JPH0417822B2 - - Google Patents

Info

Publication number
JPH0417822B2
JPH0417822B2 JP59036116A JP3611684A JPH0417822B2 JP H0417822 B2 JPH0417822 B2 JP H0417822B2 JP 59036116 A JP59036116 A JP 59036116A JP 3611684 A JP3611684 A JP 3611684A JP H0417822 B2 JPH0417822 B2 JP H0417822B2
Authority
JP
Japan
Prior art keywords
outer frame
inner frame
frame
driving
driving means
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
Application number
JP59036116A
Other languages
Japanese (ja)
Other versions
JPS60183271A (en
Inventor
Kicha Hanyuda
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Obayashi Corp
Original Assignee
Obayashi Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Obayashi Corp filed Critical Obayashi Corp
Priority to JP59036116A priority Critical patent/JPS60183271A/en
Publication of JPS60183271A publication Critical patent/JPS60183271A/en
Publication of JPH0417822B2 publication Critical patent/JPH0417822B2/ja
Granted legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Description

【発明の詳細な説明】 この発明は移動ロボツトに関し、特に無軌道式
の移動ロボツトの改良に関する。DETAILED DESCRIPTION OF THE INVENTION This invention relates to mobile robots, and more particularly to improvements to trackless mobile robots.

近時、例えば低温倉庫に魚介類を搬出入する際
等に移動ロボツトが使用されている。 Recently, mobile robots have been used, for example, when transporting seafood into and out of low-temperature warehouses.

この種の移動ロボツトには、作業台車と牽引車
とを連結し、牽引車を無線誘導等で制御するも
の、あるいは作業台車と牽引車とを一体化し自動
誘導するもの等各種提供されている。 Various types of mobile robots are available, such as those that connect a work platform and a tow vehicle and control the tow vehicle using wireless guidance or the like, or those that integrate a work platform and a tow vehicle and automatically guide the vehicle.

誘導方式は、走行経路を予め設定する軌道式
と、任意の方向に移動させる無軌道式とがある
が、制約が少く自由度のある無軌道式の方が適用
範囲が広い。 Guidance methods include a track type in which the travel route is set in advance and a trackless type in which the vehicle is moved in an arbitrary direction, but the trackless type has fewer restrictions and has a greater degree of freedom, and has a wider range of applications.

ところで、このような移動ロボツトは、通常移
動手段として車輪、履帯が主として使用されてい
るが以下の欠点があつた。 By the way, such mobile robots usually mainly use wheels and tracks as transportation means, but they have the following drawbacks.

すなわち、車輪、履帯は軌道式では比較的問題
がないが、無軌道式においては、任意の方向に移
動させることが難しく、方向転換する際にも大き
な曲率半径を必要とし、このため方向転換時の誤
差が大きくなるという問題があつた。 In other words, there are relatively no problems with track wheels and tracks, but with trackless wheels, it is difficult to move them in any direction, and they require a large radius of curvature when changing direction. There was a problem that the error became large.

また、履帯で移動させる手段は、方向転換をす
る場合に、左右の滑りを利用して行なうため、設
置床面を損傷し易いという問題もあつた。 In addition, since the means for moving using crawlers utilizes left and right sliding when changing direction, there is a problem in that the floor surface on which the device is installed is likely to be damaged.

この発明は、上述した如き問題点に鑑みてなさ
れたものであつて、その目的とするところは、任
意の方向に移動させる制御が簡単であつて、方向
転換の際に比較的小さい曲率半径でこれを可能と
するとともに、設置床面を損傷する恐れのない無
軌道式移動ロボツトを提供するところにある。 This invention has been made in view of the above-mentioned problems, and its purpose is to easily control movement in any direction and to achieve a relatively small radius of curvature when changing direction. It is an object of the present invention to provide a trackless mobile robot that makes this possible and does not cause damage to the floor surface on which it is installed.

上記目的を達成するため、この発明は、垂直線
を中心軸として回転可能であつて内部に空所を有
する外フレームと、この外フレームの空所内に配
設されると共に該外フレームの中心軸と偏心した
軸を中心として相対回転可能な内フレームと、こ
の外フレーム及び内フレームを相対回転させる第
１の駆動手段と、前記外フレーム及び内フレーム
を各別に昇降移動させる第２の駆動手段と、前記
第１の駆動手段及び第２の駆動手段の駆動を制御
する制御手段とを備え、前記制御手段は、第２の
駆動手段を駆動して前記外フレーム及び内フレー
ムを交互に昇降させると共に、第１の駆動手段を
駆動して外フレームと内フレームとを所定角度相
対回転させることにより任意の方向に移動させる
ように構成してなることを特徴とする。 In order to achieve the above object, the present invention provides an outer frame that is rotatable about a vertical line as a central axis and has a space inside, and an outer frame that is disposed within the space of the outer frame and that is arranged along the center axis of the outer frame. an inner frame that is relatively rotatable about an eccentric axis, a first drive means that rotates the outer frame and the inner frame relative to each other, and a second drive means that moves the outer frame and the inner frame individually up and down. , a control means for controlling driving of the first drive means and the second drive means, the control means driving the second drive means to alternately raise and lower the outer frame and the inner frame, and , the outer frame and the inner frame are configured to be moved in any direction by driving the first driving means to relatively rotate the outer frame and the inner frame by a predetermined angle.

以下、この発明の好適な実施例について添附図
面を参照して詳細に説明する。なお、以下の説明
では同一若しくは相当する部分は同一符号を付し
てある。 Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same or corresponding parts are given the same reference numerals.

第１図および第２図は、この発明に係る移動ロ
ボツトの一実施例を示すものである。 1 and 2 show an embodiment of a mobile robot according to the present invention.

第１図は移動ロボツトの概要を示すものであつ
て、移動ロボツトは、垂直線CL0を中心軸として
回転可能であつて内部に空所を有する略ハツト状
に形成された外フレーム１０と、外フレーム１０
の空所内に収納され外フレーム１０の中心軸と
Δeだけ偏心した垂直線CL1を中心として相対回転
可能な略円筒形の内フレーム１２とで概略構成さ
れている。 FIG. 1 shows an outline of a mobile robot, which includes an outer frame 10 which is rotatable about a vertical line CL 0 as a central axis and is formed into a substantially hat shape and has a hollow space inside. outer frame 10
The inner frame 12 is generally comprised of a substantially cylindrical inner frame 12 which is accommodated in a space of the outer frame 10 and is rotatable relative to the central axis of the outer frame 10 about a vertical line CL 1 eccentric by Δe.

上記外フレーム１０の天井部１０ａには外フレ
ーム１０と内フレーム１２とを相対回転させる第
１の駆動手段としての駆動モータ１４が載置固定
され、駆動モータ１４の駆動軸１４ａは天井部１
０ａの中心に形成された透孔１０ｂを挿通してい
る。外フレーム１０の周縁には水平フランジ部１
０ｃが一体的に形成され、このフランジ部１０ｃ
の下部には垂直方向に進退可能な複数の脚部１０
ｄ，１０ｄが周方向に所定の間隔をおいて設けら
れており、この脚部１０ｄ，１０ｄはシリンダ部
及びロツド部からなりロツド部が油圧、空圧によ
つて伸縮可能になつている。 A drive motor 14 as a first driving means for relatively rotating the outer frame 10 and the inner frame 12 is placed and fixed on the ceiling 10a of the outer frame 10, and the drive shaft 14a of the drive motor 14 is connected to the ceiling 10a.
It is inserted through a through hole 10b formed at the center of 0a. A horizontal flange portion 1 is provided on the periphery of the outer frame 10.
0c is integrally formed, and this flange portion 10c
A plurality of legs 10 that can move forward and backward in the vertical direction are provided at the bottom of the
d and 10d are provided at a predetermined interval in the circumferential direction, and the leg portions 10d and 10d are composed of a cylinder portion and a rod portion, and the rod portion is expandable and retractable by hydraulic pressure and pneumatic pressure.

一方、上記内フレーム１２はその中間部分が水
平隔壁１２ａによつて上下に区画されていると共
に、上端の天井壁１２ｂとこの隔壁１２ａとを貫
通して上記モータ１４の回転軸１４ａが挿通さ
れ、この回転軸１４ａには天井壁１２ｂと隔壁１
２ａとの間に位置する太陽歯車１６が固着され、
この太陽歯車１６には遊星歯車１８が噛合され、
さらに遊星歯車１８は外フレーム１０に内設され
た内歯車２０に噛合されている。 On the other hand, the inner frame 12 is vertically partitioned at its intermediate portion by a horizontal partition wall 12a, and the rotating shaft 14a of the motor 14 is inserted through the ceiling wall 12b at the upper end and the partition wall 12a. This rotating shaft 14a includes a ceiling wall 12b and a partition wall 1.
A sun gear 16 located between 2a and 2a is fixed,
A planetary gear 18 is meshed with this sun gear 16,
Further, the planetary gear 18 is meshed with an internal gear 20 provided inside the outer frame 10.

遊星歯車１８は、内フレーム１２の天井壁１２
ｂおよび隔壁１２ａに回転可能に取付けられ、内
フレーム１２の底壁１２ｄには、上記外フレーム
１０の脚部１０ｄと実質的に同一構成を備えた複
数の脚部１２ｃ，１２ｃが固設されている。 The planetary gear 18 is connected to the ceiling wall 12 of the inner frame 12.
A plurality of legs 12c, 12c are fixedly attached to the bottom wall 12d of the inner frame 12 and have substantially the same configuration as the legs 10d of the outer frame 10. There is.

外フレーム１０及び内フレーム１２には、それ
ぞれの脚部１０ｄ，１２ｄを各別に進退駆動させ
ることによつて外フレーム１０及び内フレーム１
２を各別に昇降させる第２の駆動手段（図示しな
い）が設けられている。また、前記駆動モータ１
４及びこの第２の駆動手段は、それぞれの駆動を
制御する制御手段からの制御信号に基づいて駆動
される。 The outer frame 10 and the inner frame 12 are assembled by moving the respective legs 10d and 12d forward and backward separately.
A second driving means (not shown) is provided for raising and lowering each of the parts 2 and 2 separately. Further, the drive motor 1
4 and this second drive means are driven based on control signals from control means that control the respective drives.

このような構成でもつて、外フレーム１０およ
び内フレーム１２が駆動モータ１４の回転軸１４
ａのまわりに相対的に回転することによつて、任
意の方向に移動することができる。 Even with such a configuration, the outer frame 10 and the inner frame 12 are connected to the rotation shaft 14 of the drive motor 14.
By rotating relatively around a, it can be moved in any direction.

すなわち、外フレーム１０が固定された状態
（脚部１０ｄ，１０ｄのみが伸長して大地に着座
している状態）では、駆動モータ１４を駆動して
太陽歯車１６を回転することによつて遊星歯車１
８が内歯車２０と噛合しながら回動し、これに伴
つて内フレーム１２が回転軸１４ａを中心にして
相対的に回転する。 That is, in a state where the outer frame 10 is fixed (a state in which only the legs 10d and 10d are extended and seated on the ground), by driving the drive motor 14 and rotating the sun gear 16, the planet gear is rotated. 1
8 rotates while meshing with the internal gear 20, and in conjunction with this, the internal frame 12 rotates relatively around the rotating shaft 14a.

また、これとは逆に内フレーム１２が固定され
た状態（脚部１２ｃ，１２ｃのみが伸長してが大
地に着座している状態）では、外フレーム１０が
太陽、遊星、内歯車１６，１８，２０の噛合によ
つて、遊星歯車１８を中心として相対的に回転す
る。 Conversely, when the inner frame 12 is fixed (only the legs 12c, 12c are extended and seated on the ground), the outer frame 10 is connected to the sun, the planets, and the internal gears 16, 18. , 20 rotate relative to each other around the planetary gear 18.

第２図は、上記構成の移動ロボツトを、同図中
で右から左方向に直線的に移動させる場合の軌跡
を模式的に［］、［］、［］、……の順で示す
ものである。 Figure 2 schematically shows the locus of the mobile robot having the above configuration in the order of [], [], [], ... when moving linearly from right to left in the figure. be.

同図の大円は、外フレーム１０の脚部１０ｄの
運動を示し、小円は内フレーム１２の脚部１２ｃ
の運動を示している。 The large circle in the figure indicates the movement of the leg 10d of the outer frame 10, and the small circle indicates the movement of the leg 12c of the inner frame 12.
It shows the movement of

［］ 内フレーム１２の脚部１２ｃを伸長させ
てこれを固定し、外フレーム１０の脚部１０ｄ
を縮退させる。[] The legs 12c of the inner frame 12 are extended and fixed, and the legs 10d of the outer frame 10 are extended.
degenerate.

［］ 駆動モータ１４を駆動して外フレーム１
０を回動し、その回転中心CLoを略180度回転
させてCLo′の位置で停止させる。[] Drive the drive motor 14 to move the outer frame 1
0, rotate the center of rotation CLo approximately 180 degrees, and stop at the position CLo'.

次いで、脚部１０ｄを伸長し、外フレーム１
０を固定した後、内フレーム１２の脚部１２ｃ
を縮退させる。 Next, the legs 10d are extended, and the outer frame 1
After fixing 0, the legs 12c of the inner frame 12
degenerate.

［］ 再び駆動モータ１４を動かし、内フレー
ム１２を回動し、その回転中心CLiを略180度
回転させ、CLi′の位置で停止させる。[] The drive motor 14 is moved again, the inner frame 12 is rotated, and its rotation center CLi is rotated approximately 180 degrees, and stopped at the position CLi'.

この後は、上記操作を繰返すことで、移動ロボ
ツトを直線的に右から左に移動できる。 After this, by repeating the above operation, the mobile robot can be moved linearly from right to left.

上記操作において、各脚部１０ｄ，１２ｃの移
動量は、例えばロータリーエンコーダを回転軸１
４ａに設置してその回転量を測定し、この測定値
に基づいて各歯車径、歯数等から容易に算定でき
る。 In the above operation, the amount of movement of each leg 10d, 12c is determined by, for example, moving a rotary encoder to the rotation axis 1.
4a and measure the amount of rotation, and based on this measurement value, it can be easily calculated from the diameter of each gear, number of teeth, etc.

また、移動方向は上述の直線に限らず、例えば
第２図において内フレーム１２の回転中心CLiを
外フレーム１０の回転中心CLoに対して任意の角
度で停止させて上記操作を行なえば、移動ロボツ
トを任意の方向に移動でき、勿論ジグザグ状に移
動させることもできる。 Furthermore, the moving direction is not limited to the above-mentioned straight line; for example, if the above operation is performed while the rotation center CLi of the inner frame 12 is stopped at an arbitrary angle with respect to the rotation center CLo of the outer frame 10 in FIG. can be moved in any direction, and of course can also be moved in a zigzag pattern.

さて、上述した移動ロボツトにおいては、遊星
歯車機構という比較的簡単なメカニズムで構成し
ているため、移動方向の制御が比較的簡単にでき
ると共に、方向転換の際には外フレーム１０の幅
だけしか必要とせず、従来のように大きな曲率半
径が不要となると共に、一軸まわりの回転で行な
うため、その誤差は極めて小さくなる。 Now, since the above-mentioned mobile robot is constructed with a relatively simple mechanism called a planetary gear mechanism, the direction of movement can be controlled relatively easily, and when changing direction, only the width of the outer frame 10 is used. This eliminates the need for a large radius of curvature as in the conventional method, and since rotation is performed around a single axis, the error is extremely small.

また、移動時には一方の脚部は縮退させて行な
うため、設置床面に損傷を与える惧れは全くな
い。 Furthermore, since one of the legs is retracted during movement, there is no risk of damaging the floor surface on which it is installed.

さらに、移動の形態が、局所作業時の人間の動
作に近く、各種の作業アームを取付けることで広
範囲な用途に対応できる。 Furthermore, the mode of movement is similar to human movement during local work, and by attaching various work arms, it can be used in a wide range of applications.

第３図はこの発明の第２実施例を示すもので、
以下にその特徴点についてのみ説明する。 FIG. 3 shows a second embodiment of this invention.
Only the characteristic points will be explained below.

この実施例では、上記駆動モータ１４を内フレ
ーム１２内に収納して外フレーム１０の天井部１
０ａを平坦にすると共に、内フレーム１２の脚部
１２ｃを幅広に形成し、シリンダロツドで構成さ
れる進退可能な脚部の数を削減したところに特徴
がある。 In this embodiment, the drive motor 14 is housed within the inner frame 12 and the ceiling portion 1 of the outer frame 10 is
The main feature is that 0a is flattened, the legs 12c of the inner frame 12 are made wide, and the number of legs made up of cylinder rods that can move forward and backward is reduced.

このため、構成部材が削減されると共に、外観
もシンプルなものとなる。 Therefore, the number of structural members is reduced and the appearance is simple.

なお、上記脚部１０ｄ，１２ｃは、底面に設置
した場合に、多少の凹凸あるいは傾斜に対応でき
るような球面軸受を取付けることが望ましい。 It is preferable that the legs 10d and 12c be equipped with spherical bearings that can cope with slight irregularities or inclinations when installed on the bottom surface.

また、上記制御手段は、例えば無線誘導あるい
は、予めプログラムしたマイクロコンピユータを
内蔵させて行なつてもよい。 Further, the control means may be implemented, for example, by wireless guidance or by incorporating a pre-programmed microcomputer.

以上、実施例で詳細に説明したように、この発
明に係る移動ロボツトにおいては、簡単な構成を
有することにより移動制御が容易で、小さい曲率
半径をもつて方向転換が可能であり、しかも床面
の損傷を防止することができる等の優れた効果が
得られる。 As described above in detail in the embodiments, the mobile robot according to the present invention has a simple configuration that allows for easy movement control, allows for direction changes with a small radius of curvature, and is capable of moving on the floor. Excellent effects such as being able to prevent damage to the material can be obtained.

【図面の簡単な説明】[Brief explanation of drawings]

第１図はこの発明の第１実施例を示す断面図、
第２図は移動の状態を示す説明図、第３図は第２
実施例の断面図である。 １０……外フレーム、１２……内フレーム、１
０ｄ……脚部、１２ｃ……脚部、１４……駆動モ
ータ（第１の駆動手段）。 FIG. 1 is a sectional view showing a first embodiment of the invention;
Figure 2 is an explanatory diagram showing the state of movement, and Figure 3 is an explanatory diagram showing the state of movement.
It is a sectional view of an example. 10...Outer frame, 12...Inner frame, 1
0d...leg, 12c...leg, 14...drive motor (first drive means).

Claims (1)

【特許請求の範囲】[Claims] １ 垂直線を中心軸として回転可能であつて内部
に空所を有する外フレームと、この外フレームの
空所内に配設されると共に該外フレームの中心軸
と偏心した軸を中心として相対回転可能な内フレ
ームと、この外フレーム及び内フレームを相対回
転させる第１の駆動手段と、前記外フレーム及び
内フレームを各別に昇降移動させる第２の駆動手
段と、前記第１の駆動手段及び第２の駆動手段の
駆動を制御する制御手段とを備え、前記制御手段
は、第２の駆動手段を駆動して前記外フレーム及
び内フレームを交互に昇降させると共に、第１の
駆動手段を駆動して外フレームと内フレームとを
所定角度相対回転させることにより任意の方向に
移動させるように構成してなることを特徴とする
移動ロボツト。1. An outer frame that is rotatable about a vertical line as a center axis and has a space inside; and an outer frame that is arranged within the space of the outer frame and is relatively rotatable about an axis that is eccentric to the center axis of the outer frame. an inner frame, a first driving means for relatively rotating the outer frame and the inner frame, a second driving means for moving the outer frame and the inner frame up and down separately, and the first driving means and the second driving means. control means for controlling the driving of the driving means, the control means driving the second driving means to alternately raise and lower the outer frame and the inner frame, and driving the first driving means. A mobile robot characterized in that it is configured to move in any direction by relatively rotating an outer frame and an inner frame by a predetermined angle.
JP59036116A 1984-02-29 1984-02-29 Mobile robot Granted JPS60183271A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP59036116A JPS60183271A (en) 1984-02-29 1984-02-29 Mobile robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP59036116A JPS60183271A (en) 1984-02-29 1984-02-29 Mobile robot

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP3284219A Division JPH0725041B2 (en) 1991-10-04 1991-10-04 Mobile robot

Publications (2)

Publication Number Publication Date
JPS60183271A JPS60183271A (en) 1985-09-18
JPH0417822B2 true JPH0417822B2 (en) 1992-03-26

Family

ID=12460805

Family Applications (1)

Application Number Title Priority Date Filing Date
JP59036116A Granted JPS60183271A (en) 1984-02-29 1984-02-29 Mobile robot

Country Status (1)

Country Link
JP (1) JPS60183271A (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4136000B2 (en) * 1994-06-03 2008-08-20 三井化学株式会社 Insecticidal tetrahydrofuran compounds
US6624177B1 (en) * 1996-09-04 2003-09-23 Warner-Lambert Company Matrix metalloproteinase inhibitors and their therapeutic uses

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5867683U (en) * 1981-10-28 1983-05-09 株式会社ナムコ walking robot

Also Published As

Publication number Publication date
JPS60183271A (en) 1985-09-18

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