JPH05340341A - Mobile robot - Google Patents

Abstract

PURPOSE:To provide a mobile robot which can be formed small in size and light in weight by constituting the robot with no power transmitting mechanism required, relating to the mobile robot moved on a plane or the like by using a piezoelectric actuator. CONSTITUTION:A base end part of an advancing laminated piezoelectric actuator means 33 (331, 332) is mounted so that its axial direction is in parallel to a moving surface 35, on a moving unit 30 having supporting legs 31, 32 for standing on the moving surface 35. A supporting leg laminated piezoelectric actuator 34 (341, 342), extended almost vertically toward the moving surface 35, is mounted on a free end part of this advancing laminated piezoelectric actuator means 33, and this supporting leg laminated piezoelectric actuator 34 is constituted so that the moving unit 30 is lifted from the moving surface 35 together with the supporting legs 31, 32, at extension time of the actuator, and erected on the moving surface 35 by the supporting legs 31, 32 at contraction time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile robot which uses a piezoelectric actuator to move on a flat surface or the like.

Such a mobile robot can be used as a small plane observation robot by mounting a camera. Also, by using it as a pallet moving device for an industrial robot, various line layouts are possible.

[Prior Art]

FIG. 12 shows an example of a conventional mobile robot having a translational / rotary movement degree of freedom on a plane. In this mobile robot, four wheels 31 to 34 are arranged at a constant distance from the center G of the moving body at equal circumferential intervals, and among these wheels 31 to 34, the wheels 31 arranged opposite to each other. , 32 act as support wheels having a passive rotational freedom, and the other wheels 33, 34 act as drive wheels.
The drive wheels 33 and 34 are connected to the moving motors 35 and 36 so that they can rotate in arbitrary directions.

The drive wheels 33 and 34 have a mechanism in which the axles thereof can be rotated in an arbitrary direction parallel to the moving plane 38 by the traveling direction motor 37, and the wheels are always parallel to each other.

When the mobile robot is moved in translation, as shown in FIG.
The direction of 34 is aligned with the movement direction and rotated in the translational movement direction at the same speed. On the other hand, when the mobile robot is rotationally moved, as shown in FIG.
The directions of 3 and 34 are perpendicular to the rotation center G, and the drive wheels 33 and 34 are rotated at the same speed in the same direction around the rotation center G.

[0006]

The conventional mobile robot requires a mechanism for transmitting the power of the motor to the drive wheels 33, 34 and a mechanism for changing the direction of the wheels 31-34, and therefore, the size and weight can be reduced. It was difficult. Further, it is difficult to move with high precision due to slippage between the wheel and the moving plane.

The present invention has been made in view of the above problems. An object of the present invention is to provide a mobile robot which can be reduced in size and weight by eliminating the need for a power transmission mechanism. Especially.

[0008]

FIG. 1 is an explanatory view of the principle of the present invention. In the mobile robot of the present invention, the base end of the advancing laminated piezoelectric actuator means 33 is parallel to the moving surface 35 on the moving body 30 having the supporting legs 31 and 32 for standing on the moving surface 35. And the supporting leg laminated piezoelectric actuator 34 extending substantially vertically toward the moving surface 35 is attached to the free end of the advancing laminated piezoelectric actuator means 33, and the supporting leg laminated piezoelectric actuator 34 extends. The movable body 30 is sometimes lifted together with the supporting legs 31 and 32 from the moving surface 35, and the movable body 30 is erected on the moving surface 35 by the supporting legs 31 and 32 when contracted.

The traveling laminated piezoelectric actuator means 33 has a free end portion for supporting the supporting laminated piezoelectric actuator 3.
It can be configured by two traveling laminated piezoelectric actuators 33 ₁ and 33 ₂ facing in the same direction and having 4 ₁ and 34 ₂ , respectively.

In the mobile robot of the present invention, the first, the second, the third, the third,
The base ends of the fourth traveling laminated piezoelectric actuator means are attached so that they form a lattice and are parallel to the plane of movement, and these first, second, third and fourth traveling laminated piezoelectric devices are mounted. At the free ends of the piezoelectric actuator means, supporting-layer laminated piezoelectric actuators extending substantially perpendicularly to the moving surface are respectively attached, and the supporting-leg laminated piezoelectric actuator lifts the moving body together with the supporting feet from the moving surface when the supporting-leg laminated piezoelectric actuator extends. When contracted, the moving body is configured to stand on the moving surface with its supporting foot.

The above-mentioned first and second advancing laminated piezoelectric actuator means each comprise two advancing laminated piezoelectric actuators each having a supporting leg laminated piezoelectric actuator at its free end. can do.

In the mobile robot of the present invention, the first, second, third, and third moving bodies having the supporting feet for standing on the moving surface are provided.
The base ends of the fourth traveling bimorph-type piezoelectric actuator means are attached so that their axial directions are substantially perpendicular to each other and parallel to the moving surface, and the first, second, third, and fourth parts are attached. At the free end of the bimorph-type piezoelectric actuator means for advancing, laminated piezoelectric actuators for supporting legs, which extend substantially perpendicularly to the moving surface, are respectively attached, and the laminated piezoelectric actuators for supporting legs move the movable body together with the supporting legs during extension. It is constructed so that it can be held from the surface, and when it contracts, the moving body can be made to stand on the moving surface with its supporting feet.

The above-mentioned first, second, third, and fourth advancing bimorph-type piezoelectric actuator means each comprise two juxtaposed advancing bimorphs each having a supporting leg laminated piezoelectric actuator at its free end. Shape piezoelectric actuator.

The above-mentioned second and third mobile robots are
It is possible to configure so that only four of the eight traveling piezoelectric actuators and the supporting leg piezoelectric actuators are driven to perform the rotational movement.

Further, these mobile robots can be configured so that the step movement frequencies of translation in the X direction, translation in the Y direction, and rotation about the Z axis are mixed at a ratio of the amount of movement in each direction.

Further, in these mobile robots, the moving surface is made of a magnetic material, and a magnet is attached to the moving surface side of the moving body.
It can be configured to generate an attractive force between the moving surface and the moving body. On the contrary, a magnet is provided on the moving surface side so as to generate magnetism on the moving surface side, and at least a portion of the moving body on the moving surface side. Can be made of a magnetic material, and an attractive force can be generated between the moving surface and the moving body.

[0017]

In the first mobile robot, the traveling laminated piezoelectric actuator means 33 is extended (or contracted) in a state where the supporting foot laminated piezoelectric actuator 34 is contracted, and the supporting foot laminated piezoelectric actuator 34 is expanded. Is moved, and the laminated piezoelectric actuator 34 for supporting feet is extended at the moving point to lift the moving body 30, and then the moving laminated body 30 is moved by contracting (or extending) the advancing laminated piezoelectric actuator means 33. Next, the laminated piezoelectric actuator 34 for supporting legs is contracted to move the moving body 30 to the moving surface 3.
Stand at 5. The movement is performed by repeating this operation.

The second mobile robot is the first, second,
By performing the above-described moving operation in each direction by the third and fourth advancing laminated piezoelectric actuator means, it is possible to perform two-dimensional translational movement or rotational movement on the moving surface.

In the third mobile robot, the moving piezoelectric actuator means is changed from the moving laminated piezoelectric actuator means of the second mobile robot to the moving bimorph piezoelectric actuator means, and the moving amount is one step. Is getting bigger.

The first, second, third and fourth bimorph piezoelectric actuator means for traveling each have two parallel bimorph piezoelectric actuators arranged in parallel, each having a laminated piezoelectric actuator for supporting legs at its free end. In this case, it is possible to reduce the positional deviation of the rotational movement by driving only four of the total eight piezoelectric actuators for movement in order to drive the rotational movement. You can

Further, these mobile robots perform continuous and smooth movement by mixing the step movement frequency of translation in the X direction, translation in the Y direction, and rotation about the Z axis at a ratio of the movement amount in each direction. It can be performed.

The moving surface is made of a magnetic material, and a magnet is attached to the moving surface side of the moving body so as to generate an attractive force between the moving surface and the moving body. If a magnet is provided to generate magnetism in at least the moving surface side portion of the moving body is made of a magnetic material and an attractive force is generated between the moving surface and the moving body, not only a horizontal plane but also a vertical plane is generated. You can also move walls or ceilings.

[0023]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 2 shows a mobile robot as an embodiment of the present invention. In FIG. 2, a movable body 5 having two rigid support legs 6 and 7 is fixed between two traveling piezoelectric actuators 1 and 2 having a degree of freedom of expansion and contraction in the X direction. Further, to the other ends of the piezoelectric actuators 1 and 2, laminated piezoelectric actuators 3 and 4 for supporting legs having a degree of freedom of expansion and contraction in the Z direction are fixed via connecting rigid bodies.

A piezoelectric actuator 3 for these supporting feet,
When the applied voltage for driving the actuator is in the OFF state, the length 4 is shorter than that of the rigid support legs 6 and 7 and is in a non-contact state with the moving plane 10. In the ON state, 4 is greater than that of the rigid support legs 6 and 7. It is configured to come into contact with the moving plane 10 as the length increases.

The moving plane 10 is made of a magnetic material. Further, a permanent magnet 8 is fixed between the rigid body support legs 6 and 7 of the moving body 5 so that the permanent magnet 8 can exert an attractive force between the moving plane 10 made of a magnetic material and the moving body 5. ing. When a plurality of magnets 8 are attached, a magnetic iron 9 is provided to increase the attractive force.

FIG. 3 shows the basic operation of the laminated piezoelectric actuator. As shown in the figure, by changing the polarity of the voltage applied to the piezoelectric element, the expansion / contraction operation can be performed, and the length in the actuator axial direction can be changed.

FIG. 4 shows the movement principle of a mobile robot in which the basic operations of this piezoelectric actuator are combined.
First, in the step, the mobile robot is stopped, and all the piezoelectric actuators 1 to 4 are OFF. Therefore, the lengths of the actuators 3 and 4 are shorter than the lengths of the rigid support legs 6 and 7, and the moving body 5
The rigid support legs 6 and 7 stand on the moving plane 10.

This mobile robot has steps shown in FIG.
By repeating the above, the left side of the figure is moved. In the step, the traveling piezoelectric actuators 1 and 2 are driven in a direction in which the piezoelectric actuator 1 in the traveling direction is extended and in a direction in which the piezoelectric actuator 2 on the opposite side to the traveling direction is contracted.

In the step, from the state of the step,
The piezoelectric actuators 3 and 4 for supporting legs are driven in the extending direction, whereby the rigid support legs 6 and 7 are moved to the moving body 5.
Is lifted by the piezoelectric actuators 3 and 4 to move away from the moving plane 10.

In step, from the state of step, the piezoelectric actuators 1 and 2 for traveling are driven so that the piezoelectric actuator 1 on the traveling direction side is contracted and the piezoelectric actuator 2 on the opposite side to the traveling direction is extended. At this point, the moving body 5 lifted and supported by the piezoelectric actuators 3 and 4 moves in the traveling direction due to the expansion and contraction of the piezoelectric actuators 1 and 2.

In the step, from the state of the step, the piezoelectric actuators 3 and 4 for the supporting feet are contracted (that is, the applied lightning pressure is turned off or reversed in polarity) to move the moving body 5.
Is made to stand on the moving plane 10 again by the rigid support legs 6 and 7, thereby completing the movement of one step. Then, by returning to the step state and repeating the same operation, continuous linear movement becomes possible.

The mobile robot of this embodiment has a moving plane 10
By using the attraction force of the permanent magnet 8, it is possible to move not only on a horizontal plane, but also on a vertical surface such as a wall or even with the ceiling turned upside down.

FIG. 5 shows a mobile robot as another embodiment of the present invention. This mobile robot has a moving plane 10
The upper part can be moved two-dimensionally (that is, two-dimensionally). In this mobile robot, the permanent magnet 8 of the mobile robot of the above-described embodiment is removed to have one rigid support leg (for example, only the rigid support leg 6 is used).
3 and prepare 4 of these moving feet,
The moving legs 13 _{1 to} 13 ₄ are provided on the bottom of the square flat plate 11 and the piezoelectric actuators 1 ₁ to 1 ₄ for advancing the moving legs are provided.
The rigid support legs 6 _{1 to} 6 ₄ are fixed at the ends so that 2 _{1 to} 2 ₄ form a square lattice shape. Further, the permanent magnet 14 is fixed to the center position of the bottom of the flat plate 11 with the magnet iron 12 interposed therebetween.

The operation of this mobile robot will be described below with reference to FIG. In the translational movement in the X direction in the figure, a pair of movable feet 13 ₁ and 13 ₃ arranged parallel to the X axis are driven in the same direction and at the same speed in the same manner as in the above-described embodiment (see FIG. 4). By moving it directly. Similarly, the translational movement in the Y direction in the figure is performed by a pair of movable feet 1 arranged parallel to the Y axis.
By driving 3 ₂ and 13 ₄ in the same direction and at the same speed in the same manner to move linearly.

The translational movement in the direction oblique to the X and Y directions is realized by combining the translational movement in the X direction and the translational movement in the Y direction as shown in FIG. 6 (A). .. That is, for example, if the first step is repeated in the Y direction, the next step in the X direction, the next step in the Y direction, and so on, the translation is performed in the 45 ° direction on the X and Y planes. You can move.

When it is desired to perform rotational movement, FIG.
(B), a pair of moving feet 13 ₁ and 13 ₃ , 13 ₂ and 13 ₄ arranged parallel to the X and Y axes, respectively.
Should be driven around the rotation center G in the same direction and at the same speed.

A driving method for making the movement trajectory of the mobile robot continuous and smooth will be described with reference to FIG. First, the step movement frequency of translation in the X direction, translation in the Y direction, and rotation about the Z axis is determined by the ratio of the movement amount in each direction. Here, the movement amount in each direction is 100 steps in the X direction, 50 steps in the Y direction, and the Z rotation movement amount θ _z is 25 steps, and thus the step movement frequency is X: Y: θ _z = 4: 2: 1. .. The movement first advances 2 steps in the X direction, then advances 1 step in the Y direction, then advances 2 steps in the X direction, then advances 1 step in the Y direction, and then performs one rotational movement θ _z.・ The above operation is repeated. As a result, the mobile robot moves in the direction of X: Y = 2: 1 with respect to the direction of movement, generally facing the front.
The movement locus in this case is continuous and smooth from a macro perspective because the amount of movement per step in each direction is small.

FIG. 8 shows a mobile robot as another embodiment of the present invention. In this mobile robot, in the mobile robot of FIG. 5 described above, the moving piezoelectric actuators 1 ₁ to 1 ₄ and 2 ₁ to 2 ₄ are replaced with bimorph type piezoelectric actuators 20 _{1 to} 20 ₈ to move one step. By increasing, the moving speed is increased.

FIG. 9 shows the basic operation of this bimorph type piezoelectric actuator. As shown in FIG. 9A, a thin plate 20 of an electrically conductive elastic body (eg, phosphor bronze) is used.
-1 Piezoelectric element 2 having opposite polarization characteristics on both sides
Fix 0-2 and 20-3. When an applied voltage is applied to this product in series, one piezoelectric element contracts and the other expands because the polarization directions are different. As a result, a difference in strain occurs on the surface of the thin plate 20-1, and the plate bends. The bending direction can be selected by switching the polarity of the applied voltage, as shown in FIG. This bimorph type piezoelectric actuator can obtain a large displacement as compared with a laminated type.

In FIG. 8, the mobile robot of this embodiment uses bimorph type piezoelectric actuators 20 _{1 to} 20 ₈ as the traveling piezoelectric actuators. That is, four rigid body support legs 23 ₁ to 23 are provided around the moving body 25 having the permanent magnet 24 fixed to the bottom thereof in parallel with the moving plane 10.
_Four and eight thin plate-shaped bimorph type piezoelectric actuators 20 _{1 to} 20 ₈ having the same structure are fixed.

The axes of the rigid body support feet 23 ₁ to 23 ₄ are parallel to the Z axis, and the respective contact positions with the moving plane 10 are arranged on the same XY plane. In addition, the rigid support legs 23 ₁ to 2
3 ₄ in contact with the moving plane 10, should be a clearance enough to the permanent magnet 24 does not contact the moving plane 10.

On the other hand, the thin plate-shaped bimorph type piezoelectric actuators 20 _{1 to} 20 ₈ are arranged such that a pair of thin plates facing each other in a cross shape are cruciform in the XY plane, and all the thin plate planes are perpendicular to the Z axis. To The other end of each bimorph piezoelectric actuator ₂₀ 1 to 20 ₈ to fix respectively the laminated piezoelectric actuator ₂₁ 1 to 21 ₈ for the support legs via a connection rigid ₂₂ 1-22 _8. All the free ends of these piezoelectric actuators 21 ₁ to 21 ₈ positioned on the same XY plane, also, the stretchable direction is arranged parallel to the Z axis. The piezoelectric actuator ₂₁ 1 to 21 ₈ for the support feet, OFF sometimes rigid support legs 23
Has a movement plane 10 and the gap is shorter than _{1-23 4,}
When extended, the rigid support legs 23 ₁ to 23 ₄ become longer than the rigid support legs 23 ₁ to 23 ₄ and come into contact with the moving plane 10 so that the rigid support legs 23 ₁ to 23 ₁ .
Keep to produce a gap between 23 ₄ and the mobile plane 10.

The movement operation of this mobile robot will be described below. FIG. 10 shows a flow of translational movement of this mobile robot. Basically, this translational movement is similar to the movement principle of the mobile robot of the embodiment shown in FIG. Circles in the figure show the piezoelectric actuator 21 ₁ to 21 ₈ for supporting the foot, circles containing the mesh is that piezoelectric actuator for supporting the feet is a non-contact with the moving plane 10 in a state of OFF The white circle indicates that the piezoelectric actuator for the supporting leg is in an expanded state and is in contact with the moving plane 10.

In FIG. 10, the mobile robot translates rightward in the figure. First, in the step, the traveling piezoelectric actuators 20 ₃ , 20 ₄ , 20 ₇ , and 20 ₈ are bent toward the traveling direction side, and in the next step, the traveling piezoelectric actuators 20 ₃ , 20 ₄ , 20 ₇ , and 20.
₈ the piezoelectric actuator ₂₁ 3 for supporting legs attached to the distal end of _the, 21 _4, 21 7, 21 ₈ lifts the moving body 25 by extending the release of the rigid support foot ₂₃ 1-23 ₄ from moving plane 10. Next, in a step, the traveling piezoelectric actuators 20 ₃ , 20 ₄ , 20 ₇ , and 20 ₈ are bent toward the direction opposite to the traveling direction, whereby the moving body 2 is moved.
5 is moved to the traveling direction side. In the next step, the piezoelectric actuators 21 ₃ , 21 ₄ , 21 ₇ , 2 for supporting legs are
₁₈ is contracted and separated from the moving plane 10 so that the moving body 25 stands on the moving plane 10 by the rigid support legs 23 ₁ to 23 ₄ . After that, by repeating these steps 1 to 3, translational movement can be performed in the right direction in the drawing.

Further, in the case of translational movement in the vertical direction in FIG. 10, the piezoelectric actuator 20 for advancement described above is used.
_The piezoelectric actuators 20 ₁ , 20 ₂ , 20 ₅ , 20 ₆ may be driven instead of ₃ , 20 ₄ , 20 ₇ , 20 ₈ .

FIG. 11 shows the rotational movement operation of this mobile robot. The circles have the same meaning as in FIG. By driving the eight moving legs composed of the bimorph type piezoelectric actuator for advancing and the laminated type piezoelectric actuator for supporting by one skipping, it is possible to perform rotational movement with little positional deviation.

[0047] That is, in step, the piezoelectric actuator ₂₀ 1 for progression of skipping one in every piezoelectric actuator ₂₁ 1 to 21 ₈ contracted state of the supporting foot, 2
Bending 0 ₃ , 20 ₅ , 20 ₇ in the direction of rotation,
In step, those piezoelectric actuators 20
Piezoelectric actuators 21 ₁ , 21 ₃ , 21 ₅ , for supporting legs attached to the tips of ₁ , 20 ₃ , 20 ₅ , 20 ₇ .
Lift the moving body 25 stretched out 21 _7, in a next step, the piezoelectric actuator ₂₀ 1 for progression, 20
_The movable body 25 is rotated in the rotation direction by bending ₃ , 20 ₅ , and 20 ₇ in the direction opposite to the rotation direction, and finally in the step, the piezoelectric actuators 21 ₁ , 21 ₃ , 21 ₅ for supporting feet are formed. , it stands in moving plane 10 by the rigid supporting leg ₂₃ 1-23 ₄ mobile 25 again contracted 21 _7. By repeating these steps, the moving body 25 can be sequentially rotated.

In the mobile robot shown in FIG. 8 as well, it is possible to make its movement locus continuous and smooth by using the driving method described in FIG.

The mobile robot shown in FIGS. 8 and 5 also has
The fact that a wall or a ceiling can be moved by using the action of a permanent magnet is the same as in the case of the mobile robot shown in FIG.

In carrying out the present invention, various modifications other than the above-described embodiments are possible. For example, in the above-described mobile robot of the embodiment shown in FIG. 2, the piezoelectric actuators 1 and 2 for traveling are attached so as to face outward from the moving body 5, but the present invention is not limited to this.
For example, the moving body 5 may be formed in a frame shape, and the piezoelectric actuators 1 and 2 for advancing inward from the frame may be attached. This also applies to the mobile robots of the embodiments shown in FIGS. 4 and 8.

In the embodiment of FIG. 8, a pair of thin plate piezoelectric actuators is attached in each direction as a traveling piezoelectric actuator, but the present invention is not limited to this, and one in each direction. It is also possible to form each by a thin plate piezoelectric actuator (that is, a total of four piezoelectric actuators). However, in this case, since there are only two piezoelectric actuators for supporting legs that support the moving body 25 during translational movement, and the moving body 25 is supported only at two points, the moving body 25 tilts. Therefore, it is necessary to attach a foot such as a circular flat plate for stabilizing the standing up to the bottom of the piezoelectric actuator for the supporting foot.

Similarly, the mobile robot of the embodiment shown in FIG. 4 may be modified to have one moving foot for traveling and one moving foot for each of the X and Y directions. For example, at the center of the bottom of the square flat plate 11, four advancing laminated piezoelectric actuators each having a supporting leg laminated piezoelectric actuator on the free end side are attached so as to extend in four directions. In this case, the support foot is separately attached to the moving body.
Further, in order to maintain the posture of the moving body during translational movement, it is preferable to attach a flat plate foot to the bottom of the laminated piezoelectric actuator for supporting feet as described above. It should be noted that in the case of this modification, rotation movement is not possible, but translation in the X and Y directions is possible.

Further, in each of the above-mentioned embodiments, the moving plane is made of a magnetic material and the permanent magnet is attached to the side of the moving robot so that the moving robot can move not only the horizontal plane but also the wall, the ceiling and the like. However, the present invention is not limited to this. That is, it is possible to move a mobile robot on a wall or the like by forming the mobile robot with a magnetic material such as iron and providing a permanent magnet on the moving plane side. It can be made even smaller and lighter.

Further, the moving action of the mobile robot may be such that it does not utilize the above-mentioned magnetic attraction.
In that case, the mobile robot cannot move on a wall or ceiling, but can move on a horizontal plane due to the weight of the mobile robot.

[0055]

As described above, according to the present invention, by using the piezoelectric actuator, it is possible to realize a small and lightweight mobile robot that does not require a power transmission mechanism. In addition, this mobile robot can move with high precision.

[Brief description of drawings]

FIG. 1 is a diagram illustrating the principle of the present invention.

FIG. 2 is a diagram showing a one-dimensional mobile robot according to an embodiment of the present invention.

FIG. 3 is a diagram for explaining the operation of the laminated piezoelectric actuator.

FIG. 4 is a diagram illustrating the movement principle of the mobile robot of the embodiment.

FIG. 5 is a diagram showing a two-dimensional mobile robot as another embodiment of the present invention.

FIG. 6 is a diagram for explaining the principle of translation / rotational movement of the mobile robot of the embodiment.

FIG. 7 is a diagram illustrating a driving method for realizing a smooth movement trajectory of the two-dimensional mobile robot according to the embodiment.

FIG. 8 is a diagram showing a two-dimensional mobile robot using a bimorph piezoelectric actuator according to another embodiment of the present invention.

FIG. 9 is a diagram illustrating the operating principle of a bimorph piezoelectric actuator.

FIG. 10 is a diagram illustrating the principle of translational movement of the mobile robot of the embodiment.

FIG. 11 is a diagram illustrating the principle of rotational movement of the mobile robot of the embodiment.

FIG. 12 is a diagram showing a conventional planar mobile robot.

FIG. 13 is a diagram illustrating the principle of translation / rotational movement of a conventional planar mobile robot.

[Explanation of Codes] 1, 1 ₁ to 1 ₄ , 2, 2, 2 ₁ to 2 ₄ Multilayer Piezoelectric Actuator for Traveling 3, 3 _{1 to} 3 ₄ , 4, 4 ₁ to 4 ₄ , 21 _{1 to} 21 ₈ Supporting Feet Type piezoelectric actuator for use 5, 25 Moving body 6, 6 _{1 to} 6 ₄ , 23 ₁ to 23 ₄ Rigid body supporting foot 8, 14, 24 Permanent magnet 9, 12 Magnet iron 11 Square plane 13 _{1 to} 13 ₄ Moving foot 20 _{1 to} 20 ₈ Bimorph piezoelectric actuator for traveling 22 _{1 to} 22 ₈ Connection rigid body

Claims (10)

[Claims] 1. Supporting feet (3) for standing on a moving surface (35).
1, 32) is attached to the moving body (30) having the traveling multilayer piezoelectric actuator means (33) so that its axial direction is parallel to the moving surface. A laminated piezoelectric actuator for a support leg (3 extending substantially perpendicularly to the moving surface at the free end of the
4) is attached, and the laminated piezoelectric actuator for supporting legs is configured to lift the moving body together with the supporting legs from the moving surface when it extends, and to move the moving body to stand on the moving surface with the supporting legs when contracting. robot. Wherein said progression for multilayered piezoelectric actuator means (33) is multilayered piezoelectric actuator supporting foot to the free end (34 1, _{34 2)} two progression for multilayered piezoelectric facing the same direction with each Actuator (33 ₁ , 33
_2. The mobile robot according to claim 1, which comprises ₂ ). 3. A moving body having support legs for standing on a moving surface, wherein the base ends of the first, second, third and fourth advancing laminated piezoelectric actuator means are formed in a lattice shape. And mounted so that they are parallel to the plane of movement, these first, second,
Mounted on the free ends of the third and fourth advancing laminated piezoelectric actuator means are supporting leg laminated piezoelectric actuators that extend substantially perpendicularly to the moving surface, and the supporting leg laminated piezoelectric actuators are extended when they extend. A mobile robot configured to lift a moving body together with a support foot from a moving surface, and to make the moving body stand on the moving surface with the supporting foot when contracted. 4. The first, second, third, and fourth advancing laminated piezoelectric actuator means each have two advancing in the same direction, each having a supporting leg laminated piezoelectric actuator at its free end. 4. The mobile robot according to claim 3, wherein the mobile robot comprises a laminated piezoelectric actuator for a vehicle. 5. A moving body having support legs for standing on a moving surface, wherein the base ends of the first, second, third, and fourth advancing bimorph-type piezoelectric actuator means are arranged so that their axial directions are substantially parallel to each other. Supports mounted vertically and parallel to the plane of movement, at the free ends of the first, second, third, and fourth advancing bimorph-type piezoelectric actuator means, extending substantially perpendicularly to the plane of movement. Each of the laminated piezoelectric actuators for legs is attached, and the laminated piezoelectric actuators for supporting legs lift the moving body together with the supporting feet from the moving surface when it extends and make the moving body stand on the moving surface with the supporting feet when contracting. A mobile robot that is configured. 6. The first, second, third, and fourth advancing bimorph-type piezoelectric actuator means each have two side-by-side advancing-type piezoelectric actuator means each having a supporting leg laminated piezoelectric actuator at a free end. The mobile robot according to claim 5, wherein the mobile robot comprises a bimorph piezoelectric actuator. 7. The mobile robot according to claim 4 or 6, wherein only four of the eight traveling piezoelectric actuators and one of the supporting leg piezoelectric actuators are driven to perform rotational movement. A mobile robot configured to. 8. The mobile robot according to claim 3, wherein translation in the X direction, translation in the Y direction,
A mobile robot configured to mix the step movement frequency of rotation around the Z axis at a ratio of the movement amount in each direction. 9. The moving surface is made of a magnetic material, a magnet is attached to the moving surface side of the moving body, and an attractive force is generated between the moving surface and the moving body. The mobile robot according to any one of 1. 10. A magnet is provided on the moving surface so as to generate magnetism on the moving surface, at least a portion of the moving body on the moving surface side is made of a magnetic material, and an attractive force is applied between the moving surface and the moving body. The mobile robot according to claim 1, wherein the mobile robot is configured to generate.