Person-riding type robot

Abstract

To provide a person-riding type robot capable of stabilizing an attitude.SOLUTION: A person-riding type robot 10 having an upper half body 12 with a cockpit 27 and a lower half body 13 supporting the upper half body 12, has: a seat 28 provided in the cockpit 27; a footstool 86 and a foot rest 142 provided at the lower half body 13; a front wheel 90 and a rear wheel 91 provided at the lower half body 13; a switch mechanism provided at the lower half body 13 to switch an orientation of the front wheel 90; and a pipe shaft 45 provided at the lower half body 13. The footstool 86, the foot rest 142, and the switch mechanism are arranged within a first area B1 on the front side of the pipe shaft 45. The seat 28 and the rear wheel 91 are arranged within a second area B2 on the rear side of the pipe shaft 45.SELECTED DRAWING: Figure 12

Description

[Technical field]

[0001] The present disclosure relates to a human-riding robot capable of moving with a human on board. [Background technology]

[0002] An example of a human-riding robot that can move with a human aboard is described in Patent Document 1. The "large bipedal robot for ride-on play equipment" described in Patent Document 1 includes an upper body, arm links attached to the sides of the upper body, leg links attached below the upper body, and a head attached to the top of the upper body, with a riding space formed inside and a safety cable connection part. A control unit, a drive source for driving the leg links and arm links, and an energy source are housed inside the upper body.

[0003] In addition, an openable and closable access door is formed in the head so that a boarding vehicle can enter and be fixed inside the head. A front fitting groove and a rear fitting groove are provided inside the head. Furthermore, a front fitting protrusion that fits into the front fitting groove is formed in the front of the boarding vehicle. Furthermore, a rear fitting groove connecting part that is fixed to the rear fitting groove via a rear fitting screw is formed in the rear of the boarding vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5411270 Summary of the Invention [Problem to be solved by the invention]

[0005] The present inventors have recognized that the human-riding robot described in Patent Document 1 has a problem in that its posture is unstable.

[0006] An object of the present disclosure is to provide a human-riding robot capable of stabilizing its posture. [Means for solving the problem]

[0007] The present disclosure relates to a human-riding robot having an upper body having a cockpit through which a user can enter and exit, and a lower body provided below the upper body and supporting the upper body, the robot having a seat provided in the cockpit for a user to sit on, a footrest provided on the lower body on which the user places their feet when entering or exiting the cockpit, front and rear wheels provided on the lower body at a distance in the fore-and-aft direction and grounded at a place of use, a switching mechanism provided on the lower body for switching the direction of the front wheels, and a support shaft provided on the lower body for supporting the upper body so that it can rotate in a horizontal plane relative to the lower body, the footrest, the front wheels, and the switching mechanism are disposed in a first region forward of the support shaft in the fore-and-aft direction, and the seat and the rear wheels are disposed in a second region rearward of the support shaft in the fore-and-aft direction. Effect of the Invention

[0008] According to the present disclosure, it is possible to stabilize the posture of a human-riding robot. [Brief description of the drawings]

[0009] [Figure 1] (A) is a front view of the human-riding robot, and (B) is a rear view of the human-riding robot. [Diagram 2] (A) is a left side view of the human-riding robot, and (B) is a right side view of the human-riding robot. [Diagram 3] (A), (B), (C), and (D) are schematic diagrams showing the actions of a user entering and exiting the cockpit of a human-riding robot. [Figure 4] FIG. 2 is a right side view showing elements provided in the cockpit. [Diagram 5] FIG 2 is a rear view showing elements provided in the cockpit;FIG 3 is a rear view showing a steering mechanism; [Figure 6] FIG. 2 is a plan view of the human-riding robot. [Figure 7]FIG. 1A is a plan view showing elements provided in the cockpit, and FIG. 1B is a front view showing elements provided in the cockpit. [Figure 8] FIG. 2 is a block diagram showing a control system of the human-riding robot. [Figure 9] 1A is a plan view of the support plate, and FIG. 1B is a bottom view of the support plate. [Figure 10] FIG. 2 is a side view showing the configuration of the left lower limb. [Figure 11] FIG. 2 is a plan view showing the configuration of the left lower leg and the configuration of the right lower leg. [Figure 12] FIG. 2 is a schematic side view showing the layout of each mechanism. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] (overview) Hereinafter, several embodiments of the human-riding robot will be described with reference to the drawings. In the drawings for explaining the embodiments of the human-riding robot, the same parts are generally designated by the same reference numerals, and the repeated description will be omitted.

[0011] An example of a human-riding robot 10 is shown in Fig. 1(A), Fig. 1(B), Fig. 2(A), Fig. 2(B), Fig. 3(A), Fig. 3(B), Fig. 3(C), Fig. 3(D), and Fig. 6. The human-riding robot 10 can move with a user 11 riding on it, in other words, it can walk and stop. The user 11 can also be defined as a rider, a user, or a pilot. The user who uses the human-riding robot 10 can be either the user himself or another person. The human-riding robot 10 that the user rides on can compete against another human-riding robot 10 that another person rides on. The human-riding robot 10 has an upper body 12 and a lower body 13, and the upper body 12 is placed on the lower body 13. The lower body 13 is placed at a place of use 14. Upper body 12 can rotate, specifically, pivot, relative to lower body 13 within a predetermined angle, for example, within a range of 90 degrees, within the horizontal plane shown in FIG.

[0012] (upper body) The upper body 12 has a torso 15, a right arm 16 and a left arm 17 attached to the torso 15, and a cockpit lid 18 attached to the torso 15 so as to be able to open and close. In addition, a detachable model gun 19 is provided on the right arm 16.

[0013] <Torso> The fuselage 15 has an abdominal panel 20, an abdominal front panel 21, a front panel 22, a right flank panel 23, a left flank panel 24, a back panel 25, and a floor panel 26. The floor panel 26 is provided substantially horizontally, and the abdominal panel 20 and the abdominal front panel 21 are connected to the outer edge of the floor panel 26. The abdominal panel 20 and the abdominal front panel 21 are also connected to each other. The front panel 22, the right flank panel 23, the left flank panel 24, and the back panel 25 are each connected to the upper end of the abdominal panel 20. The space surrounded by the abdominal panel 20, the front panel 22, the right flank panel 23, the left flank panel 24, the back panel 25, and the floor panel 26 is a cockpit 27.

[0014] The structure inside the cockpit 27 is shown in Figures 4, 5, 7(A), and 7(B). A seat 28 is provided on the floor board 26, and the user 11 can sit on the seat 28. Also provided inside the cockpit 27 are a turning lever 29, a handlebar 30, a control panel 31, an accelerator pedal 32, a brake pedal 33, and a parking lever 34.

[0015] <Seat> The seat 28 is provided substantially horizontally in the cockpit 27, and the user 11 sits in the seat 28. The seat 28 is made of metal, for example, an aluminum plate. A seat belt to be worn by the user 11 is attached to the lower part of the seat 28. For convenience, the seat belt is not shown in the figure.

[0016] <Backboard> The back panel 25 is an element located behind the user 11 sitting on the seat 28, and the back panel 25 constitutes a part of the body 15. The back panel 25 is made of metal, for example, aluminum, and a urethane cushion material 143 for the user 11 to lean against is attached to the inner surface of the back panel 25 as shown in FIG. 7B. A vibration motor 148 is provided inside the urethane cushion material 143. The vibration motor 148 is an electric motor that vibrates the urethane cushion material 143 by rotating when power is supplied. When the human-riding robot 10 that the user 11 is riding on receives infrared rays emitted from the model gun 19 of the human-riding robot 10 that another person is riding on, that is, when the human-riding robot 10 is hit, the urethane cushion material 143 of the seat 28 on which the user 11 is sitting is vibrated by the vibration motor 148. This allows the user 11 to experience that the human-riding robot 10 that the user 11 is riding on has been hit. Viewing windows 149 are provided on both sides of the urethane cushion material 143. The sight glass 149 serves both as an opening for visually observing the outside of the human-riding robot 10 from the cockpit 27 and as a ventilation hole connecting the cockpit 27 with the outside of the human-riding robot 10.

[0017] <Cockpit lid> As shown in FIG. 7(B), the cockpit lid 18 is attached to the back panel 25 via a hinge 147, and is provided to open and close the opening of the cockpit 27. The cockpit lid 18 is provided with a latch 152. The latch 152 is a handle that a user grasps when manually operating the cockpit lid 18. Two dampers 150 are provided to connect the cockpit lid 18 and the back panel 25. The dampers 150 are, for example, gas spring mechanisms, and the two dampers 150 prevent the cockpit lid 18 from being operated relative to the back panel 25 at a speed exceeding a predetermined value.

[0018] As shown in Figs. 2(A) and 2(B), the head 35 is provided on the cockpit lid 18 via a neck 151. The neck 151 and the head 35 are made of, for example, FRP (Fiber Reinforced Plastics). The neck 151 has a sight window 36. The sight window 36 serves both as an opening for visually observing the outside of the human-riding robot 10 from the cockpit 27 and as a vent connecting the cockpit 27 with the outside of the human-riding robot 10. The head 35 is curved to cover the upper part of the cockpit lid 18. The neck 151 and the head 35 are provided to ensure a space in the cockpit 27 for the head of the user 11 seated in the seat 28.

[0019] <Left flank board and right flank board> The right flank panel 23 and the left flank panel 24 are respectively connected to the abdominal panel 20, the back panel 25, and the front panel 22. The right flank panel 23 and the left flank panel 24 are each provided with a ventilation hole 38.

[0020] <Front panel and abdominal front panel> The front plate 22 and the abdominal front plate 21 are each made of metal, for example, an aluminum plate. The front plate 22 is provided between the right flank plate 23 and the left flank plate 24. The front plate 22 has a sight window 39. The sight window 39 serves as an opening for visually observing the cockpit 27 and the outside of the human-riding robot 10 from the cockpit 27, and also serves as a vent connecting the outside of the human-riding robot 10. The abdominal front plate 21 is connected to the abdominal plate 20 and the front plate 22. The abdominal front plate 21 is provided so as to protrude forward from the front plate 22. A metallic grip 40 is provided on the outer surface of the abdominal front plate 21. The user 11 can enter and exit the cockpit 27 by holding the grip 40 with his or her hand.

[0021] <Rotation lever> The swivel lever 29 shown in FIG. 5 is provided on the left side of the seat 28 as viewed from the user 11 seated in the seat 28. The swivel lever 29 is operated to rotate and stop the upper body 12 relative to the lower body 13. The lower end of the swivel lever 29 is connected to an operating shaft 41. The operating shaft 41 is disposed along a substantially horizontal direction, and the swivel lever 29 can be operated in the front-rear direction within a predetermined angle range centered on the operating shaft 41. The structure supporting the operating shaft 41 will be described later. When the user 11 manually operates the swivel lever 29, the operating force is transmitted to a rotating device 42, and the upper body 12 is rotated relative to the lower body 13 within a horizontal plane as shown in FIG. 6. The configuration of the rotating device 42 will be described later.

[0022] An unlock button 43 is provided at the upper end of the rotation lever 29. The unlock button 43 is operated to unlock the rotation lever 29. When the rotation lever 29 is locked, the rotation lever 29 is fixed in a neutral position, and the rotation lever 29 cannot be operated.

[0023] When the turning lever 29 is stopped in the neutral position, the upper body 12 stops in an initial position facing forward. When an operating force is applied to the unlock button 43, the turning lever 29 can be operated forward and backward from the neutral position. When the turning lever 29 is operated forward from the neutral position, the upper body 12 rotates rightward, i.e., clockwise, with respect to the lower body 13, about the center line A1 in a horizontal plane shown in FIG. 6. When the turning lever 29 is operated backward from the neutral position, the upper body 12 rotates leftward, i.e., counterclockwise, with respect to the lower body 13 in FIG. 6. When the operating force applied to the unlock button 43 is released at the position where the turning lever 29 is stopped, the upper body 12 stops at that position. The upper body 12 can rotate rightward 45 degrees and leftward 45 degrees with respect to the lower body 13, with the initial position as a reference.

[0024] <Handle> The handle 30 is a device that the user 11 operates by hand to change the moving direction of the human-riding robot 10. As shown in FIG. 5, the handle 30 is fixed to the upper end of a handle shaft 44, and a part of the longitudinal direction of the handle shaft 44 is disposed inside a pipe shaft 45. Two support columns 46 are fixed to the floor board 26, and a holder 47 is attached to the upper end of the support columns 46. The handle shaft 44 can rotate while being supported by the holder 47 and the pipe shaft 45. A bevel gear 48 is fixed to the lower end of the handle shaft 44. A handle lever 49 is attached to the handle 30. The user 11 can grip the handle lever 49 shown in FIG. 7(A) with his / her hand and rotate the handle 30 to the right, i.e., in a clockwise direction, rotate the handle 30 to the left, i.e., in a counterclockwise direction, and stop the handle 30.

[0025] The handle lever 49 is provided with a movement direction changeover switch 50 and a beam cannon firing switch (beam cannon firing trigger) 51. The movement direction changeover switch 50 is operated to select forward or backward as the movement direction of the human-riding robot 10. When the user 11 steps on the accelerator pedal 32 and presses the movement direction changeover switch 50 forward, the human-riding robot 10 moves forward. When the user 11 steps on the accelerator pedal 32 and presses the movement direction changeover switch 50 backward, the human-riding robot 10 moves backward. When the handle 30 is stopped in the neutral position, the human-riding robot 10 can move straight. When the handle 30 is rotated left from the neutral position, the human-riding robot 10 can turn left. When the handle 30 is rotated right from the neutral position, the human-riding robot 10 can turn right. When the user 11 operates the beam cannon firing switch 51, the infrared LED provided on the model gun 19 flashes and the firing sound of the beam cannon is output from the speaker. The infrared LED and the speaker will be described later.

[0026] <Accelerator pedal> The accelerator pedal 32 is disposed in front of the seat 28 in the cockpit 27 and on the floor board 26. When the user 11 steps on the accelerator pedal 32 with his / her foot, the human-riding robot 10 can be moved.

[0027] <Brake pedal> The brake pedal 33 is disposed in front of the seat 28 in the cockpit 27 and on the floor board 26. The brake pedal 33 is disposed to the left of the accelerator pedal 32 as viewed from a user sitting in the seat 28. The brake pedal 33 is operable, and is provided with a spring that returns the brake pedal 33 to its original position when the force applied to the brake pedal 33 is released. As shown in FIG. 5, first ends of two brake wires 52 are connected to the brake pedal 33, and second ends of the brake wires 52 are connected to a brake device. Parts of the brake wires 52 are passed through the inside of the pipe shaft 45. The brake device will be described later.

[0028] <Parking lever> As shown in FIG. 7(A), a parking lever 34 is provided on the right side of the seat 28 in the cockpit 27. The parking lever 34 can be operated by the user 11 manually within a predetermined range and can be stopped at a predetermined position. A first end of a parking wire 53 is connected to the parking lever 34, and a second end of the parking wire 53 is connected to a parking brake device. A longitudinal portion of the parking wire 53 is disposed inside the pipe shaft 45. The parking brake device will be described later.

[0029] <Control Panel> As shown in FIG. 5, a control panel 31 is provided in front of the seat 28 in the cockpit 27. The control panel 31 is provided with four toggle switches 54, a speedometer 55, a voltmeter 56, a life counter 57, a display 58, a display unit 59, and the like. A clock, a thermometer, and a hygrometer are displayed on the display unit 59. The life counter 57 is used when playing a battle game between the human-riding robot 10 that the user is riding on and a human-riding robot that another user is riding on. The life counter 57 displays the remaining life corresponding to the number of times that the human-riding robot 10 that the user is riding on has been hit. The remaining life is displayed in Arabic numerals, for example, in the range from "99" to "00". The remaining life is reduced by "01" each time the human-riding robot 10 that the user is riding on is hit. In addition, three toggle switches are provided in the cockpit 27 at locations other than the control panel 31.

[0030] In the space behind the control panel 31, there are provided a motor controller, a PIC (Peripheral Interface Controller) circuit that controls the action and count when hit, various sound modules, a warning sound activation circuit, a brake sound time adjustment circuit, an electronic circuit that blinks an infrared LED, an electronic circuit battery 60 shown in FIG. 8, a display battery 61, a camera battery 62, a moving motor battery 63, a vibration motor battery 64, and the like. The warning sound activation circuit is a circuit that controls a warning sound output from a speaker when the remaining life displayed on the life counter 57 is equal to or less than a predetermined number. The brake sound time adjustment circuit is a circuit that adjusts the time from when a sound effect output from a speaker is generated to when it is ended when the brake pedal 33 is depressed. The display battery 61 is a power source that supplies power to the display 58. The camera battery 62 is a power source that supplies power to the camera. The moving motor battery 63 is a power source that supplies power to the moving motor. The moving motor battery 63 is a DC battery, for example, with a voltage of 12 V and a current of 20 A. The vibration motor battery 64 is a power source that supplies power to the vibration motor 148 .

[0031] The first toggle switch 54 from the left arranged on the control panel 31 is a switch for switching between starting and stopping the display battery 61 of the display 58, starting and stopping the travel motor battery 63, and generating and stopping the sound effects when the brake pedal 33 is depressed, and when the accelerator pedal 32 is depressed. When the travel motor battery 63 is started, the speedometer 55 and voltmeter 56 are also started.

[0032] The second toggle switch 54 from the left is a switch for switching on and off the power supply to the PIC circuit, the power supply for the explosion sound when hit and the sound effect of "losing", and the power supply for the light that lights up when the second toggle switch 54 is turned on. "Losing" is when the display on the life counter 57 becomes "00", and when the player is hit again, an explosion sound is generated, which is the sound effect of being declared losing. After being declared losing, if the red reset button 65 on the control panel 31 is operated, the value on the life counter 57 returns to the maximum value, and the human-riding robot 10 becomes able to move again. After being declared losing, if no operation is performed for a predetermined time, for example, five minutes, the life counter 57 is automatically reset to "00".

[0033] The third toggle switch 54 from the left is a switch that switches between turning on and off the power when the reset button 65 is pressed, turning on and off the power to send a reset signal to the PIC circuit, turning on and off the power to emit a warning sound, turning on and off the power to the light that lights up when the third toggle switch 54 is turned on, and turning on and off the power to adjust the timing of the sound effect when the brake pedal 33 is depressed.

[0034] The fourth toggle switch 54 from the left is a control switch for switching on and off the power to the beam cannon firing sound effect of the model gun 19, on and off the power to the infrared LED when irradiating it, and on and off the power to the electronic control circuit which performs these operations simultaneously, and on and off the electronic control power to stop the warning sound.

[0035] When the four toggle switches 54 are turned on, the control device for the human-riding robot 10 is started. The display 58 displays an image of the area in front of the human-riding robot 10 captured by a small camera. The voltmeter on the display unit 59 displays the voltages of the electronic circuit battery 60, the display battery 61, the camera battery 62, the moving motor battery 63, and the vibration motor battery 64. The hygrometer on the display unit 59 displays the humidity inside the cockpit 27. The clock on the display unit 59 displays the current time in the country in which the human-riding robot 10 is located.

[0036] <Left arm> As shown in FIG. 8, the left arm 17 is provided with an infrared sensor 66, a speaker 67, and a toggle switch confirmation lamp 68. The infrared sensor 66 receives infrared rays (beam cannon) emitted from an infrared LED of the model gun 19 of the human-riding robot 10 ridden by another person. The speaker 67 generates a sound effect indicating that infrared rays have been emitted from the model gun 19 of the user's human-riding robot 10, an explosion sound indicating that the user's human-riding robot 10 has received infrared rays emitted from another person's human-riding robot 10, i.e., has been hit, a warning sound indicating that the user's human-riding robot 10 has been hit and the life counter 57 has decreased to a predetermined number, a sound effect indicating that the user's human-riding robot 10 has been blown up and that the user has been declared defeated, and the like. The toggle switch confirmation lamp 68 is turned on when the toggle switch 54 is turned on, and is turned off when the toggle switch 54 is turned off.

[0037] <Right arm> A model gun 19 can be attached to and detached from the right arm 16. A speaker 69 is provided on the right arm 16. The speaker 69 generates sound effects when the brake pedal 33 is depressed, sound effects when the accelerator pedal 32 is depressed, that is, the running sounds of the human-riding robot 10, etc.

[0038] <Model gun> The model gun (beam cannon) 19 can be attached to and detached from the right arm 16. As shown in FIG. 8, an infrared LED (light-emitting diode) 70, a speaker 71, and a small camera 72 are attached to the model gun 19. When the user 11 operates the beam cannon firing switch 51, infrared rays are fired from the infrared LED 70. The speaker 71 produces sound effects for firing infrared rays, sound effects when the reset button 65 is pressed, and the running and braking sounds of the human-riding robot 10. The small camera 72 captures images of the area in front of the human-riding robot 10.

[0039] Between the seat 28 and the left flank panel 24, there is a space for storing electrical wiring. The electrical wiring is connected to an infrared receiving sensor 66, a speaker 67, a toggle switch confirmation lamp 68, and the like. Between the seat 28 and the left flank panel 24, there are also stored an electronic control circuit for controlling the infrared receiving sensor 66 and the audio module, and a battery box. When the three toggle switches are operated, the battery box supplies power to the toggle switch confirmation lamp 68 and the light. Between the seat 28 and the right flank panel 23, there is a space for storing electrical wiring. The electrical wiring is connected to an infrared LED 70, a speaker 69, and the like provided on the model gun 19. Basically, the electrical wiring is hidden by molding.

[0040] <Floorboard> The structure supporting the floor plate 26 is shown in Fig. 5, Fig. 9(A), and Fig. 9(B). The lower body 13 has a support plate 73 and a pipe shaft 45. The support plate 73 is configured by stacking an upper plate 75 and a lower plate 76. The upper plate 75 and the lower plate 76 are both made of metal, for example, aluminum plates. In the vertical direction, the upper plate 75 is disposed on the lower plate 76. The support plate 73 is disposed substantially horizontally, and the pipe shaft 45 is disposed so as to penetrate the support plate 73 in the vertical direction. The pipe shaft 45 is fixed to the support plate 73, and the center line A1 of the pipe shaft 45 is disposed along the vertical direction as shown in Fig. 12.

[0041] A plurality of door rollers 77 are provided on the upper surface of the upper plate 75. The plurality of door rollers 77 are provided at intervals in the circumferential direction centered on the pipe shaft 45. The plurality of door rollers 77 are also disposed at different positions in the radial direction centered on the pipe shaft 45. The door rollers 77 have a retainer fixed to the upper plate 75 and a rolling element rotatably supported by the retainer, and the rolling element comes into contact with the lower surface of the floor plate 26.

[0042] 5, an attachment hole 78 is provided penetrating the floor board 26 in the thickness direction, and a longitudinal portion of the pipe shaft 45 is disposed in the attachment hole 78. The upper end of the pipe shaft 45 is disposed above the floor board 26, and the lower end of the pipe shaft 45 is disposed below the support plate 73. The floor board 26 is supported approximately horizontally by the support plate 73 via a plurality of door rollers 77. While supported approximately horizontally, the floor board 26 is rotatable around the pipe shaft 45.

[0043] <Rotation device> As shown in Fig. 5, the swivel device 42 is provided above the floor plate 26. The swivel device 42 has an operating shaft 41, a bevel gear 79 provided on the operating shaft 41, a sleeve 80 fixed to the floor plate 26, and a bevel gear 81 provided on the sleeve 80. The operating shaft 41 is supported substantially horizontally by a bearing 82 provided on the floor plate 26 and is rotatable. The sleeve 80 is provided around the mounting hole 78, and a longitudinal portion of the pipe shaft 45 is disposed within the mounting hole 78 and the sleeve 80. The bevel gear 79 and the bevel gear 81 are engaged with each other to form a miter gear.

[0044] When the turning lever 29 is operated, the operating shaft 41 is rotated by the operating force of the turning lever 29, and the rotational force of the operating shaft 41 is transmitted to the floor plate 26 via the bevel gears 79 and 81. As a result, the floor plate 26 is rotated about the pipe shaft 45. Therefore, the upper body 12 can be rotated relative to the lower body 13.

[0045] (lower body) As shown in FIGS. 1(A) and 1(B), the lower body 13 supports the upper body 12, and has a left lower leg 83 and a right lower leg 84 in addition to the support plate 73.

[0046] <Support plate> The support plate 73 is placed on the left lower leg 83 and the right lower leg 84 and is fixed to the left lower leg 83 and the right lower leg 84. The support plate 73 plays a role in transmitting, specifically distributing, the load of the upper body 12 including the user 11 riding in the cockpit 27 to the left lower leg 83 and the right lower leg 84. The support plate 73 also plays a role in supporting the upper body 12 rotatably around the pipe shaft 45.

[0047] 9, a step 86 is provided on the lower plate 76 of the support plate 73 via a connecting plate 85. The connecting plate 85 is made of metal, for example, an aluminum plate, and is fixed to the lower plate 76 so as to protrude forward from the support plate 73. The step 86 is made of metal, for example, an aluminum plate, and is fixed to the connecting plate 85. The step 86 is an element on which the user 11 places their feet when entering or exiting the cockpit 27.

[0048] <Right and left lower limbs> As shown in Fig. 1(A), Fig. 1(B), Fig. 2(A), and Fig. 2(B), the left lower leg 83 and the right lower leg 84 are symmetrical and have substantially the same basic structure, so for convenience, the left lower leg 83 will be described. The left lower leg 83 has a thigh 87, a lower leg 88, and a foot (left leg) 89. The upper end of the thigh 87 is connected to the support plate 73. The lower leg 88 is connected below the thigh 87 and above the foot 89. When the human-riding robot 10 is viewed from the side, the thigh 87 and the lower leg 88 are inclined with respect to the vertical line. The thigh 87 and the lower leg 88 are connected via a knee 145, and the left lower leg 83 has a bent shape in side view. A footrest 142 is provided protruding forward from the lower leg 88. The thigh 87 and the lower leg 88 each have a metal, for example, aluminum frame, and are configured by attaching an outer plate to the frame. The outer panel is made of, for example, FRP.

[0049] As shown in Figs. 10 and 11, the foot 89 is provided with a front wheel (left front wheel) 90, a rear wheel (left rear wheel) 91, and a drive unit 92. The foot 89 has a bottom plate 93 and a cover 94 attached to the bottom plate 93. The bottom plate 93 and the cover 94 are both made of FRP, and an opening 95 is provided through the bottom plate 93 in the thickness direction. A part of the front wheel 90 and the drive unit 92 are provided in a space surrounded by the cover 94 and the bottom plate 93. In addition, the rear wheel 91 is provided on the foot 89. The front wheel 90 is attached to a front wheel shaft 96. The front wheel shaft 96 is rotatably supported by a holder 97 made of metal, for example, aluminum. The shape and structure of the holder 97 will be described with reference to the right lower leg 84 shown in Fig. 11. When the foot 89 is viewed in plan, the outer peripheral surface shape of the holder 97 is a circle centered on a vertical center line. As shown in FIG. 10, a plurality of door rollers 98 and a plurality of ball bearings 99 are attached to the cage 97.

[0050] The balls of the plurality of ball bearings 99 are supported by the bottom plate 93. A steel angle 100 is fixed to the bottom plate 93, and a plurality of ball bearings 101, specifically four ball bearings 101, are provided on the steel angle 100. The four ball bearings 101 are arranged at intervals on the same circumference centered on the center line of the cage 97. The balls of the four ball bearings 101 are in contact with the outer circumferential surface of the cage 97. A suspension presser 103 is provided on the bottom plate 93 via a support 102 and a shock absorbing material. The support 102 is made of metal, and the shock absorbing material is made of synthetic rubber. The suspension presser 103 is a metal, e.g., steel, plate, and the rolling elements of the plurality of door rollers 98 are in contact with the suspension presser 103, respectively.

[0051] With the above-mentioned configuration, the retainer 97 is restricted from moving in the vertical direction relative to the bottom plate 93, and can rotate about a vertical center line within a horizontal plane. A part of the front wheel 90 retained by the retainer 97 is exposed below the bottom plate 93 from the opening 95, and the front wheel 90 is grounded at the place of use 14.

[0052] <Steering force transmission device> The steering force transmission device 104 shown in FIG. 4 is a mechanism for converting the rotational force of the handle 30 into the rotational force of the cage 97. The steering force transmission device 104 is arranged from the space below the support plate 73 to the inside of the foot 89. The steering force transmission device 104 includes a large diameter sprocket 105 shown in FIG. 11, two small diameter sprockets 106 and 107, a chain 108, an intermediate shaft 109 shown in FIG. 5 and FIG. 9(B), a transmission shaft 110 shown in FIG. 4, FIG. 5 and FIG. 10, and the like. The pitch circle diameter of the large diameter sprocket 105 is larger than the pitch circle diameters of the two small diameter sprockets 106 and 107. The large diameter sprocket 105 is attached to the outer circumferential surface of the cage 97, and the cage 97 and the large diameter sprocket 105 can rotate together around the center line. One small diameter sprocket 107 can rotate around a support shaft 111 supported by the bottom plate 93. The cage 97 , the large diameter sprocket 105 , the ball bearing 101 , and the door roller 98 form a switching mechanism 146 .

[0053] The transmission shaft 110 is rotatably supported by the support plate 73 and the bottom plate 93. The transmission shaft 110 can rotate forward and backward about a vertical center line. A bevel gear 112 is provided on the transmission shaft 110, and a small diameter sprocket 106 is provided on the transmission shaft 110 below the bevel gear 112.

[0054] Furthermore, an intermediate shaft 109 is provided substantially horizontally, and is rotatably supported by a bearing 113. The bearing 113 is attached to the lower surface of the support plate 73. Bevel gears 114, 115 are provided on both ends of the intermediate shaft 109, respectively. The bevel gear 115 meshes with the bevel gear 48 of the handle shaft 44, and the bevel gear 114 meshes with the bevel gear 112 of the transmission shaft 110. Therefore, when the handle shaft 44 is rotated, the rotational force of the handle shaft 4 is transmitted to the transmission shaft 110 via the intermediate shaft 109.

[0055] 11, the chain 108 is looped around a large diameter sprocket 105 and two small diameter sprockets 106, 107. Therefore, when a user operates the handle 30 to rotate the transmission shaft 110, the rotational force of the transmission shaft 110 is transmitted to the cage 97 via the chain 108. Therefore, the directions of the front wheels 90, that is, the left front wheel 90A and the right front wheel 90B, are each switched within a range of a predetermined angle around the center line.

[0056] <Decorative Piece> As shown in Fig. 2(A) and Fig. 2(B), a decorative piece 116 is provided to surround the thigh 87. The decorative piece 116 is made of, for example, an FRP plate. Elements such as a part of the intermediate shaft 109, the bevel gears 114 and 115 provided on the intermediate shaft 109, the lower end of the pipe shaft 45, and the bevel gear 48 provided on the lower end of the handle shaft 44 are located below the support plate 73 and between the left lower leg 83 and the right lower leg 84. A part of the decorative piece 116 also serves as a screen to prevent the elements located below the support plate 73 and between the left lower leg 83 and the right lower leg 84 from being seen from the surroundings of the human-riding robot 10.

[0057] <Brake device> As shown in FIG. 11 , the rear wheel 91 (left rear wheel 91A) is attached to an axle shaft 117, and the axle shaft 117 is rotatably supported by a bearing 118 provided on the bottom plate 93. A brake disc 119 is attached to the axle shaft 117. A brake device 120 is provided on the foot 89 (left foot 89A). A second end of the brake wire 52 is connected to the brake device 120. A longitudinal portion of the brake wire 52 is laid out over the inside of the thigh 87, the lower leg 88, and the foot 89 of the left lower leg 83. The brake device 120 has brake pads 121, and when a stepping force is applied to the brake pedal 33, the brake pads 121 are pressed against the brake disc 119, and a braking force is applied to the rear wheel 91 (left rear wheel 91A). When the depression force on the brake pedal 33 is released, the brake pad 121 separates from the brake disc 119, and the braking force on the rear wheel 91 (left rear wheel 91A) is released.

[0058] Furthermore, brake discs 119, 124 are attached to the axle shaft 117 of the foot 89 (right foot 89B). A brake device 120 is provided on the foot 89 (right foot 89B). A second end of the brake wire 52 is connected to the brake device 120. A longitudinal portion of the brake wire 52 is laid out across the inside of the thigh 87, the lower leg 88, and the foot 89 of the right lower leg 84. The brake device 120 has brake pads 121. When the brake pedal 33 is depressed, the brake pads 121 are pressed against the brake discs 119, and a braking force is applied to the rear wheel 91 (right rear wheel 91B). When the brake pads 121 are separated from the brake discs 119, the braking force to the rear wheel 91 (right rear wheel 91B) is released.

[0059] 2(A), the right lower leg 84 has a foot 89 (right foot 89B). A rear wheel 91 (right rear wheel 91B) is attached to an axle shaft 117 of the right foot 89B, and the axle shaft 117 is rotatably supported by a bearing 118 provided on a bottom plate 93 of the right foot 89B. A parking brake device 122 is provided on the right foot 89B. The parking brake device 122 has brake pads 123.

[0060] When the user 11 manually operates the parking lever 34, the parking brake device 122 is actuated, the brake pad 123 is pressed against the brake disc 124, and a braking force is applied from the parking brake device 122 to the right rear wheel 91B. When the parking lever 34 is stopped in the actuated position, the state in which the braking force is applied from the parking brake device 122 to the right rear wheel 91B is maintained even if the user releases the parking lever 34. When the lock on the parking lever 34 is released and the parking lever 34 is returned to its original position, the brake pad 123 of the parking brake device 122 moves away from the brake disc 124, and the braking force on the right rear wheel 91B is released.

[0061] Furthermore, the two axle shafts 117 are arranged concentrically around a horizontal center line. A differential 125 is provided to connect the two axle shafts 117. The differential 125 has a sprocket 126. When power is input to the sprocket 126, the differential 125 distributes the power to each of the two axle shafts 117. In addition, the differential 125 allows the two axle shafts 117 to rotate at different rotational speeds when the human-riding robot 10 moves while turning.

[0062] <Drive unit> As shown in FIG. 11, a motor mount 127 is provided on the bottom plate 93 of the foot 89 (left foot), and a moving motor 128 is provided on the motor mount 127. The moving motor 128 is a driving force source that rotates the rear wheel 91. The motor mount 127 is configured to be movable in the front-rear direction of the bottom plate 93, and is provided with a fixing element that fixes the motor mount 127 to the bottom plate 93. The fixing element includes a bolt and a nut. The output of the moving motor 128 is, for example, 1,360 W. As shown in FIG. 10, a power cable 129 is provided that is connected to the moving motor 128, and the power cable 129 is connected to the moving motor battery 63 shown in FIG. 8. A longitudinal portion of the power cable 129 is laid out inside the pipe shaft 45 and inside the left lower leg 83 shown in FIG. 5.

[0063] The travel motor 128 is an electric motor that is driven by power supplied from the travel motor battery 63. A sprocket 131 is attached to a rotating shaft 130 of the travel motor 128. When the travel direction changeover switch 50 is operated and the accelerator pedal 32 is depressed, the rotating shaft 130 of the travel motor 128 rotates forward or reverse. The rotation direction of the rotating shaft 130 is switched according to the operation of the travel direction changeover switch 50. When the accelerator pedal 32 is not depressed, the rotating shaft 130 of the travel motor 128 is stopped.

[0064] A bracket 132 is fixed to the bottom plate 93, and a bearing 133 is attached to the bracket 132. The bearing 133 rotatably supports an intermediate shaft 134. An input sprocket 135 and an output sprocket 136 are attached to the intermediate shaft 134. The pitch diameter of the input sprocket 135 is larger than the pitch diameter of the output sprocket 136 and is also larger than the pitch diameter of the sprocket 131. The pitch diameter of the sprocket 126 of the differential 125 is larger than the pitch diameter of the output sprocket 136.

[0065] A chain 137 is wound around the sprocket 131 and the input sprocket 135, and as shown in Figure 10, a chain 138 is wound around the output sprocket 136 and the sprocket 126. The movement motor 128, sprocket 131, chain 137, input sprocket 135, output sprocket 136, intermediate shaft 134, chain 138, and differential 125 make up a drive device 92. The drive device 92 is a drive unit that drives the rear wheel 91.

[0066] The rotation speed of the movement motor 128 is controlled in accordance with the depression amount of the accelerator pedal 32. For example, the rotation speed of the movement motor 128 increases as the depression amount of the accelerator pedal 32 increases. The power of the movement motor 128 is transmitted to the two axle shafts 117 via the chain 137, the intermediate shaft 134, the chain 138, and the differential 125, respectively, to drive the left rear wheel 91A and the right rear wheel 91B. When the movement motor 128 rotates, the rotation speed of the input sprocket 135 is slower than the rotation speed of the sprocket 131. The rotation speed of the sprocket 126 is slower than the rotation speed of the output sprocket 136.

[0067] The sprocket 131, the chain 137, and the input sprocket 135 constitute a first reduction mechanism, which amplifies the torque transmitted from the sprocket 131 to the input sprocket 135. The output sprocket 136, the chain 138, and the sprocket 126 constitute a second reduction mechanism, which amplifies the torque transmitted from the output sprocket 136 to the sprocket 126. In this way, the torque output from the travel motor 128 is amplified in two stages in the process of being transmitted to the differential 125. The motor mount 127 can be moved in the front-rear direction of the bottom plate 93 and fixed in place. Therefore, the tension of the chain 137 can be adjusted as desired, improving the running performance of the human-riding robot 10.

[0068] <Control circuit> 8, an accelerator pedal switch 139 is provided for detecting the amount of depression of the accelerator pedal 32 and outputting a signal. A brake pedal switch 140 is provided for detecting the presence or absence of depression of the brake pedal 33 and outputting a signal. A control device 141 is provided for controlling the human-riding robot 10. The control device 141 is provided, for example, in the cockpit 27. The control device 141 is connected to the control panel 31, the accelerator pedal switch 139, the brake pedal switch 140, the toggle switch 54, the movement direction changeover switch 50, the beam cannon firing switch 51, the vibration motor 148, the speakers 67, 69, 71, the infrared receiving sensor 66, the toggle switch confirmation lamp 68, the small camera 72, the infrared LED 70, the electronic circuit battery 60, the display battery 61, the camera battery 62, the movement motor battery 63, the vibration motor battery 64, the movement motor 128, and the like.

[0069] The control device 141 is a computer having an input port, an output port, an arithmetic circuit, a memory circuit, a timer, etc., and processes signals input from the accelerator pedal switch 139, the brake pedal switch 140, the movement direction changeover switch 50, the beam cannon firing switch 51, the infrared light receiving sensor 66, the toggle switch 54, the reset button 65, the small camera 72, the voltmeter 56, and the display unit 59. The control device 141 also controls, adjusts, and manages the control panel 31, the toggle switch confirmation lamp 68, the speakers 67, 69, 71, the infrared LED 70, the electronic circuit battery 60, the display battery 61, the camera battery 62, the movement motor battery 63, the vibration motor battery 64, the movement motor 128, etc.

[0070] The control device 141 performs various judgments, processing, control, etc. based on input signals and information, data, and programs stored in the memory circuit. The control device 141 also stores various information and data in the memory circuit based on the judgment results and processing results. The control device 141 has functions such as the motor controller, PIC circuit, various sound modules, warning sound activation circuit, brake sound time adjustment circuit, electronic circuit for flashing infrared LED, electronic control circuit, etc.

[0071] (Layout) 12, when the human-riding robot 10 is viewed from the side, the front wheel 90, the movement motor 128, the knees 145, the footstool 86, and the footrest 142 are disposed in front of the center line A1. The seat 28, the input sprocket 135, the output sprocket 136, the rear wheel 91, and the differential 125 are disposed behind the center line A1.

[0072] (Usage example) When the human-riding robot 10 is stopped at the place of use 14, the user 11, standing at the place of use 14, places one foot on the footrest 142 and grasps the grip 40 with one hand, as shown in Fig. 3(A). Next, the user places the other foot on the footstool 86 and opens the cockpit lid 18 by hand, as shown in Fig. 3(B). Next, the user 11 moves the foot that was placed on the footrest 142 into the cockpit 27, as shown in Fig. 3(C). After that, the user 11 moves the whole body into the cockpit 27, sits on the seat 28, and closes the cockpit lid 18, as shown in Fig. 3(D).

[0073] Furthermore, the user 11 turns on four toggle switches 54 provided on the control panel 31, and also turns on three toggle switches 54 provided on the inside of the left flank panel 24. By turning on the toggle switches 54, the control device 141 is started, and the human-riding robot 10 becomes available for use. The user 11 also operates the parking lever 34 to release the braking force applied to the rear wheels 91 from the parking brake device 122.

[0074] Then, when the movement direction changeover switch 50 is pressed forward and the accelerator pedal 32 is depressed, the movement motor 128 is rotated in a first direction, and the human-riding robot 10 moves forward. In contrast, when the movement direction changeover switch 50 is pressed backward and the accelerator pedal 32 is depressed, the movement motor 128 is rotated in a second direction, and the human-riding robot 10 moves backward. When the human-riding robot 10 moves, a sound effect is output from the speaker 69. Note that when the movement direction changeover switch 50 is not operated and the accelerator pedal 32 is depressed, the movement motor 128 is stopped and the human-riding robot 10 is stopped.

[0075] When the user 11 removes his / her foot from the accelerator pedal 32 while the human-riding robot 10 is moving, the moving motor 128 is stopped. When the user 11 steps on the brake pedal 33, a braking force is applied from the braking device 120 to the rear wheel 91, and a braking sound effect is output from the speaker 69.

[0076] When the user rotates the handle 30 in Fig. 7(A) a predetermined angle clockwise while the human-riding robot 10 is moving, the front wheel 90 shown in Fig. 11 rotates a predetermined angle clockwise, and the human-riding robot 10 turns right. Also, when the user rotates the handle 30 in Fig. 7(A) a predetermined angle counterclockwise while the human-riding robot 10 is moving, the front wheel 90 shown in Fig. 11 rotates a predetermined angle counterclockwise, and the human-riding robot 10 turns right.

[0077] Further, an example of a battle game between a plurality of human-riding robots 10 will be described. When a user applies an operating force to the beam cannon firing switch 51 shown in Fig. 7(A), the infrared LED 70 provided on the model gun 19 flashes and a sound effect is output from the speaker 67. When the infrared light receiving sensor 66 of the human-riding robot 10 that the user is riding on receives infrared light emitted from the infrared LED 70 of a human-riding robot 10 that another person is riding on, the vibration motor 148 is driven to vibrate the urethane cushion material 143, and an explosion sound (sound effect) indicating that the robot has been hit is output from the speaker 67.

[0078] The life counter 57 displays the remaining life in numbers according to the number of hits of the human-riding robot 10 that the player is riding on. The number on the life counter 57 decreases by one each time the human-riding robot 10 that the player is riding on is hit. When the life counter 57 of the human-riding robot 10 that the player is riding on reaches a predetermined number, for example, "09", or less, a warning sound is constantly output from the speaker 67. Furthermore, when the player is hit once more after the life counter 57 reaches "00", the speaker 67 stops the warning sound and outputs the sound of an explosion. The display on the life counter 57 is also erased, and a loss announcement is output from the speaker 67. Furthermore, the model gun 19 cannot be used, and the human-riding robot 10 cannot move.

[0079] Then, when the user 11 operates the reset button 65 after the life counter 57 reaches "00", the control device 141 returns the human-riding robot 10 to its initial state. That is, the human-riding robot 10 becomes movable, and the indication on the life counter 57 returns to "99". The control device 141 also returns the human-riding robot 10 to its initial state if no operation is performed for a predetermined period of time, for example, five minutes, from the time the life counter 57 reaches "00".

[0080] When the user 11 operates the parking lever 34 while the human-riding robot 10 is stopped, a braking force is applied from the parking brake device 122 to the rear wheels 91, and the human-riding robot 10 is held in a stopped state. Then, the user 11 turns off all the toggle switches 54 to stop the functions of the human-riding robot 10.

[0081] An example of the action of the user 11 getting off the human-riding robot 10 is as follows. As shown in FIG. 3(D), the user 11 sitting in the cockpit 27 opens the cockpit lid 18. Next, the user 11 stands up in the cockpit 27 and reverses the front-to-back direction. The user 11 then puts one foot outside the cockpit 27 and places the foot on the footstool 86 as shown in FIG. 3(C). Next, the user 11 holds the grip 37 with one hand, puts the other foot out of the cockpit 27, and places the other foot on the footrest 142. After that, the user 11 removes the foot that is placed on the footstool 86 from the footstool 86 and places it on the use location 14, releases the foot from the footrest 142, places the other foot on the use location 14, and releases the hand from the grip 37, completing the action of the user 11 getting off the human-riding robot 10.

[0082] (Effects of the embodiment) 12, when the human-riding robot 10 is viewed from the side, the front wheel 90, the footstool 86, the footrest 142, and the switching mechanism 146 are arranged in a first region B1 in front of the center line A1. The first region B1 is an area in front of the center line A1 in the front-rear direction of the human-riding robot 10, specifically, in the front-rear direction C1 of the lower body 13, and includes a range up to the tip of the footrest 142. The second region B2 is an area behind the center line A1 in the front-rear direction C1 of the lower body 13, and includes a range up to the rear end of the foot 89.

[0083] The seat 28 and the rear wheels 91 of the human-riding robot 10 are arranged in the second region B2 behind the center line A1. That is, various parts and elements constituting the human-riding robot 10 are arranged in a dispersed manner in front of the center line A1 and behind the center line A1. Therefore, the posture of the human-riding robot 10 is stable in both the process in which the user 11 puts his / her feet on the footstool 86 and the footrest 142 to enter and leave the cockpit 27 and the state in which the user 11 sits in the cockpit 27. Therefore, the human-riding robot 10 can be prevented from losing balance in the front-rear direction C1 or from falling over in the front-rear direction C1. Furthermore, the motor mount 127 can be moved in the front-rear direction of the bottom plate 93 and fixed therein. Therefore, the tension of the chain 137 can be adjusted as desired, and the running performance of the human-riding robot 10 is improved.

[0084] In the human-riding robot 10, a first reduction mechanism and a second reduction mechanism are provided on a path that transmits the torque of the movement motor 128 to the rear wheels 91, and a driving force is generated at the rear wheels 91 by changing the gear ratio (reduction ratio) in two stages. Therefore, the human-riding robot 10 can secure the driving force when moving, and the human-riding robot 10 moves smoothly. Since the differential 125 is provided, when the human-riding robot 10 moves while turning, a difference in rotation speed between the left rear wheel 91A and the right rear wheel 91B is allowed. Therefore, the human-riding robot 10 can smoothly change direction.

[0085] The upper body 12 is supported by the lower body 13 via a plurality of door rollers 77, and is rotatable about a single pipe shaft 45. Therefore, the upper body 12 can smoothly rotate relative to the lower body 13. The single pipe shaft 45 serves both to support the upper body 12 rotatably relative to the lower body 13, and to position the upper body 12 horizontally relative to the lower body 13. Therefore, the human-riding robot 10 can prevent an increase in the number of parts and a complicated structure.

[0086] Furthermore, a portion of the brake wire 52 is passed through the inside of the pipe shaft 45. A portion of the parking wire 53 is disposed inside the pipe shaft 45. A portion of the power cable 129 is laid out inside the pipe shaft 45. Therefore, the movement of the upper body 12 to rotate relative to the lower body 13 about the pipe shaft 45 shown in FIG. 6 can be prevented from being hindered by the brake wire 52, the parking wire 53, and the power cable 129.

[0087] (supplementary explanation) The human-riding robot 10 is an example of a human-riding robot. The upper body 12 is an example of an upper body. The lower body 13 is an example of a lower body. The cockpit 27 is an example of a cockpit. The torso 15 is an example of a torso. The seat 28 is an example of a seat. The footstool 86 and the footrest 142 are examples of a footrest. The front wheel 90, the left front wheel 90A, and the right front wheel 90B are examples of front wheels. The rear wheel 91, the left rear wheel 91A, and the right rear wheel 91B are examples of rear wheels. The switching mechanism 146 is an example of a switching mechanism. The pipe shaft 45 is an example of a support shaft and a pipe shaft. The center line A1 is an example of a center line. The handle 30 is an example of a handle. The brake device 120 is an example of a brake device. The power cable 129 is an example of a power cable. The brake wire 52 is an example of a brake wire. The movement motor 128 is an example of an electric motor. The differential 125 is an example of a differential. The cockpit lid 18 is an example of a cockpit lid. The right arm 16 and the left arm 17 are examples of arms. The model gun 19 is an example of a model gun. The swivel device 42 is an example of a swivel device. The first area B1 is an example of a first area, and the second area B2 is an example of a second area.

[0088] This embodiment is not limited to those disclosed using the drawings, and various modifications are possible without departing from the spirit of the present invention. For example, the model gun 19 and the speaker 69 may be provided on the left arm 17, and the infrared sensor 66, the speaker 67, and the toggle switch confirmation lamp 68 may be provided on the right arm 16. Furthermore, the material of each part and each element constituting the human-riding robot may be selected from metal, synthetic resin, etc. as long as the strength is ensured. [Industrial Applicability]

[0089] The present disclosure can be used as a human-riding robot that can move with a human on board. [Explanation of symbols]

[0090] 10...human-riding robot, 12...upper body, 13...lower body, 15...torso, 16...right arm, 17...left arm, 18...cockpit cover, 19...model gun, 27...cockpit, 28...seat, 30...steering wheel, 42...rotation device, 45...pipe shaft, 52...brake wire, 86...footstool, 90...front wheel, 90A...left front wheel, 90B...right front wheel, 91...rear wheel, 91A...left rear wheel, 91B...right rear wheel, 120...brake device, 125...differential, 128...movement motor, 129...power cable, 142...footrest, 146...switching mechanism, A1...center line, B1...first region, B2...second region

Claims

1. A human-riding robot having an upper body having a cockpit where a user can enter and exit, and a lower body provided below the upper body and supporting the upper body, A seat provided in the cockpit for a user to sit in; A footrest provided on the lower body on which a user places his / her feet when entering or exiting the cockpit; Front and rear wheels are provided at an interval in the front-rear direction of the lower body and are grounded at a place of use; A switching mechanism provided on the lower body for switching the direction of the front wheels; A support shaft provided on the lower body and supporting the upper body so as to be rotatable relative to the lower body within a horizontal plane; having the footrest, the front wheel, and the switching mechanism are disposed within a first region forward of the support shaft in the front-rear direction, The seat and the rear wheels are disposed within a second region rearward of the support shaft in the front-to-rear direction.

2. The human-riding robot according to claim 1, the support shaft is a pipe shaft having a center line in a vertical direction, A handle provided in the cockpit and operated by a user; a handle shaft, a longitudinal portion of which is disposed within the pipe shaft and which transmits a rotational force of the handle to the switching mechanism; A human-riding robot having the following features:

3. 3. The human-riding robot according to claim 2, The lower body includes: a braking device that applies a braking force to the front wheels and the rear wheels; an electric motor that drives the rear wheels; was established, A human-riding robot, wherein a longitudinal portion of a power cable that supplies power to the electric motor and a longitudinal portion of a brake wire that activates the brake device are disposed within the pipe shaft.

4. The human-riding robot according to claim 1, The rear wheels include a left rear wheel and a right rear wheel, an electric motor provided in the lower body and configured to transmit power to the rear wheels; a differential provided on the lower body for distributing power of the electric motor to the left rear wheel and the right rear wheel and allowing a difference to occur between a rotation speed of the left rear wheel and a rotation speed of the right rear wheel; having the electric motor is disposed within the first region; The differential is disposed within the second area.

5. The human-riding robot according to claim 1, The upper body is A fuselage forming the cockpit; A cockpit cover attached to the fuselage for opening and closing the opening of the cockpit; An arm attached to the torso; a model gun attached to said arm; A human-riding robot equipped with

6. The human-riding robot according to claim 1, A rotation lever provided in the cockpit and operated by a user; a rotation device that rotates the upper body relative to the lower body by transmitting an operating force of the rotation lever to the upper body; A human-riding robot equipped with

Images