it is easy to get over the stepped portion 25 of the crawler type robot.

  If the driving of the front wheel 12 and the rear wheel 13 is further continued in the state of FIG. 5D, the crawler belt 14 and the stepped portion 25 are driven by the propulsive force of the front wheel 12 and the rear wheel 13 as shown in FIG. It will be in the state which got over the nose of the level | step-difference part 25 with the frictional force with no nose.

  In the case of the second embodiment, the same effect as that of the first embodiment can be obtained. That is, as the direction changing portion 18, the guide portion 26 is provided so as to protrude forward of the robot body 11, so that the guide portion 26 first contacts the nose of the step portion 25, and the front wheel 12 and the rear wheel 13 Since the driving force causes the propulsive force to go over the step portion 25, the step portion 25 can be overcome. In this case, since the height of the step portion 25 where the crawler-type robot travels and investigates is known, the front wheel 12 can be secured in advance so that the inclination (elevation angle θ) of the robot body 11 that can get over the step portion 25 can be secured. The arrangement of the grounding wheels 15a, 15b, 15c and the rear wheel 13 is determined in advance.

  Further, since the robot body 11 is supported by the tail portion 19 even when the elevation angle θ of the robot body 11 is increased, the robot body 11 can be prevented from being turned upside down. As a result, the step can be overcome without increasing the overall length of the robot body. Since the overall length of the robot body can be shortened, a narrow crank can pass through. Furthermore, the front gear box 22 and the rear gear box 23 are provided as one, and the front wheel 12 and the rear wheel 13 that are in the diagonal positions are used as driving wheels. Therefore, the width of the robot body 11 can be reduced and narrow. You can go through the passage.

  FIG. 6 is a schematic configuration diagram of a crawler type robot according to a third embodiment of the present invention. FIG. 6 (a) is a schematic side view having a grounding wheel moving mechanism, and FIG. 6 (b) is grounding wheel movement. FIG. 6C is a schematic side view of a state in which the rear-side grounding wheel is moved forward by the mechanism, and FIG. 6C is a schematic side view of the state in which the rear-side grounding wheel is moved rearward by the grounding wheel moving mechanism. .

  In FIG. 6, illustration of the robot main body 11 and the multifunctional portable terminal 16 is omitted, and only the front wheel 12, the rear wheel 13, the grounding wheels 15a, 15b, 15c, and the crawler belt 14 are illustrated. As shown in FIG. 6A, a grounding wheel moving mechanism 27 for moving the position of the grounding wheel 15c on the rear side in the front-rear directions Y1 and Y2 is provided. The grounding wheel moving mechanism unit 27 moves the position of the shaft 28 of the grounding wheel 15 c in parallel with the line L connecting the shafts of the front wheel 12 and the rear wheel 13. In a state where the grounding wheel moving mechanism 27 does not move the position of the rear side grounding wheel 15c, the length of the crawler belt 14a between the rear side grounding wheel 15c and the rear wheel 13 is D, and the rear side The angle formed by the crawler belt 14a between the grounding wheel 15c and the rear wheel 13 and the crawler belt 14b in contact with the grounding wheels 15a, 15b, 15c is θ.

  FIG. 6B shows a state in which the position of the grounding wheel 15c on the rear side is moved in the front direction Y1. In FIG. 6B, the illustration of the grounding wheel moving mechanism unit 27 is omitted. When the position of the rear-side grounding wheel 15c is moved in the front direction Y1, the crawler belt length D1 between the rear-side grounding wheel 15c and the rear wheel 13 is greater than the length D in the case of FIG. The angle θ1 formed by the crawler belt 14a between the grounding wheel 15c on the rear side and the rear wheel 13 and the crawler belt 14b in contact with the grounding wheels 15a, 15b, 15c is larger than the angle θ in the case of FIG. Get smaller.

  FIG. 6C shows a state in which the position of the rear-side grounding wheel 15c is moved in the rear direction Y2. In FIG. 6C, the illustration of the grounding wheel moving mechanism unit 27 is omitted. When the position of the rear-side grounding wheel 15c is moved in the rear direction Y2, the crawler belt length D2 between the rear-side grounding wheel 15c and the rear wheel 13 is greater than the length D in the case of FIG. The angle θ2 formed by the crawler belt 14a between the grounding wheel 15c on the rear side and the rear wheel 13 and the crawler belt 14b in contact with the grounding wheels 15a, 15b, 15c is smaller than the angle θ in the case of FIG. growing.

  As described above, since the inclination angle of the robot body 11 can be changed according to the height of the stepped portion 25 by the grounding wheel moving mechanism portion 27, the front wheel 12 and the guide portion 26 have the height of the nose of the stepped portion 25. Can be adjusted to reach the angle. As a result, the tilt of the robot body 11 can be changed in accordance with the height of the stepped portion where the crawler-type robot travels and investigates.

  As described above, the crawler robot according to the embodiment of the present invention includes the robot main body 11 and the crawler belts 14 on the left and right sides thereof, and the multifunctional portable terminal 16 whose angle can be changed by the pan / tilt mechanism unit 17 on the upper surface. The tail part 19 with the roller 20 is provided in the part. The width of the robot body 11 is a single front gearbox that transmits the driving force from the driving motor to one of the pair of left and right front wheels 12 so that the width can pass through the narrow passage. One rear gear box that transmits the driving force from the drive motor to one of the pair of left and right rear wheels 13 is used.

  In addition, since the grounding wheel 15b located at the center of the three sets of grounding wheels 15a, 15b, and 15c is installed slightly protruding from the other grounding wheels 15a and 15c, the grounding wheel 15b at the center is used as a fulcrum. The robot body 11 is easy to turn.

  Further, since the robot body 11 is supported by the tail portion 19 at the rear end of the robot body 11 when the stepped portion 25 is climbed over, the climbing performance of the stepped portion 25 is improved without turning over. Furthermore, since the roller 20 disposed on the lower surface of the tail portion 19 reduces the frictional resistance between the tail portion 19 and the floor surface of the traveling path 24 when the step portion 25 is climbed over, the climbing performance of the step portion 25 is deteriorated. Can be prevented.

  By moving the multifunction portable terminal 16 forward and moving the position of the center of gravity of the robot body 11 forward, the climbing performance of the step 25 is further improved. By making the tail portion 19 detachable from the base portion, the tail portion 19 can be replaced with the tail portion 19 having an optimum angle according to the height of the stepped portion 25 at the investigation location.

  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 novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 11 ... Robot main body, 12 ... Front wheel, 13 ... Rear wheel, 14 ... Track, 15 ... Ground wheel, 16 ... Multifunctional portable terminal, 17 ... Pan tilt mechanism part, 18 ... Direction change part, 19 ... Tail part, 20 ... Roller , 21 ... Hook, 22 ... Front gear box, 23 ... Rear gear box, 24 ... Travel path, 25 ... Step part, 26 ... Guide part, 27 ... Grounding wheel moving mechanism part, 28 ... Shaft

Claims (7)

A pair of left and right front wheels provided at the front of the robot body;
A pair of left and right rear wheels provided at the rear of the robot body;
A crawler belt spanned between the front wheel and the rear wheel;
A pair of left and right grounding wheels provided between the front wheel and the rear wheel for pressing the crawler belt against a traveling path;
A multifunctional mobile terminal mounted on the robot body for collecting surrounding information;
A direction changing unit that changes the direction of the propulsive force so that the propulsive force is directed in a direction to get over the stepped portion when the front side of the robot body comes to the stepped portion of the traveling path;
A crawler-type robot provided with a tail portion provided at a rear portion of the robot main body to prevent the robot main body from being turned upside down when the direction is changed by the direction changing portion.   When the robot body comes to the stepped portion, the direction changing portion is configured such that the front wheel first contacts the side wall of the stepped portion, and the front wheel reaches the nose of the stepped portion by the driving force of the front and rear wheels. The crawler robot according to claim 1, wherein the front wheel has a structure that protrudes forward of the robot body.   When the robot body comes to the stepped portion, the direction changing portion has a tip that first contacts the nose of the stepped portion and the front wheel reaches the stepped nose of the stepped portion by the propulsive force of the front and rear wheels. The crawler-type robot according to claim 1, wherein the crawler robot is a guide portion that guides the robot body in a direction over the stepped portion.   The robot body is driven by one front gearbox that transmits a driving force from a drive motor to one of the left and right pair of front wheels and one of the left and right pair of rear wheels. The crawler robot according to any one of claims 1 to 3, further comprising a rear gear box that transmits a driving force from a motor.   The angle formed by the crawler belt between the grounding wheel on the rear side of the robot body and the rear wheel and the crawler belt in contact with the grounding wheel was changed in a direction to get over the stepped portion by the direction changing portion. When the crawler belt between the ground wheel and the rear wheel is in contact with the traveling road, the front wheel is at an angle that reaches the height of the nose of the stepped portion. The crawler robot according to claim 4.   A grounding wheel moving mechanism for moving the position of the grounding wheel on the rear side of the robot body in the front-rear direction is provided, and the length of the crawler belt between the grounding wheel on the rear side of the robot body and the rear wheel is changed. The front wheel reaches the height of the nose of the stepped portion at an angle formed by the crawler belt between the grounding wheel and the rear wheel on the rear side of the robot body and the crawler belt in contact with the grounding wheel. The crawler robot according to claim 5, wherein the crawler robot is adjusted to an angle.   The crawler robot according to any one of claims 1 to 6, wherein a wire for lifting the robot body is hooked on a rear portion of the robot body.

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