JPS61180882U - - Google Patents
Info
- Publication number
- JPS61180882U JPS61180882U JP6420585U JP6420585U JPS61180882U JP S61180882 U JPS61180882 U JP S61180882U JP 6420585 U JP6420585 U JP 6420585U JP 6420585 U JP6420585 U JP 6420585U JP S61180882 U JPS61180882 U JP S61180882U
- Authority
- JP
- Japan
- Prior art keywords
- endless track
- worm
- track devices
- drive mechanism
- axial direction
- 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.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 1
Description
第１図〜第４図は本考案の一実施例に係り、第
１図は駆動機構及び近接スイツチを示す断面図、
第２図は走行ロボツトの全体構成図、第３図は平
行走行する走行ロボツトの側面図、第４図は障害
物走行に移行する際の走行ロボツトの部分側面図
である。
図面中、１は走行ロボツト、２，３，４は無限
軌道装置、５は監視用テレビカメラ、６はフロン
トアーム、１０は駆動機構、１１は階段、１２は
ウオームホイール、１３はウオーム、１７はモー
タ、１８は近接スイツチである。
1 to 4 relate to an embodiment of the present invention, and FIG. 1 is a sectional view showing a drive mechanism and a proximity switch;
FIG. 2 is an overall configuration diagram of the traveling robot, FIG. 3 is a side view of the traveling robot traveling in parallel, and FIG. 4 is a partial side view of the traveling robot when transitioning to obstacle traveling. In the drawing, 1 is a running robot, 2, 3, and 4 are endless track devices, 5 is a surveillance television camera, 6 is a front arm, 10 is a drive mechanism, 11 is a staircase, 12 is a worm wheel, 13 is a worm, and 17 is a Motor 18 is a proximity switch.
Claims (1)
軌道装置を他方の無限軌道装置に対し、水平面よ
り上向きに回動させる駆動機構を設けてなる少な
くとも２つの無限軌道装置を設けた走行ロボツト
において、前記駆動機構は一方の無限軌道装置の
連結部に固着されたウオームホイールと、他方の
無限軌道装置の連結部に設けられた前記ウオーム
ホイールに噛合するウオーム及び該ウオームの回
転駆動源とからなり、更に前記ウオームに軸方向
に微小変位可能なあそびを設定し、無限軌道装置
が障害物に乗り上げて上向きに回動するのに伴い
軸方向に連動するウオームの変化を検出するセン
サを設けることを特徴とする走行ロボツトの障害
物検出装置。 A traveling robot equipped with at least two endless track devices, each of which is provided with a drive mechanism that rotates one of the endless track devices upward from a horizontal plane with respect to the other, in a connecting part that connects the endless track devices, The drive mechanism includes a worm wheel fixed to a connecting portion of one of the endless track devices, a worm that meshes with the worm wheel provided to the connecting portion of the other endless track device, and a rotational drive source for the worm, Furthermore, the worm is provided with a play that allows minute displacement in the axial direction, and is provided with a sensor that detects a change in the worm that moves in the axial direction as the endless track device rides on an obstacle and rotates upward. An obstacle detection device for a traveling robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1985064205U JPH0452147Y2 (en) | 1985-05-01 | 1985-05-01 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1985064205U JPH0452147Y2 (en) | 1985-05-01 | 1985-05-01 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61180882U true JPS61180882U (en) | 1986-11-11 |
| JPH0452147Y2 JPH0452147Y2 (en) | 1992-12-08 |
Family
ID=30595075
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1985064205U Expired JPH0452147Y2 (en) | 1985-05-01 | 1985-05-01 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0452147Y2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010132104A (en) * | 2008-12-04 | 2010-06-17 | Daiwa House Industry Co Ltd | Crawler type traveling vehicle |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59172082U (en) * | 1983-05-06 | 1984-11-17 | 中部電力株式会社 | traveling device |
-
1985
- 1985-05-01 JP JP1985064205U patent/JPH0452147Y2/ja not_active Expired
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59172082U (en) * | 1983-05-06 | 1984-11-17 | 中部電力株式会社 | traveling device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010132104A (en) * | 2008-12-04 | 2010-06-17 | Daiwa House Industry Co Ltd | Crawler type traveling vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0452147Y2 (en) | 1992-12-08 |
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