MORI MAYUKO,盛 真唯子,SAGAYAMA ISAYUKI,嵯峨山 功幸,HIDA KAZUTERU,飛田 和輝
申请号：
JP2013208814
公开号：
JP2015070981A
申请日:
2013.10.04
申请国别(地区):
JP
年份:
2015
代理人:
摘要：
PROBLEM TO BE SOLVED: To provide an obstacle avoidable leading robot capable of acquiring position information on the robot with a high degree of precision by causing both of two wheels of a front wheel drive part to reliably touch an uneven road surface even if they travel on an uneven road surface, and performing a leading operation with a high degree of precision.SOLUTION: An obstacle avoidable leading robot includes: a self-propelled front wheel drive part 3 connected to the lower part of a main leg 2 an operation part 4 provided to the upper part of the main leg and a control part 8 for controlling the front wheel drive part on the basis of a command of the operation part operated by a user. The front wheel drive part includes: a wheel support part 9 two wheels 10a and 10b that are supported by the wheel support part and are rotationally driven independently a swing shaft 12 for swinging the wheel support part when a rotation speed difference occurs in the two wheels and a suspension mechanism 13 for swingably holding the wheel support part so that both of the two wheels touch an uneven road surface when they travel on the uneven road surface.COPYRIGHT: (C)2015,JPO&INPIT【課題】凹凸路面を走行しても、前輪駆動部の2つの車輪の両方が凹凸路面に確実に接地することでロボットの位置情報を高精度に得て先導動作を高精度に行うことができる障害物回避先導ロボットを提供する。【解決手段】主脚2の下部に連結されている自走式の前輪駆動部3と、主脚の上部に設けた操作部4と、使用者が操作する前記操作部の指令に基づいて前輪駆動部を制御する制御部8とを備え、前輪駆動部は、車輪支持部9と、この車輪支持部に支持されて独立して回転駆動する2つの車輪10a,10bと、2つの車輪に回転速度差が発生したときに、車輪支持部を旋回させる旋回軸12と、凹凸路面を走行する際に、2つの車輪の両方が該凹凸路面に接地するように車輪支持部を揺動自在に保持するサスペンション機構13とを備えている。【選択図】図1
