| 摘要 |
PROBLEM TO BE SOLVED: To provide a mobile robot small enough to be movable in a narrow part or a pipe inhibiting a person from passing and freely moving at an irregular ground and stairs, etc. SOLUTION: This robot is provided with a telescopic arm device 30 having a main body 12, right and left traveling wheels 20 and a telescopic arm 32. Each of the traveling wheels 20 is provided with a worm gear 22 to be rotated and driven by a motor 14 for traveling, a housing 24, a plurality of worm wheel rings 26 to be thin ring-shaped members having elasticity, and a clutch 28 for exclusively connecting the housing 24, the worm gear 22 or a main body. The housing 24 and the worm gear 22 are connected by the clutch 28, and the whole of the traveling wheels 20 are rotated and driven to be moved in a direction intersecting a rotary shaft. By switching the clutch 28, the housing 24 and the main body are connected, and a radial direction inside part of the worm wheel ring 26 is driven in an axis direction to be moved in the axis direction of the rotary shaft. COPYRIGHT: (C)2008,JPO&INPIT
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