PROBLEM TO BE SOLVED: To surely prevent falling of a two-wheel travelling robot.SOLUTION: A two-wheel traveling robot 10 includes: a travelling body 11 a pair of wheels 60, 61 rotatably supported to the travelling body 11 driving motors 62, 63 that drive the pair of wheels 60, 61 to rotate a tilt detection device 66 for detecting a tilt of the travelling body 11 and a control unit 69 for controlling a driving of the driving motors. The travelling body 11 includes: a suspended bar 30 rotatably provided about an axis line in parallel with the pair of wheels 60, 61 a locking mechanism 40 that restrains and releases a rotation of the suspended bar 30 with respect to the travelling body 11 and a transmission mechanism 35 for generating an axial movement of a part of the suspended bar 30 when the suspended bar 30 is in contact with a floor surface, and transmitting the axial movement to the locking mechanism 40. When the suspended bar 30 is in contact with the floor surface, the axial movement is transmitted to the locking mechanism 40 via the transmission mechanism 35, and the rotation of the suspended bar 30 is restricted by the locking mechanism 40.SELECTED DRAWING: Figure 1COPYRIGHT: (C)2016,JPO&INPIT【課題】二輪走行ロボットの転倒を確実に防止する。【解決手段】走行本体11と、走行本体11に回転可能に支持された一対の車輪60、61と、一対の車輪60、61を回転駆動する駆動モータ62、63と、走行本体11の傾きを検出する傾き検出装置66と、駆動モータを駆動制御する制御装置69とを備えた二輪走行ロボット10において、走行本体11に一対の車輪60、61と平行な軸線回りに旋回可能に設けられた垂下棒30と、走行本体11に対し垂下棒30の旋回を拘束したり解放したりするロック機構40と、垂下棒30が床面に接地したときに垂下棒30の一部に軸方向の動きを発生させ、軸方向の動きをロック機構40に伝達する伝達機構35とを備え、垂下棒30が床面に接地したときは、軸方向の動きを伝達機構35を介してロック機構40に伝え、ロック機構40により垂下棒30の旋回を拘束するようにした。【選択図】 図1
