PROBLEM TO BE SOLVED: To facilitate downsizing of an entire robot in order to be capable of performing various works, and traveling on various road surface conditions, and also working and traveling in narrow disaster sites or the like.SOLUTION: A mobile robot 10 with multiple arms comprises: a vehicle body 14 including multiple arms 19 operable in a predetermined area; a traveling body 15 operating in contact with the ground surface G so as to move the vehicle body 14; and a control unit 44 for controlling operations of respective arms 19 and the traveling body 15 in response to an operation of an operator. Each of the arms 19 is configured to be able to assist traveling of the vehicle body 14 with the tip side contacting the ground surface G in the case the ground G is in a predetermined irregular ground surface condition. The control unit 44 comprises automatic control means 51 for automatically performing operation control of the arms 19 and the traveling body 15. The automatic control means 51 performs operation control of the arms 19 and the traveling body 15 so as to assist traveling of the vehicle body 14 by causing the arms 19 and the traveling body 15 to operate in cooperation.SELECTED DRAWING: Figure 1
【課題】多様な作業を行えるとともに、地面の様々な状況下でも走行可能となり、且つ、狭隘な災害現場等での作業や移動のためにロボット全体の小型化を促進する。【解決手段】複腕移動ロボット10は、所定範囲内で動作可能な複数の腕部19を含む車体14と、車体14を移動させるように地面Gに接触しながら動作する走行体15と、操作者の操作に応じて各腕部19及び前記走行体15の動作を制御する制御装置44とを備えている。腕部19は、地面Gが所定の不整地状態のときに、先端側で地面Gに接触しながら車体14の移動をアシスト可能に構成されている。制御装置44は、腕部19と走行体15の動作制御を自動的に行う自動制御手段51を備えており、自動制御手段51では、腕部19及び走行体15を協調動作させることで、車体14の移動をアシストするように、腕部19及び走行体15の動作制御を行う。【選択図】 図1
MOBILE ROBOT WITH MULTIPLE ARMS
複腕移動ロボット
16.03.2017
Patent
Elektronische Ressource
Japanisch
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