JPH0871961A - Off-road transfer robot - Google Patents

Abstract

PURPOSE: To provide an off-road robot which can stably transfer with a load at a high speed even in an off-road area. CONSTITUTION: A carrier robot body 10 is composed of a working bed 12, driving mechanisms, leg mechanisms 30, a turning mechanism and a control device, and the driving mechanisms each composed of endless crawlers 22 each having and a vertical track surface, and driving wheels, are suspended from the working bed 12. The leg mechanisms 30 which are integrally incorporated with the outer peripheral surfaces of the endless crawlers by means of leg fixtures, exhibit an upright leg phase at the outer edge sides of the endless crawlers 22, and incorporates a control device for controlling the movement of the body 10 so as to exhibit a free leg phase at the inner edge sides.

Description

Detailed Description of the Invention

[0001]

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

[0002]

2. Description of the Related Art A rough terrain mobile robot moves on a rough terrain surface, a mud, a water bottom, or the like. A mobile robot equipped with a caterpillar runs due to the dynamic friction between the caterpillar and the ground, but in mud areas where friction is low, high speed movement is hindered due to slippage, and in sandy areas, etc. To do.

[0003] In a mobile robot having multiple joints and multiple legs, like a motion of an animal's leg, a relatively small number of legs are rotated around a central portion while bending and extending the joints.
It is designed to move on an uneven ground by static friction between the grounding leg and the ground using a complicated operation such as expansion and contraction of the leg (Japanese Patent Laid-Open No. 3-92275).

[0004]

However, in the conventional mobile robot having multiple joints and multiple legs, the extension and contraction of the legs, the bending and stretching of multiple joints, and the large number of joints, which are in the stance phase due to the moving action, are not provided. It is necessary to accurately control complex motions such as leg rotation motions, and it takes time to control the constituent elements in the mobile motions, so the mobile robot cannot move at high speed. Moreover, since the structure is complicated, it is difficult to provide sufficient reliability.

Since the leg mechanism which has an L-shape and has a large leg radius and is heavy is rotated on a large circumference, its driving torque is also increased, so that the driving device is increased in size and power consumption is reduced. Will increase. Further, since the L-shaped leg is used, the structure capable of supporting a high load is increased in size, so that the load weight of the mobile robot is limited to a small weight, and the increase in size of the mobile robot is likely to be expected. Absent.

The present invention has been made in view of the above circumstances, and provides a rough terrain mobile robot capable of moving at a high speed in a stable state by increasing a product load amount even on a rough terrain under a relatively simple structure and control. It is intended to be provided.

[0007]

In order to achieve the above object, the present invention is a mobile robot capable of moving and traveling on an uneven terrain, wherein the main body of the mobile robot is a workbench, a drive mechanism, a leg mechanism, It consists of a swivel mechanism, a control device, etc., the drive mechanism consists of an endless track with a vertical track surface and drive wheels, and it is suspended in a double row on a work table, and the plurality of leg mechanisms are spaced on the outer surface of the endless track. And the leg mechanism is erected integrally through a leg fixing tool, and the leg mechanism exhibits a stance phase on the outer edge side of the endless track and a control device for controlling the movement of the main body so as to exhibit a free leg phase on the inner edge side. It is characterized by having.

Further, according to the present invention, the leg mechanism erected on the endless track comprises an upper leg, a middle leg and a lower leg. The middle leg is screwed to the inner surface of the upper leg and the lower leg is screwed to the inner surface of the middle leg. The entire leg mechanism is rotated by rotating the middle leg and / or the lower leg by detecting the ground pressure at the time of ground contact according to the ground shape using the pressure sensor provided on the seat plate of the lower leg. The feature is that the length is controllable.

Further, in the present invention, the turning mechanism has the axis of the reference wheel at the center in the longitudinal direction of the drive mechanism as the main axis, and the front turning mechanism and the rear turning mechanism which are fan-shaped segments 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 mesh with the transmission means attached to the lower part of the workbench.

Further, the present invention is characterized in that the main body is operated and moved by selecting a forward movement, a backward movement, a turning movement, a skew movement and a rotation movement according to a command from the control device.

The present invention is a mobile robot capable of traveling on rough terrain, wherein the main body of the mobile robot is a workbench,
The drive mechanism is composed of a drive mechanism, a leg mechanism, a control device, etc., and the drive mechanism is composed of an endless track having a vertical raceway surface and drive wheels and is arranged in a double row on a work table and is suspended. The leg mechanism is erected integrally on the surface with a space between the leg fixtures, and both sides of the workbench are provided with a guide mechanism of the leg mechanism which forms an annular shape and has a height difference. The present invention is characterized by including a control device that controls the movement of the main body so as to exhibit a stance phase on the edge side and an idle phase on the inner edge side.

Further, according to the present invention, the leg mechanism erected on the endless track comprises 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. It is characterized in that the entire length of the leg mechanism can be expanded and contracted by elastically moving the middle leg and / or the lower leg by sequentially inserting and attaching via elastic material.

[0013]

According to the present invention configured as described above, when the drive mechanism is driven, the leg mechanism located on the outer edge side in the moving process moves the leg mechanism under the condition of the stance phase with respect to the uneven ground. The leg mechanism located on the inner edge side changes the overall length, and the leg mechanism located on the inner edge side reduces the overall length of the leg in the free-leg phase to release it from the ground to cause it to travel on the track surface of the endless track of the drive wheels. By driving, the driving force is generated and the main body is propelled. Then, the main body is operated by selecting a forward movement, a backward movement, a turning movement, a skew movement, and a rotation movement according to a command from the control device, and stably supports all loads including the load of the main body even at rough terrain and moves at high speed. be able to.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. 1 is a perspective view showing an embodiment of the present invention, FIG.
Is an overall configuration diagram showing an embodiment of the present invention, and FIG.
-2 arrow plan view, FIG. 4 is a 4-4 arrow plan view of FIG. 2, FIG.
Is a plan view of the drive mechanism, FIG. 6 is an assembled sectional view of the leg mechanism,
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, a work table 12 is loaded with a load, and the work table 1
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 on the lower part of 2.

The driving mechanism 14 is composed of two driving mechanisms 14L and 14R arranged in parallel in a double row.
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 in the center are provided, both of which are vertically supported by a support member 15. Has been done.

Reference numeral 18a denotes a support block for the front drive wheel 18,
Reference numeral 20a denotes a support block for the rear drive wheel 20, 15a denotes a side support material, and 15b denotes a lateral support material, each of which constitutes a part of the support member 15 to enhance the rigidity of the drive mechanism 14.

The drive mechanism 14 is provided with an endless track 22 which engages the upright front drive wheel 18, the reference wheel 16 and the rear drive wheel 20 in series, forming a vertical track surface. The drive torques of the wheels 18 and the rear drive wheels 20 are transmitted, and the leg mechanism 30 to be described later is sequentially transferred in the moving direction to be used for the propulsion movement of the main body 10.

Reference numeral 24 denotes a tension holding mechanism, which is the front drive wheel 1.
8, the reference wheel 16 and the rear drive wheel 20 are arranged in the respective intermediate portions, and the tension of the endless track 22 is maintained by using elastic means or the like.

Reference numeral 30 indicates a leg mechanism, and as described above,
The leg fixing device 3 is provided on the outer surface of the endless track 22 with a required space.
A plurality of members are erected in a single body through the unit 8. The leg mechanism 30 is configured by being 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 attached to the inner surface of the middle leg 34,
The entire length of the leg mechanism 30 is flexible.

The upper leg 34 has a ball bearing 33 at the top.
Is slidably contacted with the lower surface of the support member 15, and a thread 32c is screwed on the inner surface of the support member 15 to be fitted with a thread trough 34c screwed on the outer surface of the middle leg 34. Reference numeral 32b denotes a vertical groove, which is fitted with a protruding member 34c provided on the outer skin of the motor 34a provided on the top of the middle leg 34. Reference numeral 32a indicates a motor driving device provided on the inner top.

A thread 34d is screwed on the inner surface of the middle leg 34 and fitted with a screw trough 36c screwed on the outer surface of the lower leg 36. Reference numeral 34e indicates a vertical groove, which is fitted with a protruding member 36b provided on the outer skin of the 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 join 36d, and a pressure sensor 37a is incorporated in the back surface of the seat plate 37 to detect the ground pressure when the leg mechanism 30 is grounded.

Reference numeral 56 represents a brush support, which is a support member 15.
, A plurality of brushes 54 are arranged 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. A stepping motor is suitable for each of the motors 34a and 36a.
The motors 34a and 36a are actuated by the drive pulse signal from the motor, and the operating lengths of the middle leg 34 and the lower leg 36 are changed under the forward or reverse rotation operation, so that the entire length of the leg mechanism 30 is changed. Makes it stretchable.

Reference numeral 40 denotes a turning mechanism, which is attached to the top of the driving mechanism 14L, 14R consisting of two series, and steers the driving mechanism 14L, 14R in order to turn the traveling direction of the main body 10 leftward and rightward with respect to the forward direction. To do.

The main shaft 42 of the swivel mechanism 40 is the reference wheel 1 located at the center of the work table 12 and the drive mechanism 40 in the longitudinal direction.
6, a front turning mechanism 46 is installed on the upper part of the support member 15 and is centered on the main shaft 42 on the front drive wheel 18 side.
A rear turning mechanism 48 is provided on each of the rear drive wheels 20.

The front turning mechanism 46 and the rear turning mechanism 48 are
Both are fan-shaped segments with the main shaft 4 at the center of the fan.
2 and the outer edge of the fan-shaped segment is located at the gears 46a, 4
8a are respectively formed and are pinion 50a, 5 which is a transmission means of the motors 50, 52 attached to the lower part of the work table 12.
2a is engaged and steered by driving the motors 50 and 52 to rotate the front and rear portions of the drive mechanisms 14L and 14R. 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 workbench 12 at an intermediate portion between the drive mechanisms 14L and 14R and has a power source of the main body 10 and a control portion. Figure 9
[Fig. 3] is a system diagram of a control device in the present embodiment. In FIG. 9, the control device 26 includes a front motor 19, a rear motor 21, a leg mechanism 30 attached to an endless track, which constitutes 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 motors 50 and 52 of the turning mechanism 40 are controlled so that the main body 10 can be steered such as forward, backward, left turn, right turn, skew, and rotational movement.

The encoders 19a and 21a are provided on the front motor 19 and the rear motor 21, respectively, and output signals 19b and 21b thereof are input to the control device 26 as unit angular displacement signals of the motors 19 and 21, respectively. When the command C based on a remote signal or the like is given to the control device 26, the output signals 19c and 21c are output to the front motor 19 and the rear motor 2 respectively.
1 is input to control the rotation speed.

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 provided upright on the endless track 22 to expand or contract the entire length of each leg mechanism 30, so that each leg mechanism 30 is in a stance phase or an idle phase. The motor drive device 3 is set so as to be in a leg phase state.
2a is commanded. Under such motion, the endless track 22
On the outer edge side, the transferred leg mechanism 30 is controlled to exhibit a stance phase, and on the inner edge side, the transferred leg mechanism 30 is controlled to exhibit a free phase, and the drive wheels 18, 2 are driven.
Driving force is generated by driving on the track surface of the zero track 22 and the main body 10 is propelled by sequentially moving the leg mechanism 30 in the moving direction.

Output signals 50a, 52 from the controller 26
a is the motor 5 of the front turning mechanism 46 and the rear turning mechanism 48.
0, 52 is input to rotate the drive mechanisms 14L, 14R to steer the main body 10.

FIG. 10 is an explanatory view showing the state of the forward movement in this embodiment. FIG. 10 (a) shows the operation at the position (a), and FIG. 10 (b) shows the operation from the position (a) to the position (b). )
FIG. 10 (c) shows the operation of moving to the position (b) and the operation of moving forward from the position (b) to the position (c).

Only the operation of the drive mechanism 14L of the drive mechanisms 14 is shown, and the drive mechanism 14R arranged symmetrically with respect to the drive mechanism 14 performs symmetrical operation, and therefore, redundant description will be omitted. There is. In FIG. 10, 1, 2, 3 ...
In order to simplify each leg mechanism of the leg mechanism 30 erected on the endless track, reference numerals 14, 15, 16 are shown in order with the above numbers, and those marked with an X indicate that they are in the stance phase. Some leg mechanisms are not shown, and those not marked with an X are leg mechanisms in the swing phase. Also, the front drive wheel 1
8, the rear drive wheel 20 is driven in the direction of arrow A, and the reference wheel 1
6 is rotated in the A direction.

In FIG. 10A, the leg mechanism 30 is
1, 2, 6 and 7 are in a stance phase, and 8 and 9 ...
The gears 15 and 16 are in the free leg phase, and drive is generated by driving the drive wheels 18 and 20 under such a state, and the leg mechanism 30 is sequentially transferred in the moving direction to propel the main body 10. Is performed.

In FIG. 10B, when the main body 10 is moved forward from the position (a) to the position (b), the leg mechanism 3 is moved.
No. 16 of 0 is newly moved to the stance phase, and the above 7 moves away from the stance phase to the swing phase, and those of 16, 1, ... 5, 6 are in the stance phase. To 7,
8 ... 14 and 15 are in the swing phase and drive wheel 1
8 and 20 are driven, and the main body 10 continues to be propelled.

In FIG. 10C, when the main body 10 moves forward from the position (b) to the position (c), the leg mechanism 3 is moved.
Nos. 0 to 15 are newly rotationally moved to the stance phase, and the above No. 6 is separated from the stance phase and transitions to the swing phase. , 6,
The wheels 8 ... 13 and 14 are in the free leg 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 operation, the drive wheels 18 and 20 drive on the raceway 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 this embodiment based on FIG. 10. FIG. 11 (a) is an operation of the drive mechanism 14, and FIG. 11 (b) is a side view of FIG. 11 (a). 11 (c) is a side view when moving forward to the position (c), and FIG. 11 (d) is a front view of FIG. 11 (b).

In FIG. 11A, the drive mechanism 14L of the drive mechanism 14 is driven so that the drive wheels 18 and 20 are symmetrically driven in the direction of arrow A, and the drive mechanism 14R is symmetrically driven in the direction of arrow A ', and the main body 10 is driven. The propulsion is performed and the forward movement is performed.

In FIG. 11B, a part of the leg mechanism 30 of the drive mechanism 14L changes the entire length of each leg under the condition of the stance phase with respect to the rough ground G in the movement 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. 11 (c), even if the main body 10 moves forward and the topography of the uneven ground G changes during the movement, the total length of each leg is changed under the condition of the stance phase. It makes contact with the ground G and can stably support the longitudinal direction of the main body 10.

In FIG. 11 (d), even if 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 respectively operated under the standing phase. It is possible to change the entire length of the leg to contact the ground G ', support the entire load of the main body 10, and stably support the main body 10 in the width direction.

Therefore, the main body 10 is composed of the rough ground G,
The entire load including the load can be surely supported also on G ', and moreover, the longitudinal direction and the width direction of the main body 10 can be stably supported, and the forward motion of the uneven ground can be performed. Giving can also be avoided.

As described above, FIG. 11 describes 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 view showing the reverse operation in this embodiment. In FIG. 12, the drive mechanism 14L of the drive mechanism 14 is driven symmetrically such that the drive wheels 18 and 20 rotate in the direction of arrow B and the drive mechanism 14R is driven in the direction of arrow B ′ so that the drive mechanism 14L of the main body 10 is rotated. Propulsion is performed and the vehicle is moved backward. The movement process of the leg mechanism 30 is shown in FIG.
The other actions of moving in the opposite direction to those shown in are the same.

FIG. 13 is an explanatory view showing a turning operation in this embodiment, and FIG. 13 (a) shows a right turning operation and FIG.
(B) is explanatory drawing which shows a left turning 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 drive mechanism 14
The moving speed and the moving distance of L and the drive mechanism 14R are different from each other, and the rotation speeds of the drive wheels 18 and 20 of the drive mechanism 14L are set to be higher than the rotation speeds of the drive wheels 18 and 20 of the drive mechanism 14R. By rotating, the main body 10 is turned to the right as shown by the arrow R. In FIG. 13B, the rotation speed of the drive wheels 18 and 20 of the drive mechanism 14L is made lower than the rotation speed of the drive wheels 18 and 20 of the drive mechanism 14R, and the main body 10 is rotated by the arrow L.
As shown in, a left turn operation is performed.

FIG. 14 is an explanatory view showing a diagonal movement in this embodiment. FIG. 14 (a) shows a right diagonal movement, and FIG.
(B) is an explanatory view showing a left skew movement. The diagonal movement is
As described above, the turning mechanism 40 is operated to operate the spindle 4
2, the drive mechanisms 14L and 14R are inclined at a predetermined angle with respect to the forward movement direction of the main body 10 to drive the drive mechanisms 14L and 14R.
Can be achieved by driving.

14A and 14B, the rotation directions of the drive wheels 18 and 20 are the same as those shown in FIG. 11A, and the drive mechanisms 14L and 14R drive the main body 10 to rotate. Propulsion is performed and a rightward or leftward diagonal movement is performed in the direction of arrow RS or LS.

FIG. 15 is an explanatory view showing the rotating operation according to the present invention. FIG. 15 (a) is a right rotating operation, and FIG.
(B) is explanatory drawing which shows counterclockwise rotation operation. The rotation motion 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, and
The drive wheels 18 and 20 of the drive mechanism 14R are driven in the direction of the arrow B'and the drive direction is reversed, and the main body 10 rotates clockwise around the center of the main body 10 without performing forward and reverse movements. To be done.

In FIG. 15B, the drive wheels 18 and 20 of the drive mechanism 14L are driven in the direction of arrow B, and
The drive wheels 18 and 20 of the drive mechanism 14R are driven in the direction of the arrow A ', and the main body 10 is rotated counterclockwise around the center. 13 and 15, when the swinging motion or the rotating motion of the main body 10 is performed, the bottom plate 37 of the lower leg 36 is used.
A rotating means (not shown) is attached to the above, and a torque for rotating around the center of the bottom plate 37 is applied prior to the above operation, so that the swinging or rotating operation of the main body 10 accompanied by a resistance force is smoothed. Can be started. 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 members common to the members shown in (1) are denoted by the same reference numerals, and duplicate 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 guide mechanisms 62 having an annular shape and having a height difference are attached to both sides of the workbench 12 by using a support member 63. The guide mechanism 62 guides the top portion 30a 'of the leg mechanism 30' which is rotationally moved by the endless track 22 in an annular shape along the guide path, and the high-order portion 64 and the low-order portion 64a '.
The leg mechanism 30 'is adapted to be in a free leg phase and a stance phase by being guided to.

The leg mechanism 30 'includes an upper leg 32' and a middle leg 3 '.
4'and the lower leg 36 'are divided into two parts, and an elastic member 32 "is provided inside the upper leg 32' and the middle leg 3 '.
An elastic member 34 ″ is elastically coupled to the inside of 4 ′ by a member (not shown), and the above-mentioned legs are attached.
The leg mechanism 30 'extends the entire length in the free leg phase state, and in the stance phase state, the elastic member 3'corresponds to the ground shape.
It is held by 2 "and 34" to reduce the overall length. With this configuration, the configuration of the mobile robot can be remarkably simplified, and the main body can be moved at a relatively high speed in accordance with the external environment.

The mobile robot according to the present invention can be variously applied to the following ones in addition to those described above. (1) Space field Planetary exploration robot (2) Ocean field Ocean floor exploration platform (3) Civil engineering / construction industry Sediment carrier, earth excavation vehicle, underground buried object detection sensor platform (4) Forestry Undergrowth harvesting vehicle, forest patrol Cars, vehicles for felled trees (5) Agriculture Fruit harvesting vehicles, rice planting vehicles (6) Fisheries Work vehicles on tidal flats, mobile cages, floating piers (7) Mining and marine oil drilling plant mobile platforms (8) Defense tanks , Armored vehicles, transportation trucks, facility work vehicles (9) Transport industry Mobile ships, mobile floating piers, snow vehicles, disaster relief vehicles, mobile bridges (10) Entertainment Playground equipment, recreation vehicles

[0057]

As described above, according to the present invention, the main body can be moved at a relatively high speed in response to the external environment such as rough terrain and can be moved in all directions. Therefore, it is possible to remarkably improve the ability to traverse uneven terrain. Further, since it becomes possible to stably support and move the entire load including the load of the main body, it is possible to sufficiently exhibit the desired working capacity of the main body. In addition, since the power consumption for moving the main body can be reduced, the working load can be increased and the work can be performed.

[Brief description of drawings]

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

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

3 is a plan view taken along the line 2-2 of FIG.

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

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

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

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 view showing a state of forward movement in the present embodiment,

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

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

FIG. 13 is an explanatory view showing a turning operation in the present embodiment,

FIG. 14 is an explanatory view showing a diagonal movement in the present embodiment,

FIG. 15 is an explanatory diagram showing a rotating operation in the present 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]

 10 main body 12 workbench 14 drive mechanism 15 support member 16 reference wheel 18 front drive wheel 20 rear drive wheel 22 endless track 26 controller 30 leg mechanism 32 upper leg 34 middle leg 36 lower leg 37 bottom plate 38 leg fixture 40 swivel mechanism 42 spindle 46 front turning mechanism 48 rear turning mechanism

Claims (6)

[Claims] 1. A mobile robot capable of traveling on rough terrain, wherein the main body of the mobile robot comprises a workbench, a drive mechanism, a leg mechanism, a turning mechanism, a controller, etc., and the drive mechanism has a vertical track surface. It has a track and a drive wheel and is suspended in a double row on a work table, and the plurality of leg mechanisms are integrally erected on the outer surface of the track via a leg fixing tool with a space therebetween. Is a rough terrain mobile robot having a control device that controls the movement of the main body so as to exhibit a stance phase on the outer edge side of the track and an idle phase on the inner edge side. 2. The leg mechanism erected on the endless track is composed of an upper leg, a middle leg and a lower leg. The middle leg is attached to the inner surface of the upper leg and the lower leg is attached to the inner surface of the middle leg via screw portions. The ground pressure at the time of touchdown according to the ground shape is detected using the pressure sensor provided on the seat plate of the lower leg, and the entire length of the leg mechanism is adjusted by rotating the middle leg and / or the lower leg. The terrain mobile robot according to claim 1, wherein the robot is controlled so that it can extend and contract. 3. The swivel mechanism has a shaft of a reference wheel at the center in the longitudinal direction of the drive mechanism as a main axis, and the front swivel mechanism and the rear swivel mechanism, which are fan-shaped segments, are installed on the upper part of the support member. The fan-shaped center of the swivel mechanism is located on the main shaft, and both swivel mechanisms mesh with transmission means attached to the lower part of the workbench. Leveling mobile robot. 4. The main body moves forward according to a command from the control device,
3. A reverse movement, a turning movement, a skew movement, and a rotation movement are selected for movement and movement.
An irregular terrain mobile robot according to item 3 or item 3. 5. A mobile robot capable of traveling on rough terrain, wherein the main body of the mobile robot comprises a workbench, a drive mechanism, a leg mechanism, a controller, etc., and the drive mechanism is an endless track having a vertical track surface. And the drive wheels and are arranged in a double row on the workbench and suspended, and the plurality of leg mechanisms are erected integrally on the outer surface of the endless track via leg fixings at both sides on the workbench. A guide mechanism for the leg mechanism that is annular and forms a height difference is attached to the main body so that the leg mechanism exhibits a stance phase on the outer edge side of the endless track and a free leg phase on the inner edge side. An uneven terrain mobile robot comprising a control device for controlling movement. 6. The leg mechanism erected on the endless track is composed of an upper leg, a middle leg and a lower leg. The middle leg is attached to the inner surface of the upper leg and the lower leg is attached to the inner surface of the middle leg via elastic members. 6. The uneven land mobile robot according to claim 5, wherein the entire length of the leg mechanism is made elastic by elastically moving the middle leg and / or the lower leg.