TRAVELING ROBOT

摘要

A traveling robot is provided to maintain driving force of driving wheels and minimize vibration of the robot on a non-flat surface with steps. A traveling robot(1) comprises a main body frame(10), a first driving unit(30a), a second driving unit(30b), a first interlock hinge unit(70a), and a second interlock hinge unit. The main body frame has a front wheel(20). The first driving unit includes a first driving wheel(40a) operating in a travel direction; a first rear wheel arranged in the rear of the first driving wheel; and a first wheel frame(60a) for supporting the first driving wheel and the first rear wheel. The second driving unit includes a second driving wheel(40b) operating in the travel direction independently from the first driving wheel; a second rear wheel arranged in the rear of the second driving wheel; and a second wheel frame(60b) for supporting the second driving wheel and the second rear wheel. The first interlock hinge unit supports the first wheel frame to the main body frame to have a hinge axis vertical to the travel direction. The second interlock hinge unit supports the second wheel frame to the main body frame independently from the first interlock hinge unit to have a hinge axis in the same direction with that of the first interlock hinge unit.