JP4175212B2 - 移動ロボットの脚部構造 - Google Patents
移動ロボットの脚部構造 Download PDFInfo
- Publication number
- JP4175212B2 JP4175212B2 JP2003280999A JP2003280999A JP4175212B2 JP 4175212 B2 JP4175212 B2 JP 4175212B2 JP 2003280999 A JP2003280999 A JP 2003280999A JP 2003280999 A JP2003280999 A JP 2003280999A JP 4175212 B2 JP4175212 B2 JP 4175212B2
- Authority
- JP
- Japan
- Prior art keywords
- leg
- drive
- shaft
- bevel gear
- rotation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Description
13 側脚(脚部)
38 足部
39a,39b 車輪
40 車輪軸
49 足首軸
50 駆動軸
51 動力伝達部材
61a,61b アクチュエータ
62 差動機構
63 駆動部
64a 回転軸
64b 回転軸
65a 駆動ベベルギヤ
65b 駆動ベベルギヤ
66a 第1ベベルギヤ
66b 第2ベベルギヤ
68 中間ベベルギヤ
Claims (1)
- 脚部に足首軸を介して足部を取り付けると共に該足部に車輪軸を介して車輪を取り付け、前記脚部に2つのアクチュエータを設置し、該2つのアクチュエータの回転方向の切替えにより車輪の回転と足部の回動を切替え得るようにした差動機構を備えており、該差動機構が、前記足首軸の軸中心に貫通配置した駆動軸と、該駆動軸に外嵌した駆動部と、該駆動部と前記車輪軸との間に設けた動力伝達部材と、前記駆動部に固定され前記一方のアクチュエータの回転軸に取り付けた駆動べベルギヤに噛合する第1べベルギヤと、前記駆動軸に固定され前記他方のアクチュエータの回転軸に取り付けた駆動べベルギヤに噛合する第2べベルギヤと、前記第1べベルギヤと第2べベルギヤに噛合し前記足部に枢支された中間べベルギヤとを有することを特徴とする移動ロボットの脚部構造。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003280999A JP4175212B2 (ja) | 2003-07-28 | 2003-07-28 | 移動ロボットの脚部構造 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003280999A JP4175212B2 (ja) | 2003-07-28 | 2003-07-28 | 移動ロボットの脚部構造 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005046949A JP2005046949A (ja) | 2005-02-24 |
JP4175212B2 true JP4175212B2 (ja) | 2008-11-05 |
Family
ID=34266643
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2003280999A Expired - Fee Related JP4175212B2 (ja) | 2003-07-28 | 2003-07-28 | 移動ロボットの脚部構造 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP4175212B2 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
USRE41584E1 (en) | 1997-01-16 | 2010-08-24 | Massachusetts Institute Of Technology | Nanocrystalline apatites and composites, prostheses incorporating them, and method for their production |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4505809B2 (ja) * | 2005-03-11 | 2010-07-21 | 株式会社Ihi | 3脚構造の脚車輪型移動ロボット |
JP4766381B2 (ja) * | 2005-11-10 | 2011-09-07 | 株式会社Ihi | 脚車輪型移動ロボット、その動作方法及びプログラム |
JP4692925B2 (ja) * | 2005-11-10 | 2011-06-01 | 株式会社Ihi | 脚車輪型移動ロボット及びその動作方法 |
JP4848828B2 (ja) * | 2006-04-27 | 2011-12-28 | 株式会社Ihi | 移動ロボットの脚構造 |
JP5063962B2 (ja) * | 2006-08-24 | 2012-10-31 | 株式会社Ihi | 脚と車輪を有する移動体 |
JP5077668B2 (ja) * | 2007-10-05 | 2012-11-21 | 株式会社Ihi | 移動ロボットの姿勢制御装置及び方法 |
JP5305285B2 (ja) * | 2008-07-25 | 2013-10-02 | 国立大学法人九州工業大学 | 球体駆動式全方向移動装置 |
JP5305290B2 (ja) * | 2009-01-30 | 2013-10-02 | 国立大学法人九州工業大学 | 球体駆動式全方向移動装置 |
-
2003
- 2003-07-28 JP JP2003280999A patent/JP4175212B2/ja not_active Expired - Fee Related
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
USRE41584E1 (en) | 1997-01-16 | 2010-08-24 | Massachusetts Institute Of Technology | Nanocrystalline apatites and composites, prostheses incorporating them, and method for their production |
USRE43661E1 (en) | 1997-01-16 | 2012-09-18 | Massachusetts Institute Of Technology | Nanocrystalline apatites and composites, prostheses incorporating them, and method for their production |
USRE44820E1 (en) | 1997-01-16 | 2014-04-01 | Massachusetts Institute Of Technology | Nanocrystalline apatites and composites, prostheses incorporating them, and methods of their production |
USRE46275E1 (en) | 1997-01-16 | 2017-01-17 | Massachusetts Institute Of Technology | Nanocrystalline apatites and composites, prostheses incorporating them, and method for their production |
Also Published As
Publication number | Publication date |
---|---|
JP2005046949A (ja) | 2005-02-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US5535843A (en) | Traveling carriage | |
US8327959B2 (en) | Walking robot | |
EP1344614B1 (en) | Leg structure of legged robot | |
US7575076B2 (en) | Link-type double track mechanism for mobile robot | |
JP4175212B2 (ja) | 移動ロボットの脚部構造 | |
JP4590639B2 (ja) | 脚型車輪型兼用移動装置 | |
JP2004249455A (ja) | 移動ロボット | |
JP2003266337A (ja) | 2足歩行ロボット | |
JP2007091171A (ja) | 電動チルトテレスコステアリングコラム | |
JP2011031796A (ja) | 段差乗越車輪及び車輪型ロボット | |
EP3137034A1 (en) | Powered wheelchair | |
JP4147581B2 (ja) | 全方向移動車 | |
JP3705207B2 (ja) | 脚車輪型移動ロボット | |
JP4848828B2 (ja) | 移動ロボットの脚構造 | |
KR100523427B1 (ko) | 백래시 클러치 및 이를 구비한 로봇용 관절기구 | |
JPH0613304B2 (ja) | 歩行ロボツト | |
JP5125809B2 (ja) | 脚車輪装置およびそれを用いた走行装置 | |
JP2010006247A5 (ja) | ||
KR20010093178A (ko) | 자주식 구동 휠 | |
JP2005046950A (ja) | 4脚移動ロボット | |
JP4032992B2 (ja) | ロボット | |
JP4692925B2 (ja) | 脚車輪型移動ロボット及びその動作方法 | |
KR20190090588A (ko) | 3족 보행 로봇 | |
JP4009842B2 (ja) | 複数の体節ユニットを備えた移動体、および複数の体節ユニットを連結した被駆動体を駆動するためのアクチュエータ | |
JP2011063237A (ja) | 倒立振子制御型の移動体 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20060628 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20071214 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20071218 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20080215 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20080319 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20080410 |
|
A072 | Dismissal of procedure [no reply to invitation to correct request for examination] |
Free format text: JAPANESE INTERMEDIATE CODE: A072 Effective date: 20080708 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20080729 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20080811 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110829 Year of fee payment: 3 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 4175212 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110829 Year of fee payment: 3 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120829 Year of fee payment: 4 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120829 Year of fee payment: 4 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130829 Year of fee payment: 5 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
LAPS | Cancellation because of no payment of annual fees |