WO2011102528A1

WO2011102528A1 - Mobile robot

Info

Publication number: WO2011102528A1
Application number: PCT/JP2011/053818
Authority: WO
Inventors: 康之内田
Original assignee: 学校法人日本大学
Priority date: 2010-02-22
Filing date: 2011-02-22
Publication date: 2011-08-25
Also published as: JP5692932B2; JPWO2011102528A1

Abstract

Disclosed is a mobile robot provided with: a rotating frame (22) that can rotate with respect to a body (11) via a bearing mechanism (39); a plurality of extending legged wheels (25) provided at equal intervals on the rotating frame (22), each of said extending legged wheels having a first leg segment (26), one end of which is attached to the rotating frame (22) so as to be able to revolve, and a second leg segment (27), one end of which is attached to the first leg segment (26) so as to be able to revolve; a screw (32), on which threaded sections (35 and 36) are formed, that rotates and thereby moves runners (37 and 38); and a control mechanism (41) that couples the first and second arm segments (26 and 27) to the runners (37 and 38), causing the first and second arm segments (26 and 27) to revolve as the runners (37 and 38) move. When the screw (32) rotates and the runners (37 and 38) move, the extending legged wheels (25) open/close and the rotating frame (22) rotates, causing the extending legged wheels (25) to rotate. The disclosed mobile robot is small and portable, in addition to handing uneven terrain well.

Description

Traveling robot

The present invention relates to a traveling leg-wheel type traveling robot that is excellent in rough terrain traveling performance.
This application claims priority on the basis of Japanese Patent Application No. 2010-036548 filed on Feb. 22, 2010 in Japan, and is incorporated herein by reference. Is done.

In a site where a large-scale disaster such as a large-scale earthquake has occurred, the emergency team may not be able to enter immediately to prevent secondary disasters. Therefore, at disaster sites, in order to ensure the safety of victims and rescue teams, it is important to collect information such as searching for safe routes and searching for dangerous goods and victims in advance. The environment in which these occur is not limited to a relatively flat place in an urban area or a building, but also a natural environment such as sand or grass, or a place with many artificial irregularities such as a subway yard or an underground passage. As a robot that collects dangerous information on behalf of humans, a robot that is compact, lightweight, easy to carry, and capable of stably traveling in any environment is desired.

A variety of information gathering robots have been developed so far, but as a trend in recent years, there is an increasing number of small and lightweight robots that are not burdened by crew members.

For example, Mitsubishi Electric Special Equipment System Co., Ltd. and the Ministry of Internal Affairs and Communications Fire Agency jointly developed FRIGO-M as a crawler type mobile robot (see Non-Patent Document 1 below). This mobile robot has a total length of 0.437 [m], a total width of 0.350 [m], a total height of 0.152 [m], a mass of about 12 [kg], and a traveling speed of about 1.1 [m / s]. Fast and rough terrain.

However, it is difficult to say that portability is good because it requires one person to carry.

Also, RECON ROBOTICS (USA) has developed a small, lightweight and practical RECON SCOUT THROWBOT and is conducting practical tests at the police (see Non-Patent Document 2 below). Wheel diameter is 0.076 [m], overall width is 0.187 [m], balancer (tail) length is 0.102 [m], mass is about 0.6 [kg], and traveling speed is about 0.3 [m / s]. Although it is very small and lightweight and has a simple structure, it is a two-wheeled type, so it is difficult to get over small irregularities such as cables in the building, and the ability to run on uneven terrain is low. In addition, the balancer (tail) attached to the rear portion has no power, and thus is a resistance during traveling. If the balancer (tail) is damaged, the balancer (tail) cannot travel. Structurally, various impacts during traveling are directly transmitted to the motor, and the power transmission unit is likely to fail.

In addition, the variable SPINY BALL developed by DRAPER Laboratories (USA) is carried around the size of a softball and spreads the stab from the wheel during use to improve rough road running. Since it cannot be changed steplessly, it cannot cope with the narrow environment (see Non-Patent Document 3 below).

These two robots are intended to collect information not only in disasters and crime scenes but also in confined spaces such as under the vehicle, under the floor, and behind the ceiling.

JP 2007-237991 A

Therefore, an object of the present invention is to provide a traveling robot that is also excellent in rough terrain traveling performance.

In order to solve the above-described problems, a traveling robot according to the present invention includes a main body portion having a substantially cylindrical shape, a rotating frame that is rotatably mounted around the main body portion via a bearing, and a relative relationship between the main body portion. And a traveling part provided on each side part.

The travel unit includes a drive unit that rotates a rotating frame attached to the main body unit via a bearing, a first leg arm that has one end rotatably attached to the rotating frame, and the one end that is the first unit. A deployable leg having a second leg arm rotatably attached to the leg arm is provided with a plurality of deployable leg wheels provided at equal intervals on the rotary frame, and a screw portion formed around the deployable leg, and is rotated by a drive source. The screw, the runner engaged with the screw portion of the screw and moving in the axial direction of the screw, the first and second leg arms and the runner are connected, and the runner moves as described above. A first leg arm and an operation mechanism for rotating the second leg arm;

When the screw rotates and the runner moves in the axial direction, the operation mechanism rotates the first leg arm and the second leg arm to open and close the unfolding leg wheel, When the rotating frame is rotated by the driving unit, the unfolded leg wheel attached to the rotating frame rotates and travels.

The operating mechanism includes, for example, a first operating arm having one end rotatably attached to the runner and the other end rotatably attached to the first leg arm, and one end being the first The second operation arm is rotatably attached to one operation arm and the other end is rotatably attached to the second leg arm.

Further, the operation mechanism is connected to an annular bearing mechanism integrated with the runner, and rotates together with the developing leg wheel.

The drive source of the screw is one drive motor, and the screw has a first screw portion formed on one side and a second screw portion formed on the other side, and the first screw The part and the second screw part are formed in opposite directions. The screw is rotated by the one drive motor, the runner is engaged with each of the first screw portion and the second screw portion, and when the screw is rotated, the runners are close to each other. Move in the direction you want. Thereby, the said operation mechanism opens and closes the expansion | deployment leg wheel of each said traveling part synchronously.

The first screw portion and the second screw portion are formed in the same direction. The screw is rotated by the one drive motor, the runner is engaged with each of the first screw portion and the second screw portion, and when the screw is rotated, each runner is connected to the screw. Move the axis direction in the same direction. Thereby, the operation mechanism opens and closes the developing leg wheels of the traveling parts so that the opening and closing directions are opposite to each other so that the traveling robot can bend. This is particularly effective when the drive unit that rotates the rotating frame is configured by a single drive motor.
The screw may be disposed in the same direction as the axis of the rotation shaft of the development leg wheel, and the tip of the screw may be rotatably supported on the side surface of the main body.
In addition, the screw is plural, and is rotated synchronously by the one drive source, and the runner is engaged with each of the first screw portion and the second screw portion of each screw, and When an operating mechanism that rotates the first leg arm and the second leg arm according to the movement of the runner is provided between the runner and the first and second leg arms, and the screw rotates. By moving in the axial direction of the screw, the operation mechanism may open and close the developing leg wheels of the traveling portions. In this case, the directions of the first screw portion and the second screw portion of each screw may be opposite or the same.
Furthermore, the drive unit may be a skid steer system having a drive motor for each of the traveling units provided on the side surfaces of the main body unit, and may be capable of super turning.

Further, a plurality of the traveling robots are connected by a connecting mechanism, and when the preceding traveling robot goes up the step, the preceding traveling robot is reduced in diameter so as to close the unfolded leg wheel, and travels under the step. The robot increases the diameter so as to open the deploying leg wheel. Thereby, the vertical fluctuation of a main-body part can be made small.

According to the present invention, since the diameter of the deployable leg wheel with the rotating frame attached to the main body via the bearing mechanism is opened and closed to change the diameter, the size of the unevenness and the traveling speed that can be overcome can be increased. Efficient traveling according to the road surface condition can be performed.

FIG. 1 is a partially cutaway perspective view of a traveling robot to which the present invention is applied. FIG. 2 is a cross-sectional view showing the principle of the deploying leg wheel system of the traveling robot to which the present invention is applied. FIG. 3 is a side view showing a state in which the deployment leg wheel is most closed. FIG. 4 is a side view showing a state in which the deployment leg wheel is most closed. FIG. 5 is a side view showing a state where the connected traveling robot rides up a step. FIG. 6 is a sectional view of a traveling robot to which a runner moves in the same direction as a modification of the traveling robot to which the present invention is applied. FIG. 7 is a cross-sectional view showing a modification of FIG. 2 and shows an example in which the directions of the first screw portion and the second screw of the two screws are reversed. FIG. 8 is a cross-sectional view showing a modification of FIG. 6 and shows an example in which the directions of the first screw portion and the second screw of the two screws are the same.

Hereinafter, a traveling robot to which the present invention is applied will be described in detail with reference to the drawings. The description will be given in the following order.
1. 1. Outline of traveling robot 2. Configuration of traveling robot 2-1 Overall configuration 2-2 Unfolding leg wheel system Modification 3-1 Modification 1
3-2 Modification 2
3-3 Modification 3
3-4 Modification 4
3-5 Modification 5

1. Outline of the traveling robot The traveling robot proposed by the inventors is as follows.

(1) Small size: Suspicious objects such as explosives are often installed underneath the vehicle, and the total height of the robot is the minimum ground clearance of a typical car so that it is possible to search such a narrow place. Is set to 0.12 [m] or less.

(2) Lightweight: Rescue crews must carry various rescue equipment that can reach approximately 26-27 [kg]. The limit mass that one member can carry is said to be about 30 [kg]. In other words, the mass allowed for a robot to be newly equipped is considered to be about several kg. Therefore, in order to reduce the burden on the members as much as possible, the mass of the robot is set to 1.5 [kg] or less.

(3) Mobility: Considering the walking speed and maneuverability of cooperating members, the traveling speed should be about 0.3 to 1.1 [m / s]. In addition, the wheel diameter can be arbitrarily doubled depending on the road surface so that small irregularities such as cables and steps in the building, sandy ground, grassland, and puddles outside can be stably driven. It can be changed. And it is set as the skid steer system of the two-wheel independent drive which enables a super turn in a narrow space.

2. Configuration of Traveling Robot (2-1) Overall Configuration As shown in FIG. 1, a traveling robot 1 to which the present invention is applied has a main body 11 having a substantially cylindrical shape. The main body 11 is provided with an imaging unit 12 for imaging a travel location, a battery 13 serving as a power source, a plurality of drive motors, a motor driver 14 for driving and controlling the drive motor, and the like.

The imaging unit 12 is a small camera using, for example, a CCD (Charge-Coupled Device) or CMOS (Complementary Metal-Oxide Semiconductor) sensor as an imaging element, and is attached so that the imaging lens faces the outside from the main body unit 11. ing.

The battery 13 is, for example, a lithium ion secondary battery or a nickel hydride secondary battery. The battery 13 may be a primary battery.

Although not shown, the main body 11 configured as described above includes a wireless unit that transmits and receives imaging data and control data, a controller that controls the overall operation, and the like. The wireless unit exchanges data with the remote operation device wirelessly, transmits and receives control data for running, stopping, and the like of the traveling robot 1 and transmits the moving image data captured by the imaging unit 12 to the remote operation device. Send to. Further, for example, when the controller receives the control data of the drive motor by a wireless unit, the controller outputs the received control data to the motor driver 14, and drives and controls the drive motor by the motor driver 14. Further, the controller transmits imaging data such as moving image data captured by the imaging unit 12 to a remote control device or the like via the wireless unit.

The traveling robot 1 may be provided with other units such as a GPS (Galileo positioning system, Global Positioning System) unit, a microphone unit, and a light in addition to the units described above. The communication with the remote control device may be wired or infrared communication. The transmission / reception data may be encrypted. In this case, an encryption processing unit is provided in the transmitter, and a decryption processing unit is provided in the receiver.

(2-2) Unfolding leg wheel system As shown in FIGS. 1 and 2, in this traveling robot 1, traveling

portions

21 and 21 are provided on opposite side portions of the main body portion 11 having a substantially cylindrical shape. The traveling leg wheel system is adopted for the traveling unit 21. In addition, since each of the traveling

units

21 and 21 has the same configuration, the following description will be given by taking one traveling unit 21 as an example.

A rotating frame 22 is rotatably attached around the main body 11 having a substantially cylindrical shape. The rotating frame 22 is attached via bearing

mechanisms

23 and 23. The bearing

mechanisms

23 and 23 are configured by sandwiching a ball 23c between an outer ring 23a and an inner ring 23b. Here, the outer ring 23a is attached to the rotating frame 22, and the inner ring 23b is attached to the main body frame 15 of the main body 11. ing.

The rotary frame 22 is attached to a drive shaft 24a of a travel drive motor 24 provided inside the main body 11 at the side surface 22a. Specifically, the drive shaft 24 a of the travel drive motor 24 in the main body 11 passes through the through hole 15 b of the side surface 15 a of the main body frame 15 and is fixed to the center of the side surface 22 a of the rotary frame 22. Therefore, the rotating frame 22 rotates around the main body frame 15 of the main body 11 via the bearing mechanism 23 with the traveling drive motor 24 as a drive source. The driving motor 24 for traveling is provided according to the development leg wheel in the side part which the main-body part 11 opposes, respectively, and is independently controlled. Therefore, the traveling robot 1 can perform a super turn.

The rotation frame 22 is provided with a deployment leg wheel 25. The deployment leg wheel 25 has a plurality of deployment legs 28 composed of a first leg arm 26 and a second leg arm 27. A plurality of, in this case, eight, deployment legs 28 are provided on the outer peripheral portion of the rotary frame 22 at equal intervals. The first leg arm 26 constituting each deploying leg 28 is a linear rod-like member, and one end thereof is attached to the outer peripheral portion of the rotary frame 22 so as to be rotatable about the rotation shaft 26a. Further, one end portion of the second leg arm 27 is attached to the other end portion side of the first leg arm 26 so as to be rotatable about the rotation shaft 27a. The second leg arm 27 is also a linear rod-shaped member, and the other end portion serves as a ground contact end portion to the ground. For example, the tip end portion may be bent to be substantially parallel to the ground so that the traveling robot 1 can maintain a stable posture. Moreover, you may attach an elastic body etc. to the earthing | grounding edge part.

In the deployment leg wheel 25 having a plurality of deployment legs 28 as described above, the first leg arm 26 rotates about the rotation axis 26a and the second leg arm 27 rotates about the rotation axis 27a. By moving, it can be opened and closed and the diameter of the wheel can be varied.

A deployment leg drive motor 31 is provided in the main body 11 as a drive source for opening and closing the rotary leg, and the screw 32 is rotated by the deployment leg drive motor 31. . A first gear 33 is attached to the drive shaft 31 a of the development leg drive motor 31, and the first gear 33 is meshed with a second gear 34 fixed substantially at the center in the longitudinal direction of the screw 32. Yes.

The screw 32 is disposed over the longitudinal direction of the main body 11, and is a developed leg wheel of the traveling unit 21 provided on the one side surface 22 a side of the main body 11 on one side from the approximate center. A first screw portion 35 for opening and closing the opening 25 is provided, and for opening and closing the development leg wheel 25 of the traveling portion 21 provided on the other side surface portion 22a side of the main body portion 11 on the other side from the approximate center. The second screw portion 36 is provided. The first screw part 35 and the second screw part 36 are formed with thread grooves in opposite directions.

A first runner 37 and a second runner 38 are attached to the first screw portion 35 and the second screw portion 36, respectively.

The first and

second runners

37 and 38 each have a nut portion formed on the inner peripheral surface of the through hole, and the nut portion is engaged with the first and

second screw portions

35 and 36. Therefore, when the screw 32 is rotated, the first runner 37 and the second runner 38 move in a direction of approaching and separating from each other.

An annular bearing mechanism 39 is attached to each of the first runner 37 and the second runner 38. The bearing mechanism 39 is, for example, a dry bearing, and an inner ring 39 a is attached to each of the first runner 37 and the second runner 38. Further, the outer ring 39b is attached so that one end portion of the first operation arm 42 of the same number of operation mechanisms as the deployment legs 28 can be rotated around the rotation shaft 42a corresponding to the number of the deployment legs 28. . Therefore, the bearing mechanism 39 moves integrally with the first and

second runners

37 and 38 in the axial direction of the screw 32, and the outer ring 39 b rotates with the rotating frame 22 relative to the main body 11. Become.

The outer ring 39b of the bearing mechanism 39 is provided with an operation mechanism 41 that is connected to the first and

second leg arms

26 and 27 and rotates the

respective arms

26 and 27. The operation mechanism 41 connects the outer ring 39b of the bearing mechanism 39 and the first leg arm 26 by the first operation arm 42, and the first operation arm 42 and the second leg by the second operation arm 43. The arm 27 is connected.

Specifically, the first operating arm 42 is a linear rod-shaped member, and one end portion is centered on the outer ring 39b of the bearing mechanism 39 integrated with the first and

second runners

37 and 38 with the rotation shaft 42a as the center. It is attached to be pivotable. Further, the other end is attached to the middle of the first leg arm 26 so as to be rotatable about the rotation shaft 42b. The second operation arm 43 is attached to one end of the second operation arm 43 so as to be rotatable about the rotation shaft 43 a in the middle of the first operation arm 42, and the other end is rotated to one end of the second leg arm 27. It is attached so as to be rotatable around a shaft 43b.

For the deployable leg wheel 25 configured as described above, the wheel diameter can be arbitrarily changed within a range of, for example, 0.12 to 0.24 [m].

By the way, the main body frame 15 and the rotary frame 22 of the main body 11 have an opening 44 and / or an opening 45 that allows the bearing mechanism 39 and the operation mechanism 41 to be exposed to the outside, and the movement of the first and

second runners

37 and 38. It is formed over a range. Both ends of the opening 44 and / or the opening 45 in the moving direction of the first and

second runners

37 and 38 serve as mechanical ends that restrict the moving range of the first and

second runners

37 and 38. ing.

As shown in FIG. 1, the main body 11 is provided with a balancer 29 serving as a tail on the upstream side in the traveling direction, so that the traveling robot 1 can travel with two wheels.

In the deployment leg wheel system configured as described above, as shown in FIG. 2, when the deployment leg drive motor 31 is driven and the screw 32 rotates in the direction of arrow A in FIG. The

runners

37 and 38 move in the direction of arrow C in FIG. Then, both the first leg arm 26 and the second leg arm 27 that are rotatably attached to the rotary frame 22 rotate in the opening direction. Thereby, the expansion | deployment leg wheel 25 opens in the arrow E direction in FIG. 2, ie, a diameter becomes large, and will be in the state shown in FIG.

On the other hand, when the screw 32 rotates in the direction of arrow B in FIG. 2, the first and

second runners

37 and 38 move in the direction of arrow D in FIG. Then, both the first leg arm 26 and the second leg arm 27 that are rotatably attached to the rotary frame 22 rotate in the closing direction. Thereby, the expansion | deployment leg wheel 25 closes in the arrow F direction in FIG. 2, ie, a diameter becomes small, and will be in the state shown in FIG.

As described above, in the deployable leg wheel system in which the deployable leg wheel 25 opens and closes, the rotating frame 22 rotates when the driving motor 24 for driving normally or reversely drives. Thereby, the

deployment leg wheels

25 and 25 attached to the rotating frame 22 rotate in the same direction as the rotating direction of the rotating frame 22. At this time, the first operating arm 42 and the second operating arm 41 of the operating mechanism 41 for connecting the first and

second runners

37 and 38 and the first and

second leg arms

26 and 27 in the main body 11 on the fixed side. Since the operating arm 43 is attached to the outer ring 39b of the bearing mechanism 39, it rotates in the same manner as the deploying leg wheel 25.

In the above-mentioned development leg wheel system, the wheel diameter can be changed according to the road surface condition such as flat or rough terrain. Therefore, it is possible to enter a narrow space such as under the vehicle by reducing the wheel diameter, and on uneven terrain such as sand, grassland, or a puddle, it can efficiently run by increasing the wheel diameter, It will have high ground adaptability. Moreover, in this traveling robot 1, since the wheel diameter can be expanded up to about twice in this design, the size of the unevenness that can be overcome and the traveling speed can be increased up to about twice, so that the traveling robot 1 can efficiently travel according to the road surface condition. It can be carried out. Further, as will be described below, by applying this to a four-wheeled vehicle, a six-wheeled vehicle, or the like, it is possible to further improve the traveling performance of rough terrain.

When the vehicle travels in a straight line, the controller uses the motor driver 14 to drive the traveling drive motors 24 of the traveling

units

21 and 21 in the same direction at the same speed, and when the traveling direction is bent, the controller develops left and right. The rotational speed of the

leg wheels

25, 25 is changed. Specifically, the traveling robot 1 bends in the direction in which the speed of the deployment leg wheel 25 is decreased. In addition, when making a super turn, the controller causes the motor driver 14 to rotate the driving motors 24 of the traveling

units

21 and 21 opposite to each other at the same speed.

The inventors made a prototype of the traveling robot 1 shown in Table 1 specifically.

As described above, in the traveling robot 1 to which the present invention is applied, the total length of 0.264 [m], the total width of 0.234 [m], and the total height of 0.120 [m] that can reduce the burden when the rescuer is carried. And downsizing, mass 1.46 [kg], downsizing and weight reduction, it has excellent high ground adaptability.

3. Modification (3-1) Modification 1
Here, an example in which the first and

second screw portions

35 and 36 are provided on one screw 32 and the deployment leg drive motor 31 is provided is described. However, the first and second screw portions 35 are described. , 36, two screws 32 may be provided, and two development leg drive motors 31 may be provided according to the two screws 32. In this case, the diameter of the deployable leg wheel 25 can be individually changed on the left and right, so that the traveling direction of the traveling robot 1 can be bent even if the rotational speed of the traveling drive motor 24 is the same. .
(3-2) Modification 2
The traveling robot 1 configured as described above can further run through a large obstacle that cannot be run alone by connecting a plurality of robots.

That is, as shown in FIG. 5, the traveling robots 1 a and 1 a to which the present invention is applied are connected to link

mechanisms

46 and 46. Each of the traveling robots 1a and 1a is provided with multi-degree-of-freedom link mechanisms 46a and 46a in the main body 11 of the traveling robot 1 using FIGS. 1 to 4, and the multi-degree-of-freedom link mechanisms 46a and 46a are, for example, flexible It is connected by connecting members 47 and 47 having the property.

Further, when the step 50 is to be overcome, the leading traveling robot 1a preceding the step 50 has a small diameter of the deploying leg wheel 25 and a large diameter of the deploying leg wheel 25 of the traveling robot 1a that has not overcome the step 50. Thereby, the amount of change in the height of the main body 11 of the traveling robot 1a that has overcome the step 50 and the traveling robot 1a that has not overcome the step 50 can be reduced. For example, when the traveling robot 1a has the imaging unit 12, the image blur in the height direction of the imaging data can be reduced by reducing the amount of change in the height of the main body unit 11.

As described above, when the traveling robot 1a is connected, the number of wheels becomes four or more, so that the balancer 29 serving as a tail is not necessary.

(3-3) Modification 3
As shown in FIG. 6, the screw 32 may be configured so that the first and

second screw portions

51 and 52 are formed with screw grooves in the same direction. In this case, when the screw 32 rotates in one direction, the first runner 37 and the second runner 38 move in the same direction in the axial direction of the screw 32. That is, when the screw 32 rotates in the direction of arrow A in FIG. 6, both the first and

second runners

37 and 38 move in the direction of arrow C in FIG. 25 opens in the direction of arrow E in FIG. 6, that is, the diameter increases, and the deployable leg wheel 25 on the second runner 38 side closes in the direction of arrow F in FIG. 6, that is, the diameter decreases.

On the contrary, when the screw 32 rotates in the direction of arrow B in FIG. 6, both the first and

second runners

37 and 38 move in the direction of arrow D in FIG. 6 expands in the direction of arrow F in FIG. 6, that is, the diameter decreases, and the expansion leg wheel 25 on the second runner 38 side opens in the direction of arrow E in FIG. 6, that is, increases in diameter.

As described above, the left and right

deployable leg wheels

25 and 25 have different sizes, and the traveling direction of the traveling robot 1 can be bent even if the traveling drive motor 24 has the same rotation speed. As in the example of FIG. 6, the first and

second screw portions

51 and 52 are formed by screw grooves in the same direction so that the first runner 37 and the second runner 38 move in the same direction. This is particularly effective when the traveling drive motor 24 that rotates the rotary frame 22 is provided as one and the left and right development leg wheels are driven by the single drive motor 24.

As for the traveling robot 1 shown in FIG. 6, a plurality of units may be connected by a link mechanism 46 as shown in FIG.
(3-4) Modification 4
2 and 6 described above, an example in which the

deployment leg wheels

25, 25 on both sides are opened and closed via the operation mechanism 41 by rotating one screw 32 has been described, but as shown in FIG. In addition, a plurality of screws 32 may be used so that the

development leg wheels

25, 25 can be opened and closed smoothly.
Here, FIG. 7 shows an example in which the unfolded leg wheel type screw 32 shown in FIG. 2 is used. In the example of FIG. 7, the

second gears

34 and 34 are respectively provided on the two

screws

32 and 32 that are parallel to each other, and the

second gears

34 and 34 are the first gears of the development leg drive motor 31. Is engaged with the gear 33. Thereby, the two

screws

32 and 32 rotate in synchronization with the same direction.
The distal end portions of the

screws

32 and 32 are rotatably supported by the side surface portion 15 a of the main body frame 15 constituting the main body portion 11. Specifically, the tip portions of the

screws

32 and 32 are attached to

bearings

32a and 32a such as dry bearings and ball bear rigs. Thereby, each

screw

32 and 32 is attached to the main body frame 15 in a stable and freely rotatable manner in parallel to the

deployable leg wheels

25 and 25 and the rotation axis, while being long. Also in the example of FIG. 2 described above, each tip portion of the screw 32 may be rotatably supported on the side surface portion 15 a of the main body frame 15 constituting the main body portion 11.
In the example of FIG. 7, the first screw portion 35 and the second screw portion 36 of each

screw

32, 32 are formed with mutually opposite thread grooves, as in the case of FIG. 2. And the 1st runner 37 and the 2nd runner 38 are attached to the 1st screw part 35 and the 2nd screw part 36 of each

screw

32 and 32, respectively. When the screws 32 are rotated, the first runner 37 and the second runner 38 move toward and away from each other.
An annular bearing mechanism 39 is attached to each of the first runner 37 and the second runner 38. In the bearing mechanism 39, an inner ring 39 a is attached to each of the first runner 37 and the second runner 38. Further, the outer ring 39b is attached so that one end portion of the first operation arm 42 of the same number of operation mechanisms as the deployment legs 28 can be rotated around the rotation shaft 42a corresponding to the number of the deployment legs 28. . Accordingly, the bearing mechanism 39 moves integrally with the first and

second runners

37 and 38 in the axial direction of the

screws

32 and 32, and the outer ring 39 b rotates with the rotary frame 22 relative to the main body 11. It will be.
The outer ring 39 b of the bearing mechanism 39 is provided with an operation mechanism 41 that is connected to the first and

second leg arms

26 and 27 and that rotates the

arms

26 and 27. The operation mechanism 41 connects the outer ring 39b of the bearing mechanism 39 and the first leg arm 26 by the first operation arm 42, and the first operation arm 42 and the second leg by the second operation arm 43. The arm 27 is connected. One end of the first operation arm 42 is attached to an outer ring 39b of a bearing mechanism 39 integral with the first and

second runners

37 and 38 so as to be rotatable about a rotation shaft 42a. Further, the other end is attached to the middle of the first leg arm 26 so as to be rotatable about the rotation shaft 42b. The second operation arm 43 is attached to one end of the second operation arm 43 so as to be rotatable about the rotation shaft 43 a in the middle of the first operation arm 42, and the other end is rotated to one end of the second leg arm 27. It is attached so as to be rotatable around a shaft 43b.
In the developed leg wheel system configured as described above, when the

screws

32 and 32 rotate in the direction of arrow A in FIG. 7, the first and

second runners

37 and 38 of the

screws

32 and 32 are separated from each other. 7 Move in the direction of arrow C. Then, both the first leg arm 26 and the second leg arm 27 that are rotatably attached to the rotary frame 22 rotate in the opening direction. Thereby, the expansion | deployment leg wheel 25 opens in the arrow E direction in FIG. 2, ie, a diameter becomes large, and will be in the state shown in FIG. On the other hand, when the screw 32 rotates in the direction of arrow B in FIG. 7, the first and

second runners

37 and 38 of the

screws

32 and 32 move in the direction of arrow D in FIG. Then, both the first leg arm 26 and the second leg arm 27 that are rotatably attached to the rotary frame 22 rotate in the closing direction. Thereby, the expansion | deployment leg wheel 25 closes in the arrow F direction in FIG. 7, ie, a diameter becomes small, and will be in the state shown in FIG.
7 has the same effect as the example of FIG. 2, and the opening and closing of the developing

leg wheels

25, 25 is provided in each of the plurality of

screws

32, 32. The first and

second runners

37 and 38 are used. For this reason, the unfolded leg wheel system of FIG. 7 is different from the unfolded

leg wheels

25, 25 by opening and closing the unfolded

leg wheels

25, 25 by the first and

second runners

37, 38 of the single screw 32 of FIG. Can be opened and closed stably and smoothly.
(3-5) Modification 5
FIG. 8 is a modification of FIG. 6 and FIG. 7, wherein a plurality of screws 32 are used, and the

development leg wheels

25 and 25 can be opened and closed smoothly, and the first and second screws of each screw 32. The

portions

51 and 52 are formed by screw grooves in the same direction so that the first runner 37 and the second runner 38 move in the same direction.
Also in the example of FIG. 8, the

second gears

34 and 34 are provided for the two

screws

32 and 32 that are parallel to each other, and the

second gears

screws

32 and 32 rotate in synchronization with the same direction. In addition, each

screw

32, 32 is rotatably supported at the side surface portion 15 a of the main body frame 15 constituting the main body portion 11, and in the main body frame 15, each

screw

32, 32 is parallel to the

deployment leg wheels

25, 25 and the rotation axis. In addition, it can be mounted in a stable and rotatable state. In the example shown in FIG. 6 as well, each tip portion of the screw 32 may be rotatably supported on the side surface portion 15 a of the main body frame 15 constituting the main body portion 11.
In this case, when the screw 32 rotates in one direction, the first runner 37 and the second runner 38 move in the same direction in the axial direction of the screw 32. That is, when the

screws

32, 32 rotate in the direction of arrow A in FIG. 8, both the first and

second runners

37, 38 move in the direction of arrow C in FIG. The leg wheel 25 opens in the direction of arrow E in FIG. 8, that is, the diameter increases, and the development leg wheel 25 on the second runner 38 side closes in the direction of arrow F in FIG.
On the contrary, when the

screws

32 and 32 are rotated in the direction of arrow B in FIG. 8, the first and

second runners

37 and 38 are both moved in the direction of arrow D in FIG. The deployment leg wheel 25 on the 37 side closes in the direction of arrow F in FIG. 8, that is, the diameter decreases, and the deployment leg wheel 25 on the second runner 38 side opens in the direction of arrow E in FIG. Become.
8 has the same effect as that of the example of FIG. 6, and the opening and closing of the developing

leg wheels

25, 25 is provided in each of the plurality of

screws

32, 32. The first and

second runners

37 and 38 are used. For this reason, the unfolded leg wheel system of FIG. 8 is different from the unfolded

leg wheel

25, 25 by opening and closing the unfolded

leg wheel

25, 25 by the first and

second runners

37, 38 of the single screw 32 of FIG. Can be opened and closed stably and smoothly.

The present invention is excellent not only in flat ground but also in rough terrain, and has excellent running resistance and impact resistance. It is also small and lightweight. Therefore, the present invention can be applied to information collecting robots and work robots that support various kinds of work in disaster sites and confined places such as under the ceiling and under the vehicle. Further, the present invention can also be applied as a traveling robot for entertainment such as a hobby toy.

1 traveling robot, 1a traveling robot, 11 body section, 12 imaging section, 13 battery, 14 motor driver, 15 body frame, 15a side section, 21 traveling section, 22 rotating frame, 22a side section, 23 bearing mechanism, 23a outer ring, 23b inner ring, 23c ball, 24 driving motor, 24a drive shaft, 25 unfolding leg wheel, 26 first leg arm, 26a rotating shaft, 27 second leg arm, 27a rotating shaft, 28 unfolding leg, 29 Balancer, 31 Deploying leg drive motor, 31a drive shaft, 32 screw, 32a bearing, 33 first gear, 34 second gear, 35 first screw part, 36 second screw part, 37 first runner 38 second runner, 39 bearing mechanism, 39a inner ring, 39b outer ring, 41 controller , 42 1st operation arm, 42a rotation axis, 42b rotation axis, 43 2nd operation arm, 43a rotation axis, 43b rotation axis, 44, 45 opening, 46, 46 link mechanism, 46a, 46a Multi-degree-of-freedom link mechanism, 47, 47 connecting member, 50 steps, 51 first threaded part, 52 second threaded part

Claims

A substantially cylindrical main body,
A rotating frame rotatably attached to the periphery of the main body via a bearing;
A traveling part provided on each of the opposing side parts of the main body part,
The traveling part is
A drive unit for rotating a rotating frame attached to the main body unit via a bearing;
A deployable leg having a first leg arm having one end rotatably attached to the rotating frame and a second leg arm having one end rotatably attached to the first leg arm is attached to the rotating frame. A plurality of deployment leg wheels provided at equal intervals;
A screw formed around and rotated by a drive source;
A runner engaged with the screw portion of the screw and moving in the axial direction of the screw;
An operation mechanism for connecting the first and second leg arms and the runner, and rotating the first leg arm and the second leg arm according to the movement of the runner;
When the screw rotates and the runner moves in the axial direction, the operation mechanism rotates the first leg arm and the second leg arm to open and close the unfolding leg wheel,
A traveling robot that travels by rotating the unfolded leg wheel attached to the rotating frame by rotating the rotating frame by the driving unit.
The operating mechanism includes a first operating arm having one end rotatably attached to the runner and the other end rotatably attached to the first leg arm, and one end being the first The traveling robot according to claim 1, further comprising: a second operation arm that is rotatably attached to the operation arm and has the other end rotatably attached to the second leg arm.
The traveling robot according to claim 1, wherein the operation mechanism is connected to an annular bearing mechanism integrated with the runner.
The drive source is a drive motor,
The screw has a first threaded portion formed on one side and a second threaded portion formed on the other side,
The first screw portion and the second screw portion are opposite to each other,
The screw is rotated by the one drive motor,
When the runner is engaged with each of the first screw portion and the second screw portion, and the screw rotates, the runners move in directions approaching and separating from each other, whereby the operation mechanism is The traveling robot according to claim 1, wherein the developing leg wheels of each of the traveling units are opened and closed in synchronization.
The drive source is a drive motor,
The screw has a first threaded portion formed on one side and a second threaded portion formed on the other side,
The first screw portion and the second screw portion are in the same direction,
The screw is rotated by the one drive motor,
When the runner is engaged with each of the first screw portion and the second screw portion and the screw rotates, the runner moves in the same direction in the axial direction of the screw. The traveling robot according to claim 1, wherein the mechanism opens and closes the development leg wheels of each of the traveling units so that the opening and closing directions are opposite to each other so that the traveling robot can bend.
The traveling robot according to claim 1, wherein a distal end portion of the screw is rotatably supported on a side surface portion of the main body portion.
The screw is plural and is rotated synchronously by the one drive source,
The runner is engaged with each of the first screw portion and the second screw portion of each screw,
An operation mechanism for rotating the first leg arm and the second leg arm according to the movement of the runner is provided between each runner and the first and second leg arms,
The traveling robot according to claim 4 or 5, wherein when the screw rotates, the operation mechanism opens and closes a deployment leg wheel of each traveling unit by moving in the axial direction of the screw.
The traveling robot according to claim 1, wherein the driving unit is a skid steer system having a driving motor for each of the traveling units provided on each side surface of the main body.
A plurality of the traveling robots are connected by a connecting mechanism,
When the preceding traveling robot goes up the step, the preceding traveling robot is reduced in diameter so as to close the unfolded leg wheel, and the traveling robot below the step is increased in diameter so as to open the unfolded leg wheel. The traveling robot according to Item 1.