| 摘要 |
PROBLEM TO BE SOLVED: To provide a moving robot with a simple mechanism so as to realize a low cost, which retains a posture easily even on the inclined floor, free from dirt and damage on the outside surface even if it is used for a long period of time, and optimum for domestic use. SOLUTION: A moving robot comprising a main body unit 20 and three wheel units 40a to 40c having grounding parts 6a to 6c in contact with a floor surface 8, and rotary shafts 3a, 3b, and 3c are constituted so that projection lines of the rotary shafts 3a to 3c on the floor surface 8 make an approximately equal angle, respectively so that all of the rotary shafts 3a to 3c are not included in the same plane. The wheel units 40a to 40c comprise a first motor and a rotation transfer part for transferring the rotation, and a rotatable case having the grounding parts 6a to 6c, so that the first motor and the case are connected by the rotation transfer part. Moreover, the wheel units 40a to 40c are provided with expandable leg sections 9a to 9c driven by a second motor. COPYRIGHT: (C)2004,JPO&NCIPI
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