To provide a travel robot capable of facilitating attractive travel from the bottom face to top face of a traveled part.SOLUTION: A travel robot 1, capable of traveling on a flat plate-shaped traveled part from the bottom face to top face thereof, includes: a device body 10 with a body front part 11 and a body rear part 12 respectively arranged on the front and rear in the travel direction and connected with each other to be rotatable; a front wheel 20 and a rear wheel 30 respectively supported on the body front part 11 and the body rear part 12, attracted onto the traveled part by a magnetic force; a front wheel drive device 22 and a rear wheel drive device 32 for driving each of the front wheel 20 and the rear wheel 30; a rear planetary gear mechanism 50 provided between the rear wheel 30 and the rear wheel drive device 32; a rear auxiliary leg 58 mounted on an output shaft of the rear planetary gear mechanism 50 to be integrally rotatable and capable of pressing a travel face of the rear wheel 30; and a lock mechanism 60 for regulating the rotation of the rear auxiliary leg 58 to detachably fix the rear auxiliary leg 58 on the body rear part 12.SELECTED DRAWING: Figure 2
【課題】 被走行部の下面から上面に向けた吸着走行を容易にする走行ロボットを提供する。【解決手段】 平板状の被走行部を下面から上面に向けて走行可能な走行ロボット1であって、走行方向の前後にそれぞれ配置されて互いに回動自在に連結された本体前部11および本体後部12を有する装置本体10と、本体前部11および本体後部12にそれぞれ支持されて被走行部に磁力により吸着する前輪20および後輪30と、前輪20および後輪30をそれぞれ駆動する前輪駆動装置22および後輪駆動装置32と、後輪30と後輪駆動装置32との間に介在された後部遊星歯車機構50と、後部遊星歯車機構50の出力軸に一体的に回動可能に取り付けられて後輪30の走行面を押圧可能な後部補助脚58と、後部補助脚58の回動を規制して後部補助脚58を本体後部12に着脱可能に固定するロック機構60とを備える。【選択図】 図2
TRAVEL ROBOT
走行ロボット
2023-09-07
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
AUTONOMOUS TRAVEL ROBOT AND TRAVEL ROUTE GENERATION METHOD
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