JP2709571B2 - Rough Terrain Mobile Robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an irregular terrain mobile robot capable of moving at high speed in a stable state even on uneven terrain.

[0002]

2. Description of the Related Art An irregular terrain mobile robot moves on an irregular terrain surface, a muddy ground, a water bottom, or the like. Mobile robots equipped with caterpillars are driven by dynamic friction between the caterpillars and the ground.However, in muddy areas where friction is low, high-speed movement is hindered due to slippage. I do.

[0003] In a mobile robot having multiple joints and multiple legs, a relatively small number of legs are rotated around a central portion, such as the movement of an animal's leg, while bending and stretching the joint.
By using a complicated operation such as expansion and contraction of a leg, static friction between a ground contact leg and the ground moves on an uneven ground (Japanese Patent Laid-Open No. 3-92275).

[0004]

However, in the conventional mobile robot having multiple joints and multiple legs, the moving and extending and retracting of the legs in the stance phase, the bending and stretching operations of the multiple joints, and the multiple movements are performed. It is necessary to accurately control complicated movements such as the rotation of the legs, and it takes time to control the components in the movement, so that the mobile robot cannot move at high speed. Moreover, since the structure is complicated, it is difficult to provide sufficient reliability.

The legs have an L-shape, and the leg mechanism, which has a large leg radius and is heavy, is rotated on a large circumference, so that the driving torque is also increased, so that the driving device is enlarged and power consumption is reduced. Will increase. Furthermore, since the L-shaped legs increase the size of the structure capable of supporting a high load, the load capacity of the mobile robot is limited to a small weight, and the mobile robot is likely to be larger. Absent.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and provides an irregular terrain mobile robot capable of moving at high speed in a stable state by increasing the load capacity even on irregular terrain with a relatively simple structure and control. It is intended to provide.

[0007]

According to the present invention, there is provided a mobile robot capable of traveling on rough terrain, comprising a worktable, a drive mechanism, a leg mechanism, The drive mechanism is composed of an endless track having a vertical track surface and drive wheels, and is suspended in a double row on a workbench.The plurality of leg mechanisms are spaced from the outer surface of the track. And a control device for controlling the movement of the main body so that the leg mechanism exhibits a standing phase on the outer edge side of the endless track and a free leg phase on the inner edge side. It is characterized by having.

Further, according to the present invention, a leg mechanism erected on an endless track comprises an upper leg, a middle leg, and a lower leg, wherein the middle leg is screwed on the inner surface of the upper leg, and the lower leg is screwed on the inner surface of the middle leg. The entire leg mechanism is inserted through the lower part sequentially, and the pressure sensor provided on the seat plate of the lower leg is used to detect the ground pressure at the time of touching the ground according to the ground shape, and the rotation of the middle leg and / or the lower leg causes the entire leg mechanism. The length is controlled to be flexible.

Further, according to the present invention, the turning mechanism has a reference wheel axis located at the center in the longitudinal direction of the drive mechanism as a main axis, and the front turning mechanism and the rear turning mechanism, which are formed in a fan-shaped segment, are installed above the support member. The center of the fan shape of the two turning mechanisms is located on the main shaft, and the two turning mechanisms are engaged with a transmission means provided at a lower portion of the worktable.

Further, the present invention is characterized in that the main body is operated by selecting a forward operation, a reverse operation, a turning operation, a skew operation, and a rotating operation according to a command from the control device, and moves.

According to the present invention, there is provided a mobile robot capable of traveling on rough terrain.
A drive mechanism, a leg mechanism, a control device, and the like. The drive mechanism is composed of an endless track having a vertical track surface and drive wheels, and is suspended in a double row on a workbench. A guide mechanism for the leg mechanism, which is integrally erected on the surface via a leg fixing device with a space therebetween and has an annular shape and a height difference formed on both sides on the work table, is attached to the outside of the endless track. A control device is provided which controls the movement of the main body so as to exhibit the stance phase on the edge side and the free leg phase on the inner edge side.

Further, according to the present invention, a leg mechanism erected on an endless track comprises an upper leg, a middle leg, and a lower leg, wherein the middle leg is provided on the inner surface of the upper leg, and the lower leg is provided on the inner surface of the middle leg. The overall length of the leg mechanism can be extended and contracted by elastic movement of the middle leg and / or the lower leg through the elastic material.

[0013]

According to the present invention constructed as described above, when the drive mechanism is driven, the leg mechanism located on the outer edge side in the movement process moves the leg in the standing phase with respect to the irregular ground. The whole length is changed and it comes into contact with the ground, and the leg mechanism located on the inner edge side reduces the total length of the legs and releases them from the ground in the swing phase, and on the track surface of the drive wheel endless track , A driving force is generated, and the main body is propelled. The main unit is operated by selecting a forward operation, a reverse operation, a turning operation, a sloping operation, and a rotating operation according to a command from the control device, and stably supports all loads including the load of the main unit even on uneven terrain, and moves at high speed. be able to.

[0014]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing one embodiment of the present invention, and FIG.
FIG. 3 is an overall configuration diagram showing one embodiment of the present invention, and FIG.
FIG. 4 is a plan view taken along arrow 4-4 in FIG. 2, FIG.
Is a plan view of the drive mechanism, FIG. 6 is an assembled sectional view of the leg mechanism,
FIG. 7 is a partial view of FIG. 6, FIG. 8 is an assembly view of a main part of the leg mechanism, and FIG. 9 is a system diagram of the control device.

1 to 8, reference numeral 10 denotes a main body of a mobile robot, and a load is mounted on a work table 12;
A plurality of leg mechanisms 30 and the like are erected on the outer surface of the endless track 22 of the drive mechanism 14 suspended below the lower part 2.

The driving mechanism 14 is constituted by driving mechanisms 14L and 14R arranged in two rows and in parallel with each other.
It has a front drive wheel 18 driven by a front motor 19, a rear drive wheel 20 driven by a rear motor 21, and a reference wheel 16 located at the center, all of which are vertically supported by a support member 15. Have been.

Reference numeral 18a denotes an endless track support block of the front drive wheel 18, reference numeral 20a denotes an endless track support block of the rear drive wheel 20, and reference numeral 15b denotes an endless track lateral support member, all of which constitute a part of the support member 15. Thus, the rigidity of the drive mechanism 14 is increased.

The drive mechanism 14 is provided with an endless track 22 which is engaged with the upright front drive wheel 18, the reference wheel 16 and the rear drive wheel 20 in a series to form a vertical track surface. The drive torque of the wheel 18 and the rear drive wheel 20 is transmitted, and the leg mechanism 30 described later is sequentially transferred in the movement direction, thereby being used for the propulsion movement of the main body 10.

Reference numeral 24 denotes a tension holding mechanism, and the front drive wheel 1
8, disposed at an intermediate portion between each of the reference wheel 16 and the rear drive wheel 20, and the tension of the endless track 22 is maintained by using an elastic means or the like.

Reference numeral 30 denotes a leg mechanism, and as described above,
Leg fixing device 3 with a required interval on the outer surface of endless track 22
A plurality of the members are integrally erected through the intermediary member 8. The leg mechanism 30 is divided into an upper leg 32, a middle leg 34, and a lower leg 36, and the middle leg 34 is provided on the inner surface of the upper leg 32.
The lower leg 36 can be inserted into the inner surface of the middle leg 34, respectively.
The entire length of the leg mechanism 30 is made telescopic.

The upper leg 34 has a ball bearing 33 on the top.
, Which is slidably abutted against the lower surface of the support member 15, and a thread 32 c is threaded on the inner surface thereof, and is fitted with a thread groove 34 c threaded on the outer surface of the middle leg 34. Reference numeral 32b denotes a vertical groove, which is fitted with a protrusion 34b provided on the outer skin of a motor 34a provided on the top of the middle leg 34. Reference numeral 32a denotes a motor drive device provided on the inner top.

A thread 34 d is threaded on the inner surface of the middle leg 34, and is fitted with a thread root 36 c threaded on the outer surface of the lower leg 36. Reference numeral 34e denotes a vertical groove, which is fitted with a protrusion 36b provided on the outer skin of a motor 36a provided on the top of the lower leg 36. A seat plate 37 is attached to the bottom of the lower leg 36 via a ball joint 36d, and a pressure sensor 37a is incorporated on the back surface of the seat plate 37 to detect a contact pressure when the leg mechanism 30 contacts the ground.

Reference numeral 56 denotes a brush support, and the support member 15
A plurality of brushes 54 are disposed and slidably contact with a plurality of brush guide grooves 54a formed on the inner surface of the endless track 22 to form an electric circuit. As the motors 34a and 36a, a stepping motor is preferable, and the motor driving device 32a
By operating the motors 34a and 36a in response to the drive pulse signal from the controller and changing the operating lengths of the middle leg 34 and the lower leg 36 under forward or reverse rotation, the overall length of the leg mechanism 30 is changed. Makes it stretchable.

Numeral 40 denotes a turning mechanism, which is attached to the top of the two series of driving mechanisms 14L and 14R, and steers the driving mechanisms 14L and 14R to turn the main body 10 in the left-right direction with respect to the forward direction. Is what you do.

The main shaft 42 of the turning mechanism 40 is connected to the reference wheel 1 located substantially at the center of the working table 12 and the driving mechanism 40 in the longitudinal direction.
6, a front turning mechanism 46 on the front drive wheel 18 side centered on the main shaft 42, which is installed above the support member 15,
A rear turning mechanism 48 is provided on the rear drive wheel 20 side.

The front turning mechanism 46 and the rear turning mechanism 48
Each of them has a fan-shaped segment shape and the main shaft is 4
2 and the outer edges of the sector segments are gears 46a, 4
8a are formed respectively, and pinions 50a, 5 which are transmission means of motors 50, 52 attached to the lower portion of the worktable 12 are formed.
The steering is performed by turning the front and rear portions of the drive mechanisms 14L and 14R by driving the motors 50 and 52 while meshing with the motor 2a. It is preferable to use stepping motors as the motors 50 and 52.

Reference numeral 26 denotes a control device, which is disposed below the work table 12 and in the middle of the drive mechanisms 14L and 14R, and has a power source for the main body 10, a control unit, and the like. FIG.
1 is a system diagram of a control device according to the present embodiment. In FIG. 9, the control device 26 includes a front motor 19, a rear motor 21, and a leg mechanism 30 attached to an endless track, which constitute the drive mechanisms 14L and 14R, more specifically, a motor drive device 32a, a middle leg motor 34a, and a lower leg motor. 36a and the operations of the motors 50 and 52 of the turning mechanism 40 are controlled to enable steering of the main body 10 such as forward movement, backward movement, left turn, right turn, skew, and rotation.

The encoders 19a and 21a are provided in the front motor 19 and the rear motor 21, respectively, and output signals 19b and 21b are input to the controller 26 as unit angular displacement signals of the motors 19 and 21, respectively. When a command C by a remote signal or the like is given to the control device 26, the output signals 19c and 21c are output from the front motor 19 and the rear motor 2
1, the number of rotations is controlled.

With the rotation of the front motor 19 and the rear motor 21, the front drive wheel 18, the rear drive wheel 20 and the reference wheel 16 are driven on the vertical track surface of the endless track 22.

An output signal 30c from the control device 26 is input to a plurality of leg mechanisms 30 erected on the endless track 22 to expand and contract the entire length of each leg mechanism 30 so that each leg mechanism 30 is in the stance phase or idle state. The motor drive 3
2a. Under such operation, the endless track 22
On the outer edge side, the transferred leg mechanism 30 is set to exhibit a standing phase, and on the inner edge side, the transferred leg mechanism 30 is controlled so as to exhibit a free leg phase.
A driving force is generated by driving on the track surface of the zero endless track 22, and the main body 10 is propelled by moving the leg mechanism 30 sequentially in the moving direction.

Output signals 50a, 52 from control device 26
a is the motor 5 of the front turning mechanism 46 and the rear turning mechanism 48.
The rotation of the drive mechanisms 14L and 14R is input to the main body 10 and the main body 10 is steered.

FIGS. 10A and 10B are explanatory views showing the state of the forward operation in the present embodiment. FIG. 10A shows the operation at the position (a), and FIG. 10B shows the operation from the position (a) to the position (b). )
10 (c) shows the operation of moving forward from the position (b) to the position (c).

Only the operation of the drive mechanism 14L of the drive mechanism 14 is shown, and the drive mechanism 14R arranged symmetrically with the drive mechanism 14R performs symmetrical operation, so that redundant description will be omitted. I have. In FIG. 10, 1, 2, 3,...
In order to simplify each leg mechanism of the leg mechanism 30 erected on the endless track, the numerals 14, 14, and 16 are sequentially shown with the above numbers, and those marked with a cross are those in the stance phase state. A leg mechanism without a cross mark indicates a leg mechanism in the swing phase. Also, the front drive wheel 1
8. The rear drive wheel 20 is driven in the direction of arrow A to
6 is rotated in the A direction.

In FIG. 10A, the leg mechanism 30 is
The ones in the 1,2,6,7 are in the stance phase and the 8,9 ...
15 and 16 are in the swing phase, and in such a state, drive is generated by driving the drive wheels 18 and 20, and the leg mechanism 30 is sequentially moved in the moving direction, so that the propulsion movement of the main body 10 is performed. Is performed.

In FIG. 10B, when the main body 10 moves forward from the position (a) to the position (b), the leg mechanism 3 is moved.
16 of 0 are newly rotated and moved to the stance phase, the above 7 is separated from the stance phase and shifts to the swing phase, and those of 16, 1 ... 5 and 6 are in the state of the stance phase. , 7,
8 ... 14 and 15 are in the swing phase and drive wheel 1
The drive of 8, 20 is performed, and the propulsion of the main body 10 is continued.

In FIG. 10C, when the main body 10 moves forward from the position (b) to the position (c), the leg mechanism 3 is moved forward.
15 of 0 are newly rotated and moved to the stance phase, 6 above are separated from the stance phase and shift to the swing phase, and those of 15, 16,... , 6,
8... 13 and 14 are in the idle phase, the drive wheels 18 and 20 are driven, and the propulsion movement of the main body 10 is continued.

By continuously repeating the above-described operations, the drive wheels 18 and 20 are driven on the track surface of the endless track 22 to achieve the forward movement of the main body 10.

FIG. 11 is an explanatory view showing the forward movement in the present embodiment based on FIG. 10. FIG. 11 (a) shows the operation of the drive mechanism 14, and FIG. 11 (b) is a side view of FIG. 11 (a). FIG. 11 (c) is a side view when the robot has advanced to the position (c), and FIG. 11 (d) is a front view of FIG. 11 (b).

In FIG. 11A, the driving mechanism 14L of the driving mechanism 14 is driven so that the driving wheels 18 and 20 are symmetrical in the direction of arrow A and the driving mechanism 14R is symmetrically driven in the direction of arrow A '. Is performed and the vehicle is moved forward.

In FIG. 11B, a part of the leg mechanism 30 of the driving mechanism 14L changes the entire length of each leg in the stance phase with respect to the uneven ground G in the moving process. It can contact the ground G, support the entire load of the main body 10, and stably support the longitudinal direction of the main body 10.

In FIG. 11C, even if the main body 10 moves forward and the topography of the irregular ground G changes in the moving process, the entire length of each leg is changed under the stance phase state. As a result, the main body 10 can be stably supported in the longitudinal direction.

In FIG. 11D, even when the height of the uneven ground G 'changes in the width direction of the main body 10, the leg mechanisms 30 of the drive mechanisms 14L and 14R are in the standing phase. By changing the overall length of the leg, it comes into contact with the ground G ', supports the entire load of the main body 10, and can stably support the width direction of the main body 10.

Therefore, the main body 10 is formed on the irregular ground G,
G 'can reliably support the entire load including the load, and can stably support the main body 10 in the longitudinal direction and the width direction, and can move forward on uneven terrain, and thus have an unfavorable posture for the load. Giving can also be avoided.

As described above, FIG. 11 illustrates the forward movement of the main body 10, but the backward movement of the main body 10 can be achieved by the following operation.

FIG. 12 is an explanatory diagram showing the reverse operation in this embodiment. In FIG. 12, the drive mechanism 14L of the drive mechanism 14 is driven such that the rotation directions of the drive wheels 18 and 20 are symmetrical in the direction of arrow B, and the drive mechanism 14R is symmetrically driven in the direction of arrow B '. Propulsion is performed and reverse operation is performed. The movement process of the leg mechanism 30 is shown in FIG.
Other operations of moving in the opposite direction to those shown in FIG.

FIG. 13 is an explanatory view showing the turning operation in this embodiment. FIG. 13 (a) shows a right turning operation, and FIG.
(B) is an explanatory view showing a left turn operation.

13 (a) and 13 (b), the movement of the leg mechanism 30 is the same as that shown in FIG. 10 (a). In FIG. 13A, the driving mechanism 14
The moving speed and the moving distance between the driving mechanism L and the driving mechanism 14R are different, and the rotating speed of the driving wheels 18 and 20 of the driving mechanism 14L is set to be higher than the rotating speed of the driving wheels 18 and 20 of the driving mechanism 14R. By rotating, the main body 10 is turned rightward as shown by the arrow R. In FIG. 13B, the rotation speed of the driving wheels 18 and 20 of the driving mechanism 14L is set to be smaller than the rotation speed of the driving wheels 18 and 20 of the driving mechanism 14R, so that the main body 10 is moved to the arrow L.
A left turning operation is performed as shown in FIG.

FIG. 14 is an explanatory view showing the oblique operation in the present embodiment. FIG.
(B) is an explanatory view showing a left skew operation. Oblique movement is
By operating the turning mechanism 40 as described above, the spindle 4
The drive mechanisms 14L, 14R are inclined at a predetermined angle with respect to the forward direction of the main body 10 around the drive mechanism 14L, 14R.
Can be achieved by driving.

14 (a) and 14 (b), the rotation directions of the drive wheels 18, 20 are the same as those shown in FIG. 11 (a), and the drive mechanism 14L, 14R drives the main body 10 to rotate. Propulsion is performed, and a rightward skew operation or a leftward skew operation is performed in the arrow RS or LS direction.

FIG. 15 is an explanatory view showing the rotation operation in the present invention. FIG.
(B) is an explanatory view showing a left rotation operation. The rotation operation is
This can be achieved by reversing the driving directions of the driving mechanisms 14L and 14R.

In FIG. 15A, the drive wheels 18 and 20 of the drive mechanism 14L are driven in the direction of arrow A,
The drive wheels 18 and 20 of the drive mechanism 14R are driven in the direction of arrow B 'to reverse the drive direction, and the main body 10 rotates right around the center of the main body 10 without performing forward and backward operations. Is done.

In FIG. 15B, the drive wheels 18 and 20 of the drive mechanism 14L are driven in the direction of arrow B,
The drive wheels 18 and 20 of the drive mechanism 14R are driven in the direction of arrow A ', and the main body 10 is rotated left around the center. 13 and 15, the bottom plate 37 of the lower leg 36 is used when the turning operation or the rotating operation of the main body 10 is performed.
For example, a turning means (not shown) is attached to the main body 10 so as to apply a torque for turning around the center of the bottom plate 37 prior to the above operation, so that the turning operation or the turning operation of the main body 10 with a resistance force can be smoothly performed. Can be started. FIG. 16 is an overall configuration diagram showing another embodiment of the present invention. FIG. 16 (a) is a front view, FIG. 16 (b) is a plan view, and FIG. 16 (c) is a side view. The same reference numerals are given to members common to the members shown in (1) and (2), and redundant description is omitted.

FIG. 17 is a sectional view of a leg mechanism showing another embodiment of the present invention.

In FIG. 16, reference numeral 60 denotes a main body of the mobile robot, and a guide mechanism 62 having an annular shape and a height difference is provided on both sides of the work table 12 by using a support member 63. The guide mechanism 62 guides the top 30a 'of the leg mechanism 30', which is rotated by the endless track 22, annularly along the guide path, and has a high portion 64 and a low portion 64a '.
The leg mechanism 30 'is configured to form a state of the swing phase and the standing phase.

The leg mechanism 30 'comprises an upper leg 32', a middle leg 3
4 'and the lower leg 36'. The upper leg 32 'has an elastic material 32 "
Inside the 4 ', an elastic member 34 "is elastically connected by a member (not shown), and each of the legs is inserted.
The leg mechanism 30 'is extended in its entire length in the swing phase state, and the elastic material 3 according to the ground shape in the stance phase state.
2 ", 34" to reduce the overall length. With this configuration, the configuration of the mobile robot can be significantly simplified, and the main body can be moved at a relatively high speed in accordance with the situation of the external environment.

The mobile robot according to the present invention can be variously applied to the following in addition to the above. (1) Space field: Planetary exploration robot (2) Ocean field: Ocean floor exploration platform (3) Civil engineering and construction industry: Sediment transport vehicle, earth and rock excavator, underground buried object detection sensor platform (4) Forestry: Undergrowth logging vehicle, patrol between forests (5) Agriculture Fruit harvesting vehicles, rice planting work vehicles (6) Fishing Work vehicles in tidal flats, mobile cages, mobile floating piers (7) Mining Mobile platforms for offshore oil drilling plants (8) Defense tanks , Armored vehicles, transport trucks, facility work vehicles (9) Transportation business Moving ships, mobile floating piers, snowmobiles, disaster relief vehicles, mobile bridges (10) Recreation Play equipment, game vehicles

[0057]

As described above, according to the present invention, the main body can be moved at a relatively high speed in accordance with the external environment such as uneven terrain, and can be moved in all directions. In addition, it is possible to significantly improve the terrain traversing property. Further, since it is possible to stably support the entire load including the load of the main body and move, it is possible to sufficiently exert the desired working capacity of the main body. In addition, since power consumption for moving the main body can be reduced, there is an effect that the work can be performed by increasing the load capacity.

[Brief description of the drawings]

FIG. 1 is a perspective view showing one embodiment of the present invention,

FIG. 2 is an overall configuration diagram showing an embodiment of the present invention,

FIG. 3 is a plan view taken along the arrow 3-3 in FIG. 2;

FIG. 4 is a plan view taken along arrow 4-4 of FIG. 2;

FIG. 5 is a plan view of the drive mechanism,

FIG. 6 is an assembled sectional view of the leg mechanism;

FIG. 7 is a partial view of FIG. 6,

FIG. 8 is an assembly view of a main part of the leg mechanism,

FIG. 9 is a system diagram of the control device,

FIG. 10 is an explanatory diagram showing a state of a forward operation in the present embodiment;

FIG. 11 is an explanatory view showing the forward operation.

FIG. 12 is an explanatory diagram showing a reverse operation in the present embodiment;

FIG. 13 is an explanatory diagram showing a turning operation in the embodiment.

FIG. 14 is an explanatory diagram showing the oblique operation in the present embodiment;

FIG. 15 is an explanatory diagram showing a rotation operation in the embodiment.

FIG. 16 is an overall configuration diagram showing another embodiment of the present invention.

FIG. 17 is a sectional view of a leg mechanism showing another embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Main body 12 Work table 14 Drive mechanism 15 Support member 16 Reference wheel 18 Front drive wheel 20 Rear drive wheel 22 Endless track 26 Control device 30 Leg mechanism 32 Upper leg 34 Middle leg 36 Lower leg 37 Bottom plate 38 Leg fixing device 40 Rotation mechanism 42 Main shaft 46 Front turning mechanism 48 Rear turning mechanism

Claims (6)

(57) [Claims] 1. A mobile robot capable of traveling on rough terrain, wherein a main body of the mobile robot includes a work table, a drive mechanism, a leg mechanism, a turning mechanism, a control device, and the like, and the drive mechanism has a vertical track surface. The plurality of leg mechanisms are suspended from the work table in a double row, and the plurality of leg mechanisms are integrally erected on the outer surface of the endless track via leg fixing tools at intervals. An irregular terrain mobile robot comprising a control device for controlling the movement of the main body so as to exhibit a stance phase on an outer edge side of an endless track and a free leg phase on an inner edge side. 2. A leg mechanism standing on an endless track includes an upper leg, a middle leg, and a lower leg. The middle leg is provided on the inner surface of the upper leg, and the lower leg is provided on the inner surface of the middle leg via a threaded portion. Are sequentially inserted, and the pressure sensor provided on the seat plate of the lower leg is used to detect the ground pressure at the time of ground contact according to the ground shape, and the rotation of the middle leg and / or the lower leg determines the overall length of the leg mechanism. The mobile robot according to claim 1, wherein the mobile robot is controlled to extend and contract. 3. The turning mechanism has a reference wheel axis at the center in the longitudinal direction of the drive mechanism as a main axis, and a front turning mechanism and a rear turning mechanism each having a sectoral shape are installed on an upper portion of a support member. 3. The non-rotating mechanism according to claim 1, wherein a center of a sector of the turning mechanism is located on the main shaft, and the two turning mechanisms are engaged with a transmission means provided at a lower portion of the worktable. Leveling mobile robot. 4. The main body moves forward by a command from the control device,
3. The vehicle according to claim 1, wherein the vehicle is operated by selecting a reverse operation, a turning operation, a skew operation, and a rotating operation.
Item 4. The mobile robot according to item 3 or 3. 5. A mobile robot capable of traveling on uneven terrain, wherein a main body of the mobile robot includes a worktable, a drive mechanism, a leg mechanism, a control device, and the like, and the drive mechanism has an endless track having a vertical track surface. And a plurality of drive wheels, and are suspended in a double row on the worktable, and the plurality of leg mechanisms are integrally erected on the outer surface of the endless track via leg fixing tools at intervals, and both side portions on the worktable are Is provided with a guide mechanism of the leg mechanism having an annular shape and a height difference, and the leg mechanism exhibits a stance phase on the outer edge side of the endless track and a swing leg phase on the inner edge side thereof. An uneven terrain mobile robot comprising a control device for controlling movement. 6. A leg mechanism erected on an endless track comprises an upper leg, a middle leg, and a lower leg. The middle leg is provided on an inner surface of the upper leg, and the lower leg is provided on an inner surface of the middle leg via an elastic material. The uneven terrain mobile robot according to claim 5, wherein the whole length of the leg mechanism is freely extended and contracted by elastically moving the middle leg and / or the lower leg.