Mobile robot and mobile robot connection body

Abstract

To provide a mobile robot which can easily stably move on an off-road.SOLUTION: A mobile robot 1 comprises: a first cylindrical frame 2; a second cylindrical frame 3; a first motor part 4 which has a first output shaft body 41 and a first driver 42 for rotating the first output shaft body, and in which the first driver 42 is fixed to the first cylindrical frame 2; a second motor part 5 which has a second output shaft body 51 and a second driver 52 for rotating the second output shaft body, and in which the second driver 52 is fixed to the second cylindrical frame 3; a link member 6 of which both ends are fixed to the first output shaft body 41 and the second output shaft body 51, and which has a bent part 6a at a central part thereof; a first rotation blocking member 7 which is attached to a side face of the first cylindrical frame 2; and a second rotation blocking member 8 which is attached to a side face of the second cylindrical frame 3.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a mobile robot and a mobile robot combination that can be used in rescue operations and the like. [Background technology]

[0002] It is preferable to use a small robot (mobile robot) that can move appropriately in places where humans cannot enter, such as dangerous places or small spaces, to perform tasks such as searching. Among these, rescue operations often require movement on uneven ground. In such cases, mobile robots are known that have wheels on the left and right sides of the body and a mechanism that allows them to change the position (up and down, etc.) of the wheels relative to the body so that they can overcome even small steps.

[0003] For example, Patent Document 1 discloses a mobile robot that has two wheels on each of the left and right sides of the body, and two rotatably connected legs at the center of each of the two wheels, which are rotatably connected to the body, and that is able to overcome steps of a certain degree by using a mechanism that rotates the legs and rotates the positions of the two wheels relative to the legs. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-234534 Summary of the Invention [Problem to be solved by the invention]

[0005] However, on uneven ground, there are protrusions and the like in addition to steps, and on the other hand, a mobile robot that has wheels on the left and right sides of the body and a mechanism for changing the position of the wheels relative to the body tends to have a wide portion of the body (or mechanism) between the left and right wheels, and it is easy for the body (or mechanism) to ride up on a protrusion on the uneven ground between the left and right wheels and become unable to move.

[0006] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a mobile robot that can move stably and easily on uneven ground. [Means for solving the problem]

[0007] In order to achieve the above object, the mobile robot described in claim 1 comprises a first cylindrical frame, a second cylindrical frame, a first motor unit having a first output shaft and a first drive body for rotating it, the first drive body being fixed to the first cylindrical frame, a second motor unit having a second output shaft and a second drive body for rotating it, the second drive body being fixed to the second cylindrical frame, a link member having both ends fixed to the first output shaft and the second output shaft and having a bent portion in the center, a first rotation preventing member attached to the side of the first cylindrical frame, and a second rotation preventing member attached to the side of the second cylindrical frame.

[0008] The mobile robot described in claim 2 has a first cylindrical frame, a second cylindrical frame, a first output shaft and a first drive body that rotates it, and the first drive body is fixed to the first cylindrical frame, a first motor unit, a first bevel gear fixed to the first cylindrical frame, a second bevel gear fixed to the second cylindrical frame and meshing with the first bevel gear, a link member having one end fixed to the first output shaft and the other end rotatably held by the second cylindrical frame and having a bent portion in the center, a first rotation preventing member attached to the side of the first cylindrical frame, and a second rotation preventing member attached to the side of the second cylindrical frame.

[0009] The mobile robot described in claim 3 is the mobile robot described in claim 1 or 2, wherein the first cylindrical frame has a first cylindrical frame main body, a first cylindrical frame auxiliary part, and a first one-way clutch, the first cylindrical frame auxiliary part is fitted into a groove formed in the first cylindrical frame main body, and the first one-way clutch is fitted inside the groove, and the first rotation preventing member is connected to the first cylindrical frame auxiliary part, and the second cylindrical frame has a second cylindrical frame main body, a second cylindrical frame auxiliary part, and a second one-way clutch, the second cylindrical frame auxiliary part is fitted into a groove formed in the second cylindrical frame main body, and the second one-way clutch is fitted inside the groove, and the second rotation preventing member is connected to the second cylindrical frame auxiliary part.

[0010] A mobile robot according to a fourth aspect of the present invention is the mobile robot according to the first or second aspect of the present invention, wherein the first and second cylindrical frames each have a recessed portion at the front of their side surfaces.

[0011] A mobile robot according to a fifth aspect of the present invention is the mobile robot according to the third aspect, wherein the first and second cylindrical frames have recesses at the front of their side surfaces.

[0012] A mobile robot assembly described in claim 6 has a plurality of mobile robots described in claim 1 or 2 connected in tandem, and the first rotation-preventing member and the second rotation-preventing member connect the front and rear mobile robots.

[0013] A mobile robot assembly described in claim 7 includes a plurality of mobile robots described in claim 3 connected in tandem, and the first rotation-preventing member and the second rotation-preventing member connect the front and rear mobile robots. [Effects of the Invention]

[0014] The mobile robot and mobile robot assembly of the present invention can easily move stably on uneven ground. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a plan view showing a mobile robot according to an embodiment of the present invention; [Figure 2] 1A, 1B, and 1C are diagrams showing the mobile robot of the above embodiment when the bent portion of the link member faces forward, with FIG. 1A being a plan view, FIG. 1B being a front view, and FIG. 1C being a left side view. [Figure 3] 1A, 1B, and 1C are diagrams showing the mobile robot of the above with the bent portion of the link member facing downward, in which FIG. 1A is a plan view, FIG. 1B is a front view, and FIG. 1C is a left side view. [Figure 4] 1A, 1B, and 1C are diagrams showing the mobile robot of the above embodiment when the bent portion of the link member faces backward, with FIG. 1A being a plan view, FIG. 1B being a front view, and FIG. 1C being a left side view. [Figure 5] 1A, 1B, and 1C are diagrams showing the mobile robot of the above with the bent portion of the link member facing upward, in which (a) is a plan view, (b) is a front view, and (c) is a left side view. [Figure 6] 1A to 1E are left side views showing examples of the movement of the mobile robot, which are shown in chronological order as (a) to (b), (c), (d), and (e). [Figure 7] FIG. 10 is a plan view showing an example in which an extension / contraction section is provided in the mobile robot of the same. [Figure 8] FIG. 10 is a plan view showing a modified example of the mobile robot. [Figure 9] FIG. 10 is a plan view showing another modified example of the mobile robot. [Figure 10] 10A and 10B are cross-sectional views showing another modified example of the mobile robot in crawl mode, where (a) is taken along line CC in FIG. 9, and (b) is taken along line DD. [Figure 11] 10A and 10B are cross-sectional views showing another modified example of the mobile robot in wheel mode, where (a) is taken along line CC in FIG. 9, and (b) is taken along line DD. [Figure 12] FIG. 10 is a plan view showing an example in which a cover material is provided on the mobile robot of the same. [Figure 13] FIG. 10 is a plan view showing an example in which recesses are provided in the first and second cylindrical frames of the mobile robot. [Figure 14] This is a left side view showing an example of the movement of the mobile robot shown in Figure 13, which changes over time from (a) to (b), (b'), (c), and (d). [Figure 15] FIG. 2 is a plan view showing a mobile robot assembly formed by connecting a plurality of the mobile robots in a vertical row. [Figure 16] 10 is a plan view showing the mobile robots in the mobile robot assembly of FIG. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, embodiments of the present invention will be described. As shown in FIG. 1, a mobile robot 1 according to an embodiment of the present invention includes a first cylindrical frame 2, a second cylindrical frame 3, a first motor unit 4, a second motor unit 5, a link member 6, a first tail (first rotation-preventing member) 7, and a second tail (second rotation-preventing member) 8. When placed on the ground, the mobile robot 1 has a movement mode (hereinafter referred to as "crawl mode") in which a bent portion 6a (described later) of the link member 6 rotates repeatedly in the order of forward (frontward), downward, backward, and upward, as shown in FIGS. 2 to 5. The ground refers to any location on which the mobile robot 1 can move, including the top surface of level or uneven ground and the top surface of a structure. The bent portion 6a of the link member 6 refers to the convex side of the bent portion.

[0017] The first cylindrical frame 2 and the second cylindrical frame 3 are typically substantially cylindrical and have the same shape. One end 2a of the first cylindrical frame 2 and one end 3a of the second cylindrical frame 3 are close to each other. The one end 2a of the first cylindrical frame 2 and the one end 3a of the second cylindrical frame 3 can each be closed so that the end of the link member 6 is rotatably held therebetween. The other end 2b of the first cylindrical frame 2 and the other end 3b of the second cylindrical frame 3 are spaced apart from each other. The other end 2b of the first cylindrical frame 2 and the other end 3b of the second cylindrical frame 3 can each be rounded into a hemispherical shape. Furthermore, the first cylindrical frame 2 and the second cylindrical frame 3 can each have multiple grooves or dips on their surfaces to prevent slippage. The diameter (length perpendicular to the axial direction) and axial length of each of the first tubular frame 2 and the second tubular frame 3 are not particularly limited, and may be large or small, but for example, the diameter may be about 2 cm to about 4 cm, and the axial length may be about 4 cm to about 12 cm. Note that the first tubular frame 2 and the second tubular frame 3 may each be a rectangular tube in some cases.

[0018] The axis A of the first cylindrical frame 2 and the axis B of the second cylindrical frame 3 intersect at a predetermined angle θ at their intersection (see FIG. 1). This predetermined angle θ is determined by the angle of a bent portion 6a (described later) of the link member 6, and is not particularly limited as long as it is smaller than 180 degrees, but can be, for example, approximately 120 degrees.

[0019] The first motor unit 4 includes a first output shaft 41 and a first driver 42 that rotates the first output shaft 41. The first motor unit 4 is disposed inside the first cylindrical frame 2, and the first driver 42 is fixed to the first cylindrical frame 2. The first output shaft 41 extends along axis A of the first cylindrical frame 2. The first output shaft 41 rotates relative to the first cylindrical frame 2. In other words, if the rotation of the first cylindrical frame 2 is blocked but the rotation of the first output shaft 41 is not blocked, the first output shaft 41 rotates. If the rotation of the first output shaft 41 is blocked but the rotation of the first cylindrical frame 2 is not blocked, the first cylindrical frame 2 rotates in the opposite direction to the rotation of the first output shaft 41. The first motor unit 4 can be a geared motor or a gearless motor depending on the required rotational force (torque). Note that in FIG. 1 (and FIG. 8, described later), the first motor unit 4 is indicated by a dashed line.

[0020] The second motor unit 5 includes a second output shaft 51 and a second driver 52 that rotates the second output shaft 51. The second motor unit 5 is disposed inside the second cylindrical frame 3, and the second driver 52 is fixed to the second cylindrical frame 3. The second output shaft 51 extends along axis B of the second cylindrical frame 3. The second output shaft 51 rotates relative to the second cylindrical frame 3. In other words, if the rotation of the second cylindrical frame 3 is blocked but the rotation of the second output shaft 51 is not blocked, the second output shaft 51 rotates. If the rotation of the second output shaft 51 is blocked but the rotation of the second cylindrical frame 3 is not blocked, the second cylindrical frame 3 rotates in the opposite direction to the rotation of the second output shaft 51. The second motor unit 5 can be a geared motor or a gearless motor depending on the required rotational force (torque). Note that the second motor unit 5 is indicated by a dashed line in FIG. 1 .

[0021] The link member 6 has both ends fixed to the first output shaft 41 of the first motor section 4 and the second output shaft 51 of the second motor section 5, and has the bent portion 6a in the center. In Fig. 1 (and Fig. 8, which will be described later), the portion of the link member 6 that is located inside the first cylindrical frame 2 or the second cylindrical frame 3 is indicated by a dashed line.

[0022] The first tail 7 is attached so that its base end 7a does not move circumferentially (around the circumference of a cross section perpendicular to the axial direction) at the rear of the side of the first cylindrical frame 2 (or, in some cases, at the upper or lower part of the side), and so that it does not swing circumferentially or swings only slightly. As a result, when the rear of the first cylindrical frame 2 tries to rotate downward (that is, when a rotational force (torque) in that direction is generated), the tip end 7b of the first tail 7 receives a reaction force from the ground, preventing the first cylindrical frame 2 from rotating.

[0023] The second tail 8 is attached so that its base end 8a does not move circumferentially (around the circumference of a cross section perpendicular to the axial direction) at the rear of the side of the second cylindrical frame 3 (or, in some cases, at the upper or lower part of the side), and so that it does not swing circumferentially or swings only slightly. As a result, when the rear of the second cylindrical frame 3 tries to rotate downward (that is, when a rotational force (torque) in that direction is generated), the tip end 8b of the second tail 8 receives a reaction force from the ground, preventing the second cylindrical frame 3 from rotating.

[0024] The specific configurations of the first tail 7 and the second tail 8 will be described below.

[0025] The base end 7a of the first tail 7 can be configured to be able to swing toward the other end 2b of the first cylindrical frame 2 or toward one end 2a. The first tail 7 can be configured to have a first tail front portion 71 and a first tail rear portion 72 that can rotate (spin) relative to each other. The base end 8a of the second tail 8 can be configured to be able to swing toward the other end 3b of the second cylindrical frame 3 or toward one end 3a. The second tail 8 can be configured to have a second tail front portion 81 and a second tail rear portion 82 that can rotate (spin) relative to each other. The tip end 7b of the first tail 7 and the tip end 8b of the second tail 8 can be configured to be able to rotate relative to each other.

[0026] With this structure, the positions at which the tip 7b of the first tail 7 and the tip 8b of the second tail 8 receive reaction forces from the ground are approximately the same, and do not spread out, but follow the trajectory of movement of the mobile robot 1.

[0027] Other specific configurations of the first tail 7 and the second tail 8 are also possible. For example, the base end 7a of the first tail 7 can be simply fixed to the rear of the side surface of the first cylindrical frame 2, and the base end 8a of the second tail 8 can be simply fixed to the rear of the side surface of the second cylindrical frame 3. In this case, the lengths of the first tail 7 and the second tail 8 can be shortened somewhat so that the tip end 7b of the first tail 7 and the tip end 8b of the second tail 8 are spaced apart. The first tail 7 does not need to be divided into a first tail front portion 71 and a first tail rear portion 72, and the second tail 8 does not need to be divided into a second tail front portion 81 and a second tail rear portion 82. With this structure, the positions at which the tip end 7b of the first tail 7 and the tip end 8b of the second tail 8 receive reaction forces from the ground become more diverse and wider as the mobile robot 1 moves, but the structures of the first tail 7 and the second tail 8 can be simplified.

[0028] In crawl mode, when the rear portions of the first tubular frame 2 and the second tubular frame 3 attempt to rotate downward, they each receive a reaction force from the ground, preventing the rotation. This causes the first output shaft 41 and the second output shaft 51 to rotate, and this rotation causes the bent portion 6a of the link member 6 to rotate forward, downward, backward, and upward in this order. This causes the mobile robot 1 to move forward (toward the front). The mobile robot 1 can overcome uneven ground, even if it has some steps, as shown in FIG. 6 , for example. Furthermore, even if the ground is uneven and has some protrusions, the entire link member 6, the first tubular frame 2, and the second tubular frame 3 can move, preventing the mobile robot 1 from climbing over and becoming unable to move. In this way, the mobile robot 1 can easily and stably move on uneven ground, as well as on level ground.

[0029] Although not explained here, the mobile robot 1 may be appropriately equipped with a control unit that controls the first motor unit 4 and the second motor unit 5, a power supply unit such as a battery, an imaging unit, an illumination unit, a communication unit, etc. If wiring is required between the interior of the first cylindrical frame 2 and the interior of the second cylindrical frame 3, it is also possible to route the wiring through the interior of the link member 6.

[0030] When it is desired to change the direction of movement of the mobile robot 1, the means for doing so is not particularly limited, but for example, the rotation speeds of the first motor unit 4 and the second motor unit 5 can be made different, or as shown in Fig. 7, extension units 21 and 31 can be provided at the other end 2b of the first cylindrical frame 2 and the other end 3b of the second cylindrical frame 3, respectively. The extension units 21 and 31 can extend and pop out or retract and return to their original position depending on the direction of movement that is desired to be changed.

[0031] Next, a mobile robot 1A in which the second motor unit 5 of the mobile robot 1 is omitted and instead a first bevel gear 9 and a second bevel gear 10 are provided as shown in FIG. 8 will be described below.

[0032] The first bevel gear 9 is fixed to the first cylindrical frame 2. The second bevel gear 10 is fixed to the second cylindrical frame 3 and is engaged with the first bevel gear 9. The first bevel gear 9 rotates following the rotation of the first cylindrical frame 2. The second bevel gear 10 rotates following the rotation of the first bevel gear 9. Therefore, the second cylindrical frame 3 rotates following the rotation of the first cylindrical frame 2.

[0033] In the mobile robot 1A, one end of the link member 6 is fixed to the first output shaft 41 of the first motor unit 4, and the other end is rotatably held by the second cylindrical frame 3.

[0034] Mobile robot 1A can move in the same manner as mobile robot 1. However, since mobile robot 1A does not have second motor unit 5, there are no particular limitations on the means for changing the direction of movement. For example, as described above, extendable units 21 and 31 can be provided at the other end 2b of first cylindrical frame 2 and the other end 3b of second cylindrical frame 3, respectively.

[0035] Next, we will explain mobile robot 1B, which is equipped with a first cylindrical frame 2B and a second cylindrical frame 3B, which are modifications of the first cylindrical frame 2 and the second cylindrical frame 3 of mobile robot 1. Mobile robot 1A can also be modified instead of mobile robot 1, but since the process is similar, only mobile robot 1B will be explained below.

[0036] In addition to the crawl mode, the mobile robot 1B also has a movement mode (hereinafter referred to as "wheel mode") in which the first tubular frame 2B and the second tubular frame 3B rotate like the wheels of a vehicle to move forward.

[0037] The first tubular frame 2B has a first tubular frame main body 22, a first tubular frame auxiliary part 23, and a first one-way clutch 24. As shown in FIG. 9, the first tubular frame main body 22 has the first tubular frame auxiliary part 23 fitted into an annular (usually circular) groove formed in a predetermined portion of the first tubular frame main body 22. As shown in FIGS. 10(a) and 11(a), the first one-way clutch 24 is fitted inside the first tubular frame auxiliary part 23 and between it and the first tubular frame main body 22. The outer diameter of the first tubular frame auxiliary part 23 is approximately equal to the outer diameter of the first tubular frame main body 22 (more specifically, the outer diameter of the portion of the first tubular frame main body 22 where the annular groove is not formed). The first tail 7 is connected to the first tubular frame auxiliary part 23.

[0038] The second cylindrical frame 3B has a second cylindrical frame main body 32, a second cylindrical frame auxiliary part 33, and a second one-way clutch 34. As shown in FIG. 9, the second cylindrical frame main body 32 has the second cylindrical frame auxiliary part 33 fitted into an annular (usually circular) groove formed in a predetermined portion of the second cylindrical frame main body 32. As shown in FIGS. 10(b) and 11(b), the second one-way clutch 34 is fitted inside the second cylindrical frame auxiliary part 33 and between it and the second cylindrical frame main body 32. The outer diameter of the second cylindrical frame auxiliary part 33 is approximately equal to the outer diameter of the second cylindrical frame main body 32 (more specifically, the outer diameter of the portion of the second cylindrical frame main body 32 where the annular groove is not formed). The second tail 7 is connected to the second cylindrical frame auxiliary part 33.

[0039] The rotational force (torque) of the first cylindrical frame body 22 is in the opposite direction in crawl mode and wheel mode, as shown by the solid arrowed lines in Figures 10(a) and 11(a). Similarly, the rotational force (torque) of the second cylindrical frame body 32 is in the opposite direction in crawl mode and wheel mode, as shown by the solid arrowed lines in Figures 10(b) and 11(b).

[0040] The first one-way clutch 24 and the second one-way clutch 34 are each one-way clutches (one-way clutches) in which the outer and inner rings come into contact with each other and transmit only one-directional rotational force of the inner ring to the outer ring. The specific structure of a one-way clutch is not within the scope of this application and will not be described in detail here; however, it is disclosed, for example, in Japanese Patent Laid-Open No. 2002-295521, and various other types are also known.

[0041] The first one-way clutch 24 contacts the first tubular frame auxiliary part 23 (outer wheel) and the first tubular frame main body 22 (inner wheel) inside it, and in crawl mode, when the rear of the first tubular frame main body 22 attempts to rotate downward (i.e., when a rotational force (torque) in that direction is generated), it transmits that rotational force to the first tubular frame auxiliary part 23, and in wheel mode, the rotational force of the first tubular frame main body 22 in the opposite direction to that in crawl mode is not transmitted to the first tubular frame auxiliary part 23.

[0042] The second one-way clutch 34 contacts the second tubular frame auxiliary part 33 (outer wheel) and the second tubular frame main body 32 (inner wheel) inside it, and in crawl mode, when the rear of the second tubular frame main body 32 attempts to rotate downward (i.e., when a rotational force (torque) in that direction is generated), it transmits that rotational force to the second tubular frame auxiliary part 33, and in wheel mode, the rotational force of the second tubular frame main body 32 in the opposite direction to that in crawl mode is not transmitted to the second tubular frame auxiliary part 33.

[0043] In crawl mode, mobile robot 1B can move forward in the same way as mobile robot 1, and in wheel mode, first cylindrical frame 2B and second cylindrical frame 3B grip the ground and rotate like the wheels of a vehicle, allowing it to move while maintaining the posture shown in Fig. 9, and allowing it to move forward faster than in crawl mode. Mobile robot 1B can be used in crawl mode when there are steps or protrusions on the ground, for example, and in wheel mode when the ground is relatively flat.

[0044] The mobile robot according to the embodiment of the present invention has been described above, but the present invention is not limited to the embodiment and various design modifications are possible within the scope of the claims. For example, as shown in FIG. 12, the link member 6 can be covered with a cover material 11 (e.g., a bellows tube) or the first tail 7, the second tail 8, and the space between them can be covered with a cover material 12 (e.g., a stretchable sheet material) to prevent foreign matter from adhering or getting caught, or to enhance waterproofing. The cover material 11 and the cover material 12 can be connected without any gaps. In FIG. 12, the parts covered by the cover material 11 or the cover material 12 are indicated by dashed lines.

[0045] Also, as shown in FIG. 13, the mobile robot 1 (or 1A or 1B) can have a recess 2c at the front of the side of the first cylindrical frame 2 (or 2B) and a recess 3c at the front of the side of the second cylindrical frame 3 (or 3B).

[0046] FIG. 14 shows how the mobile robot 1 having the recessed portion 2c and the recessed portion 3c moves over uneven ground, similar to FIG. 6. Among (a) to (d), as shown in (b'), the mobile robot 1 can easily get over the uneven ground by hooking onto the side of the recessed portion 2c (the side on the other end 2b side) and the side of the recessed portion 3c (the side on the other end 3b side). The same applies to the side of the recessed portion 2c on the one end 2a side and the side of the recessed portion 3c on the one end 3a side. As described above, the mobile robot 1 (or 1A or 1B) having the recessed portion 2c and the recessed portion 3c can move stably on uneven ground as well as on level ground, just like when there are no recessed portions 2c and 3c.

[0047] In the mobile robot 1B, if the first cylindrical frame 2 has a recess 2c at the front of its side surface and the second cylindrical frame 3 has a recess 3c at the front of its side surface, by timing the change from wheel mode to crawl mode, the recess 2c can be positioned correctly at the front of the side surface of the first cylindrical frame 2 and the recess 3c can be positioned correctly at the front of the side surface of the second cylindrical frame 3. Alternatively, by providing a claw and an engaging portion (an engaging portion that can engage with the claw in crawl mode) in only one location per circumference on the first one-way clutch 24 and the second one-way clutch 34, the recess 2c can be positioned correctly at the front of the side surface of the first cylindrical frame 2 and the recess 3c can be positioned correctly at the front of the side surface of the second cylindrical frame 3.

[0048] As shown in FIG. 15, a mobile robot assembly 13 can also be constructed by connecting multiple mobile robots 1 (or 1A or 1B) in a tandem. In this case, a first connecting member 14 is used as the first rotation-preventing member instead of the first tail 7, and a second connecting member 15 is used as the second rotation-preventing member instead of the second tail 8. The first connecting member 14 and the second connecting member 15 connect the front and rear mobile robots 1 (or 1A or 1B) and are attached to the upper part of the side surface (or other location on the side surface, as the case may be) of the first cylindrical frame 2 (or 2B) and the second cylindrical frame 3 (or 3B) of each mobile robot 1 (or 1A or 1B) so as to prevent movement in the circumferential direction (the direction around the circumference of a cross section perpendicular to the axial direction). Note that FIG. 15 (and FIG. 16, described later) shows a mobile robot assembly 13 in which three mobile robots 1B are connected in a tandem.

[0049] When the upper portions of the first cylindrical frame 2 (or 2B) and second cylindrical frame 3 (or 3B) of each mobile robot 1 (or 1A or 1B) attempt to rotate backward (i.e., when a rotational force (torque) in that direction is generated), a reaction force is applied from the first connecting member 14 and second connecting member 15 connected to the other mobile robots 1 (or 1A or 1B), preventing the rotation of the first cylindrical frame 2 (or 2B) and second cylindrical frame 3 (or 3B). To stably receive this reaction force, the more mobile robots 1 (or 1A or 1B) connected in the mobile robot assembly 13, the better, with three or more being preferable. In some cases, it is possible to have the first tail 7 and second tail 8 on only the rearmost mobile robot 1 (or 1A or 1B) in a mobile robot assembly 13 that is connected in a tandem.

[0050] Then, just as in the case where the mobile robot 1 (or 1A or 1B) is a single robot as described above, the first output shaft 41 and the second output shaft 51 rotate, and this rotation causes the bent portion 6a of the link member 6 to rotate repeatedly in the order forward, downward, backward, and upward, causing the mobile robot 1 (or 1A or 1B) to move forward (toward the front).Even if the ground is uneven and there are steps of some magnitude, each mobile robot 1 (or 1A or 1B) of the mobile robot combination 13 can be pulled or pushed by the other mobile robots 1 (or 1A or 1B) and overcome these steps more easily than when the mobile robot 1 (or 1A or 1B) is a single robot, and it is easier to prevent the mobile robot 1 (or 1A or 1B) from running over a protrusion or the like and becoming unable to move.

[0051] Each mobile robot 1 (or 1A or 1B) of the mobile robot assembly 13 rotates independently of the other mobile robots 1 (or 1A or 1B) by repeatedly rotating the bent portion 6a of the link member 6 in the order forward, downward, backward, and upward. Therefore, the mobile robots 1 (or 1A or 1B) may not only be in the same posture as shown in FIG. 15, but also in different postures as shown in FIG. 16. Taking this into consideration, the first connecting member 14 is attached to the first cylindrical frame 2 (or 2B) so that its attachment portion 14a can swing slightly in the circumferential direction of the first cylindrical frame 2 (or 2B) (the direction going around the circumference of a cross section perpendicular to the axial direction) and can swing toward the other end 2b or one end 2a of the first cylindrical frame 2 (or 2B). Similarly, the second connecting member 15 is attached to the second cylindrical frame 3 (or 3B) so that its mounting portion 15a can swing slightly in the circumferential direction of the second cylindrical frame 3 (or 3B) (in the direction going around the circumference of a cross section perpendicular to the axial direction), and so that it can swing toward the other end 3b of the second cylindrical frame 3 (or 3B) or toward one end 3a.

[0052] Furthermore, if the mobile robot series 13 is composed of mobile robots 1B that can operate in wheel mode as well as crawl mode, when the mobile robots 1B are in wheel mode, each mobile robot 1B is pulled or pushed by the other mobile robots 1B, allowing the mobile robot series 13 to move more stably than when each mobile robot 1B operates alone. In wheel mode, it is preferable that all mobile robots 1B in the mobile robot series 13 have the same posture with their bent portions 6a facing forward, as shown in FIG. 15. When switching from crawl mode to wheel mode, there is a possibility that the bent portions 6a of the mobile robots 1B will face backward. However, by individually timing each mobile robot 1B to switch from crawl mode to wheel mode, it is possible to ensure that all mobile robots 1B have the same posture with their bent portions 6a facing forward, as shown in FIG. 15. [Explanation of symbols]

[0053] 1, 1A, 1B Mobile Robot 2, 2B First cylindrical frame 2a One end of the first cylindrical frame 2b Other end of the first cylindrical frame 2c Recess of first cylindrical frame 21 Telescopic portion of first cylindrical frame 22 First cylindrical frame body 23 First cylindrical frame auxiliary part 24 First one-way clutch 3, 3B Second cylindrical frame 3a One end of the second cylindrical frame 3b Other end of second cylindrical frame 3c Recess of second cylindrical frame 31 Telescopic portion of second cylindrical frame 32 Second cylindrical frame body 33 Second cylindrical frame auxiliary part 34 Second one-way clutch 4 First motor section 41 First output shaft 42 First driving body 5 Second motor section 51 Second output shaft 52 Second driving body 6 Link member 6a Bend part 7 First tail (first rotation prevention member) 7a Base end of first tail 7b Tip of the first tail 71 Front of the first tail 72 Rear of the first tail 8 Second tail (second rotation prevention member) 8a Base end of second tail 8b Tip of the second tail 81 Front of second tail 82 Rear of second tail 9 First bevel gear 10 Second bevel gear 11, 12 Cover material 13 Mobile robot combination 14 First connecting member (first rotation preventing member) 14a Mounting portion of first connecting member 15 Second connecting member (second rotation preventing member) 15a Mounting portion of second connecting member A Axis of the first cylindrical frame B Axis of the second cylindrical frame θ: A predetermined angle at the intersection of the axis of the first cylindrical frame and the axis of the second cylindrical frame

Claims

1. A first cylindrical frame; A second cylindrical frame; a first motor unit including a first output shaft and a first drive body for rotating the first output shaft, the first drive body being fixed to the first cylindrical frame; a second motor unit including a second output shaft and a second drive body for rotating the second output shaft, the second drive body being fixed to the second cylindrical frame; a link member having both ends fixed to the first output shaft and the second output shaft and having a bent portion in the center; a first rotation preventing member attached to a side surface of the first cylindrical frame; a second rotation preventing member attached to a side surface of the second cylindrical frame; A mobile robot comprising:

2. A first cylindrical frame; A second cylindrical frame; a first motor unit including a first output shaft and a first drive body for rotating the first output shaft, the first drive body being fixed to the first cylindrical frame; a first bevel gear fixed to the first cylindrical frame; a second bevel gear fixed to the second cylindrical frame and meshing with the first bevel gear; a link member having one end fixed to the first output shaft and the other end rotatably held by a second cylindrical frame, the link member having a bent portion in the center; a first rotation preventing member attached to a side surface of the first cylindrical frame; a second rotation preventing member attached to a side surface of the second cylindrical frame; A mobile robot comprising:

3. 3. The mobile robot according to claim 1, the first cylindrical frame has a first cylindrical frame main body, a first cylindrical frame auxiliary part, and a first one-way clutch, the first cylindrical frame auxiliary part is fitted into a groove formed in the first cylindrical frame main body, and the first one-way clutch is fitted inside the groove, and the first rotation preventing member is connected to the first cylindrical frame auxiliary part, The second cylindrical frame has a second cylindrical frame main body, a second cylindrical frame auxiliary part, and a second one-way clutch, the second cylindrical frame auxiliary part is fitted into a groove formed in the second cylindrical frame main body, and the second one-way clutch is fitted inside the groove, and the second rotation preventing member is connected to the second cylindrical frame auxiliary part.

4. 3. The mobile robot according to claim 1, The mobile robot has recesses in the front portions of the side surfaces of the first cylindrical frame and the second cylindrical frame.

5. 4. The mobile robot according to claim 3, The mobile robot has recesses in the front portions of the side surfaces of the first cylindrical frame and the second cylindrical frame.

6. 3. A mobile robot assembly comprising a plurality of mobile robots according to claim 1 or 2 connected in tandem, the first rotation-preventing member and the second rotation-preventing member connecting the front and rear mobile robots.

7. 4. A mobile robot assembly according to claim 3, wherein a plurality of mobile robots are connected in a tandem, and the first and second rotation preventing members connect the front and rear mobile robots.

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