JPH036031B2 - - Google Patents
Info
- Publication number
- JPH036031B2 JPH036031B2 JP61096930A JP9693086A JPH036031B2 JP H036031 B2 JPH036031 B2 JP H036031B2 JP 61096930 A JP61096930 A JP 61096930A JP 9693086 A JP9693086 A JP 9693086A JP H036031 B2 JPH036031 B2 JP H036031B2
- Authority
- JP
- Japan
- Prior art keywords
- wheel
- wheels
- joint
- motor
- main body
- 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.)
- Expired - Lifetime
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Description
【発明の詳細な説明】
産業上の利用分野
本発明は、各種の機器、ロボツト、装置などの
移動、または荷物の運搬などに使用される移動装
置に関するものである。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a moving device used for moving various types of equipment, robots, devices, etc., or for transporting cargo.
従来技術
機器の移動等または荷物の運搬などに使用され
る移動装置としては、第６図に示すようなクロー
ラ式のものが広く知られている。また、特開昭59
−57074号公報には、移動可能な脚体を機体の前
後に少なくとも３体ずつ設けた移動機械が開示さ
れている。この移動機械は、各脚体を交互に動か
せて歩行するものである。BACKGROUND OF THE INVENTION A crawler type moving device as shown in FIG. 6 is widely known as a moving device used for moving equipment or transporting cargo. In addition, JP-A-59
JP-A-57074 discloses a mobile machine in which at least three movable legs are provided at the front and rear of the machine body. This mobile machine walks by moving each leg alternately.
従来技術の問題点
上記のような従来の移動装置において、第６図
に示すクローラ式のものは障害物を越える場合
に、これをまたぐことができず、障害物に体重を
かけてしまう欠点があり、特開昭59−57074号公
報記載のものは、段差は安定よく昇降するが、や
や高い障壁や幅の広い水路などの凹部や凸部を越
えることは不可能である。Problems with the Prior Art Among the conventional moving devices as described above, the crawler type shown in Fig. 6 has the disadvantage that it cannot step over an obstacle and puts its weight on the obstacle. However, the device described in JP-A-59-57074 can move up and down steps stably, but it is impossible to go over recesses and protrusions such as slightly high barriers and wide waterways.
例えば、火災その他の災害現場で使用される作
業ロボツトは、災害現場の機器の処置または有効
な消火作業のために現場に近づくことが必要であ
る。しかし、石油精製プラントや石油化学プラン
トなどには、数多くのコンクリート製の防油堤で
包囲された石油タンクがあり、また、原料油輸送
用、製品輸送用のパイプや防災設備用のパイプが
路面の近くにも配置されている。さらに、蒸留塔
や反応塔などの構造物が倒れて進行の障害物にな
ることもある。 For example, a work robot used at a fire or other disaster site needs to be able to approach the site in order to treat equipment at the disaster site or perform effective fire extinguishing operations. However, in oil refineries and petrochemical plants, there are oil tanks surrounded by numerous concrete oil embankments, and pipes for transporting raw oil, products, and disaster prevention equipment are placed on the road surface. It is also located near. Furthermore, structures such as distillation columns and reaction columns may collapse and become obstacles to progress.
したがつて、前記従来の移動装置を作業ロボツ
トに使用した場合には、前記障害物のために石油
タンクなどの近くにまで行くことはほとんど不可
能であるとともに、前２者のものでは障害物を破
壊し、損害を大きくするおそれもある。 Therefore, when the conventional moving device is used in a work robot, it is almost impossible to get close to an oil tank or the like due to the obstacles, and the former two devices do not have the obstacles. There is also the risk of destroying the equipment and causing greater damage.
発明の目的
この発明は、平坦路ではもちろ坂道においても
比較的高い壁や障害物のまたぎ越えができる移動
装置の提供を目的とする。OBJECTS OF THE INVENTION The object of the present invention is to provide a moving device that can straddle relatively high walls and obstacles not only on flat roads but also on slopes.
発明の構成
上記目的を達成するために、この発明が採用す
る手段は、少なくとも３対の車輪を、各々少なく
とも２本のリンクと少なくとも２つの関節とを組
み合わせた脚機構を介して本体にまたぎ越え動作
可能に取付け、各車輪をそれぞれ個別に水平方向
に方向転換可能で、且つ回転駆動できるように構
成した点を要旨とする移動装置である。Composition of the Invention In order to achieve the above-mentioned object, the means adopted by the present invention is to straddle at least three pairs of wheels over a main body via a leg mechanism each combining at least two links and at least two joints. The gist of this moving device is that it is operably mounted, each wheel is configured to be able to independently change direction in the horizontal direction, and to be rotatably driven.
発明の効果
この発明によれば、少なくとも３対の車輪を、
各々少なくとも２本のリンクと少なくとも２つの
関節とを組み合わせた脚機構を介して本体にまた
ぎ越え動作可能に取付けたので、平坦路ではもち
ろん、坂道においてもかなり高い障害物のまたぎ
越えができ、階段の昇降もできる。Effects of the Invention According to this invention, at least three pairs of wheels,
Each leg is attached to the main body via a leg mechanism that combines at least two links and at least two joints so that it can straddle over fairly high obstacles, not only on flat roads but also on slopes, and can straddle stairs. It can also be raised and lowered.
しかも、各車輪をそれぞれ個別に水平方向に方
向転換可能で、且つ回転駆動できるようにしたの
で、平坦路では車輪により高速移動ができ、支点
を変更し重心を低くして安定な走行ができ、また
スピンターン、ピボツトターンもでき、不整地や
傾斜地でも移動装置本体を真直ぐにして走行で
き、直進状態から直角や斜方向に移動することも
容易にできる。 Moreover, each wheel can be turned horizontally and rotated independently, so the wheels can move at high speed on flat roads, and by changing the fulcrum, the center of gravity can be lowered for stable driving. It is also capable of spin turns and pivot turns, and can travel with the main body of the mobile device straight even on uneven or sloping ground, and can easily move from a straight state to a right angle or diagonal direction.
実施例
以下、添付図面を参照して本発明を具体化した
実施例につき説明し、本発明の理解に供する。Embodiments Hereinafter, embodiments embodying the present invention will be described with reference to the accompanying drawings to provide an understanding of the present invention.
ここに、第１図は本発明の第１の実施例の消火
作業用ロボツトの移動装置を示す斜視図、第２図
はその要部を示す説明図、第３図Ａ〜Ｆは上記実
施例にかかる移動装置が障害物をまたぎ越える時
の動作を示す側面図、第４図は第２の実施例にか
かる装置の要部の説明図、第５図は第３の実施例
にかかる装置の要部の説明図、第６図は従来例を
示す斜視図である。 Here, FIG. 1 is a perspective view showing a moving device for a fire extinguishing robot according to the first embodiment of the present invention, FIG. 2 is an explanatory view showing the main parts thereof, and FIGS. 4 is an explanatory diagram of the main parts of the device according to the second embodiment, and FIG. 5 is a side view showing the operation of the moving device according to the third embodiment. FIG. 6 is a perspective view showing a conventional example.
尚以下の実施例は本発明の具体的一例にすぎ
ず、本発明の技術的範囲を限定するものではな
い。 Note that the following examples are only specific examples of the present invention, and do not limit the technical scope of the present invention.
まず、第１図乃至第３図に示した石油基地で用
いる消火作業用ロボツトの移動装置における第１
の実施例について説明する。 First, the first part of the moving device for the fire extinguishing robot used at the oil base shown in Figs.
An example will be described.
第１図において、１は走行手段の一例である移
動装置本体で、この本体１上にはマニプユレータ
を搭載（図示せず）し、その両側部に３対の車輪
２…が配設されている。 In FIG. 1, reference numeral 1 denotes a main body of a moving device which is an example of a traveling means. A manipulator (not shown) is mounted on this main body 1, and three pairs of wheels 2 are arranged on both sides of the main body 1. .
この各車輪２は、第１リンク３、第２リンク
４、第１関節６、第２関節７および第３関節５な
どにより構成された脚機構３４を介して本体１に
またぎ越え動作可能に取付けられている。 Each wheel 2 is attached to the main body 1 so as to be able to straddle the body 1 via a leg mechanism 34 composed of a first link 3, a second link 4, a first joint 6, a second joint 7, a third joint 5, etc. It is being
上記本体１内には各車輪２ごとに第２図に示す
ように、３つのモータM1，M2，M3が内装され
ている。 Inside the main body 1, three motors M 1 , M 2 , M 3 are installed for each wheel 2, as shown in FIG.
上記の第１モータM1は第１関節駆動用で、前
記第１関節６の内部に設けた回転軸１１に連結さ
れ、このモータM1の回転により第１リンク３を
第１関節６のまわりに回動させるように構成して
いる。 The first motor M 1 is for driving the first joint, and is connected to a rotating shaft 11 provided inside the first joint 6. The rotation of this motor M 1 causes the first link 3 to move around the first joint 6. It is configured so that it can be rotated.
上記の第２モータM2は第２関節７の駆動用で
ある。第２モータM2に連結した回転軸１２の歯
車１３と、前記第１関節６の回転軸１１の外側に
同軸に設けた回転内筒１４の一端部に固定した歯
車１５とが噛合され、回転内筒１４の他端部のホ
イール１６と、第２関節７の回転筒１７のホイー
ル１８とがチエーン１９により連結されているこ
とにより、第２モータM2の回転により第２リン
ク４が第２関節７のまわりに回動するように構成
されている。 The second motor M 2 mentioned above is for driving the second joint 7. The gear 13 of the rotating shaft 12 connected to the second motor M 2 and the gear 15 fixed to one end of the rotating inner cylinder 14 coaxially provided outside the rotating shaft 11 of the first joint 6 are meshed to rotate. Since the wheel 16 at the other end of the inner cylinder 14 and the wheel 18 of the rotating cylinder 17 of the second joint 7 are connected by the chain 19, the second link 4 is moved to the second position by the rotation of the second motor M2 . It is configured to rotate around the joint 7.
上記の第３モータM3は第３関節５の駆動用で、
第３モータM3に連結した回転軸２２の先端に取
付けた歯車２３が、第１関節６の前記回転内筒１
４の外側に同軸に設けた回転外筒２４の一端部に
固定した歯車２５に噛合つている。 The third motor M3 mentioned above is for driving the third joint 5,
A gear 23 attached to the tip of a rotating shaft 22 connected to a third motor M3 is connected to the rotating inner cylinder 1 of the first joint 6.
4 and meshes with a gear 25 fixed to one end of a rotary outer cylinder 24 coaxially provided on the outside of the rotating outer cylinder 24.
上記回転外筒２４の他端部に設けたホイール２
６と、第２関節７の中心を貫通する回転軸２７の
一端部に取付けたホイール２８とがチエーン２９
により連結されている。上記回転軸２７の他端部
に設けた傘歯車３０は、第２リンク４の軸芯を貫
通する回転軸３１の中間に設けた傘歯車３２と噛
み合つている。さらに上記回転軸３１の下端部に
は前記車輪２を先端に有する回転軸３３が取付け
られ、第３モータM3の回転により、車輪２がそ
れぞれ個別に水平方向に（回転軸３１のまわり
に）回動できるように構成している。 Wheel 2 provided at the other end of the rotating outer cylinder 24
6 and a wheel 28 attached to one end of the rotating shaft 27 passing through the center of the second joint 7 form a chain 29.
are connected by A bevel gear 30 provided at the other end of the rotating shaft 27 meshes with a bevel gear 32 provided in the middle of a rotating shaft 31 passing through the axis of the second link 4 . Furthermore, a rotating shaft 33 having the wheel 2 at the tip is attached to the lower end of the rotating shaft 31, and the wheels 2 are individually moved horizontally (around the rotating shaft 31 ) by the rotation of the third motor M3. It is configured so that it can rotate.
さらに、上記の車輪２に連結された回転軸３３
の端部に、第４モータM4が連結され、この第４
モータM4の回転により車輪２がそれぞれ個別に
駆動されるように構成されている。 Furthermore, a rotating shaft 33 connected to the wheel 2 described above
A fourth motor M4 is connected to the end of the fourth motor M4.
The wheels 2 are configured to be driven individually by the rotation of the motor M4 .
上記の構成による移動装置で、例えば第３図Ａ
に示した障害壁Ｗを破損しないようにまたぎ越え
る場合、同図Ｂに示したようにまず先頭の車輪２
を持ち上げ、前から２番目と最終尾の車輪２を前
進させる。その際移動装置全体のバランスをよく
することも可能である。 In the mobile device having the above configuration, for example, FIG.
When stepping over the obstacle wall W shown in Figure B without damaging it, first move the first wheel 2 as shown in Figure B.
, and move the second and last wheel 2 from the front forward. In this case, it is also possible to improve the balance of the entire moving device.
次に第３図Ｃに示さ如く先頭の車輪２を障害壁
Ｗの前方へ着地させて、最先頭と最後尾の車輪２
により装置の重量を支えると共に、中央の車輪２
を障害壁Ｗより上へ持ち上げ、且つ車輪２を回転
させて装置を前方へ移動させる。 Next, as shown in Figure 3C, the leading wheel 2 is landed in front of the obstacle wall W, and the leading and trailing wheels 2 are
supports the weight of the device, and the central wheel 2
is lifted above the obstacle wall W, and the wheels 2 are rotated to move the device forward.
次に第３図Ｄに示す如く、最後尾の車輪２が障
害壁Ｗに近づくと、一旦、装置の走行を停止し
て、第３図Ｅに示す如く中間の車輪２を降ろして
最先の車輪２と共に装置全体を支持し、且つ最後
尾の車輪２を持ち上げる。 Next, as shown in FIG. 3D, when the last wheel 2 approaches the obstacle wall W, the running of the device is temporarily stopped and the middle wheel 2 is lowered as shown in FIG. 3E. The entire device is supported together with the wheels 2, and the rearmost wheel 2 is lifted.
この状態で前進し、最後尾の車輪２が障害壁Ｗ
を越えた時点で、第３図Ｆに示す如く、最後尾の
車輪２を降ろし、全部の車輪２が着地することに
より障害壁Ｗを完全にまたぎ越える。 In this state, move forward and the rearmost wheel 2 is placed on the obstacle wall W.
When the vehicle crosses the obstacle wall W, as shown in FIG. 3F, the rearmost wheel 2 is lowered and all wheels 2 land on the ground to completely straddle the obstacle wall W.
また方向転換する場合には、走行しながら第３
モータM3を回転させて車輪２の方向転換を行い、
装置全体の走行方向を変化させるピボツトターン
や、走行を停止させたままで、先頭の２つの車輪
を「ハ」の字の方向に、最後尾の２つの車輪を逆
「ハ」の字方向とし、すべての走行車輪を同一方
向に回転して方向転換させるスピンターンを行う
ことができる。 Also, when changing direction, use the third
Rotate the motor M3 to change the direction of the wheel 2,
Pivot turns change the running direction of the entire device, or while the machine is stopped, the first two wheels are turned in the direction of the letter "H" and the last two wheels are turned in the direction of the letter "H". It is possible to perform a spin turn in which the wheels of the vehicle rotate in the same direction to change direction.
この実施例は、上述のように構成したので、平
坦路では中間の車輪２，２を持ち上げた状態で高
速移動でき、さらに重心を低くすることにより安
定走行ができ、スピンターン、ピボツトターンも
容易であり、不整地や傾斜地でも本体１を真直ぐ
にして走行でき、且つ直進状態から直角や斜方向
にも移動ができ、しかも第３図に示す平坦路では
もちろん、坂道においてもかなり高い障害物のま
たぎ越えができ、階段も昇降することができる。 Since this embodiment is configured as described above, it is possible to move at high speed on a flat road with the intermediate wheels 2, 2 lifted, and by lowering the center of gravity, stable running is possible, and spin turns and pivot turns are also easy. It can run with the main body 1 straight even on uneven or sloped ground, and can also move at right angles or diagonally from a straight state, and it can also move over fairly high obstacles not only on flat roads as shown in Figure 3, but also on slopes. You can cross over and go up and down stairs.
次に、第４図に示す第２の実施例について、上
述の第１の実施例と異なる部分を説明する。 Next, regarding the second embodiment shown in FIG. 4, the differences from the above-described first embodiment will be explained.
上述の第１実施例においては、脚機構３４の駆
動用の３つのモータM1，M2，M3を本体１内に
配設したが、本例では第４図に示すようにダイレ
クトドライブ方式としたので小型化にすることが
できる。 In the first embodiment described above, the three motors M 1 , M 2 , M 3 for driving the leg mechanism 34 were arranged inside the main body 1, but in this embodiment, a direct drive type is used as shown in FIG. Therefore, it can be made smaller.
また、第５図に示す第３の実施例は、第１の実
施例の３つのモータの内、１つを省略し、第１リ
ンク３と第２リンク４とを１つのモータM1によ
り揺動駆動するようにしたもので、１９，２９は
チエーンである。 Furthermore, in the third embodiment shown in FIG. 5, one of the three motors in the first embodiment is omitted, and the first link 3 and the second link 4 are oscillated by one motor M1. It is designed to be dynamically driven, and 19 and 29 are chains.
第１図は本発明の第１の実施例の消火作業用ロ
ボツトの移動装置を示す斜視図、第２図はその要
部を示す説明図、第３図Ａ〜Ｆは上記実施例にか
かる移動装置が障害物をまたぎ越える時の動作を
示す側面図、第４図は第２の実施例にかかる移動
装置の要部の説明図、第５図は第３の実施例にか
かる移動装置の要部の説明図、第６図は従来例を
示す斜視図である。
（符号の説明）、１……本体、２……車輪、３，
４……リンク、５〜７……関節、３４……脚機
構、M1〜M4……モータ。
Fig. 1 is a perspective view showing a moving device for a fire extinguishing robot according to the first embodiment of the present invention, Fig. 2 is an explanatory diagram showing the main parts thereof, and Figs. 3 A to F show movement according to the above embodiment. A side view showing the operation of the device when it crosses over an obstacle, FIG. 4 is an explanatory diagram of the main parts of the moving device according to the second embodiment, and FIG. 5 is a diagram showing the main parts of the moving device according to the third embodiment. FIG. 6 is a perspective view showing a conventional example. (Explanation of symbols), 1...Main body, 2...Wheels, 3,
4...link, 5-7...joint, 34...leg mechanism, M1 - M4 ...motor.
Claims (1)
本の脚部リンクと少なくとも２つの関節とを組み
合わせた脚機構を介して本体にまたぎ越え動作可
能に取付け、各車輪をそれぞれ個別に水平方向に
方向転換可能で、且つ回転駆動できるように構成
した移動装置。1 at least 3 pairs of wheels, each with at least 2
It is attached to the main body through a leg mechanism that combines a book leg link and at least two joints so that it can be moved across the body, and each wheel is configured to be able to change direction independently in the horizontal direction and to be rotationally driven. Mobile device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61096930A JPS62253568A (en) | 1986-04-28 | 1986-04-28 | Transfer device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61096930A JPS62253568A (en) | 1986-04-28 | 1986-04-28 | Transfer device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62253568A JPS62253568A (en) | 1987-11-05 |
| JPH036031B2 true JPH036031B2 (en) | 1991-01-29 |
Family
ID=14178062
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61096930A Granted JPS62253568A (en) | 1986-04-28 | 1986-04-28 | Transfer device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62253568A (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002978B (en) * | 2016-05-28 | 2017-12-01 | 嵊州北航投星空众创科技有限公司 | A kind of bottom is provided with the six-joint robot of lifting roller |
| CN105904433B (en) * | 2016-05-28 | 2018-04-27 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot capable of moving and standing |
| CN105922237B (en) * | 2016-05-28 | 2017-11-03 | 深圳远荣智能制造股份有限公司 | A kind of six-joint robot that can move freely |
| CN105904434B (en) * | 2016-05-28 | 2017-12-22 | 徐州市柯瑞斯电机制造有限公司 | A kind of base body is provided with the six-joint robot of roller |
| CN105881524B (en) * | 2016-05-28 | 2018-01-12 | 台州风达机器人科技有限公司 | A kind of forearm is provided with the robot that the fixed anglec of rotation performs end |
| CN106882283B (en) * | 2017-02-28 | 2019-03-12 | 大陆智源科技（北京）有限公司 | A kind of robot system |
| CN107128384B (en) * | 2017-05-03 | 2019-04-19 | 深兰科技（上海）有限公司 | A robot four-wheel walking platform based on one motor control |
| CN107160963B (en) * | 2017-05-04 | 2020-08-21 | 大陆智源科技（北京）有限公司 | Wheeled motion chassis |
| CN108528562B (en) * | 2018-06-07 | 2020-12-01 | 张家港江苏科技大学产业技术研究院 | Robot climbing chassis device |
| CN109909972B (en) * | 2019-04-17 | 2024-04-12 | 华电电力科学研究院有限公司 | Wheel tread adjustable water-cooled wall detection robot |
| CN110182273B (en) * | 2019-06-12 | 2020-07-24 | 浙江阿林斯普能源科技有限公司 | Wall-climbing robot system with obstacle-crossing function and using method thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60117284U (en) * | 1984-01-19 | 1985-08-08 | 石川島播磨重工業株式会社 | mobile trolley |
-
1986
- 1986-04-28 JP JP61096930A patent/JPS62253568A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS62253568A (en) | 1987-11-05 |
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| EXPY | Cancellation because of completion of term |