JP5110583B2 - 走行ロボット - Google Patents
走行ロボット Download PDFInfo
- Publication number
- JP5110583B2 JP5110583B2 JP2008077918A JP2008077918A JP5110583B2 JP 5110583 B2 JP5110583 B2 JP 5110583B2 JP 2008077918 A JP2008077918 A JP 2008077918A JP 2008077918 A JP2008077918 A JP 2008077918A JP 5110583 B2 JP5110583 B2 JP 5110583B2
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- Japan
- Prior art keywords
- load
- traveling robot
- support leg
- support
- motor
- Prior art date
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Description
図1及び図2に示す走行ロボットRは、車体Bの左右に、前部支持脚L1、中間支持脚L2及び後部支持脚L3を夫々備えると共に、各支持脚L1〜L3に、個別に駆動する車輪である左右の前輪W1、中間輪W2及び後輪W3を備えた六輪車である。
L2 中間支持脚(保持機構)
L3 後部支持脚
R 走行ロボット
W1 前輪
W2 中間輪
W3 後輪
1 アクチュエータ
2 連結杆
5 アーム
6 モータ
10 20 荷重検出手段(保持機構)
11 21 支柱(荷重検出手段)
12 ロードセル(センサ)
Claims (1)
- 車体に複数の支持脚を備えると共に、各支持脚に個別に駆動する車輪を備えた走行ロボットであって、
少なくとも前輪の保持機構として、車体前後方向に回動可能な支持脚と、支持脚の下端部に回動自在に連結したアームと、アームに連結した車輪駆動用のモータを備えると共に、支持脚とモータとの間に、車輪の接地荷重を検出するための荷重検出手段を介装し、
前記荷重検出手段が、一端部を支持脚側に連結し且つ他端部をモータ側に連結した支柱と、支柱の軸線方向の荷重を検出する荷重センサであることを特徴とする走行ロボット。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008077918A JP5110583B2 (ja) | 2008-03-25 | 2008-03-25 | 走行ロボット |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008077918A JP5110583B2 (ja) | 2008-03-25 | 2008-03-25 | 走行ロボット |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009226565A JP2009226565A (ja) | 2009-10-08 |
JP5110583B2 true JP5110583B2 (ja) | 2012-12-26 |
Family
ID=41242584
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008077918A Active JP5110583B2 (ja) | 2008-03-25 | 2008-03-25 | 走行ロボット |
Country Status (1)
Country | Link |
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JP (1) | JP5110583B2 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017215202A1 (zh) * | 2016-06-13 | 2017-12-21 | 锥能机器人(上海)有限公司 | 一种电杆式自动化仓储机器人 |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011045973A (ja) * | 2009-08-28 | 2011-03-10 | Hitachi Ltd | ロボット |
KR102068239B1 (ko) * | 2019-08-14 | 2020-01-21 | 네이버랩스 주식회사 | 계단 등판을 위한 로봇 장치 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2647541B2 (ja) * | 1990-08-13 | 1997-08-27 | 三菱重工業株式会社 | 脚形移動ロボットのほふく移動制御方法 |
JPH09315127A (ja) * | 1996-06-04 | 1997-12-09 | Toyo Umpanki Co Ltd | 荷台の水平制御方法 |
JP4032188B2 (ja) * | 1997-07-08 | 2008-01-16 | 株式会社安川電機 | 無人搬送車 |
JP4023776B2 (ja) * | 2001-11-08 | 2007-12-19 | 三井造船株式会社 | 搬送台車の車体水平制御方法および装置 |
JP2003291819A (ja) * | 2002-03-29 | 2003-10-15 | Sanyo Electric Co Ltd | 台 車 |
JP4417902B2 (ja) * | 2005-10-31 | 2010-02-17 | 株式会社東芝 | 車輪移動型ロボット |
JP4988522B2 (ja) * | 2007-11-16 | 2012-08-01 | 株式会社Ihi | 移動ロボット及びその移動方法 |
-
2008
- 2008-03-25 JP JP2008077918A patent/JP5110583B2/ja active Active
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017215202A1 (zh) * | 2016-06-13 | 2017-12-21 | 锥能机器人(上海)有限公司 | 一种电杆式自动化仓储机器人 |
US10525604B2 (en) | 2016-06-13 | 2020-01-07 | Zhuineng Robotics (Shanghai) Co., Ltd | Linear actuator-type automatic warehouse robot |
Also Published As
Publication number | Publication date |
---|---|
JP2009226565A (ja) | 2009-10-08 |
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