| 摘要 |
PURPOSE:To facilitate passing over an obstacle and other similar operations by a method wherein driving wheels are attached to a vehicle through stretchable legs and the stretching amounts of the legs are regulated, in a vehicle traveling through passage where obstacles, stairs or the like are present. CONSTITUTION:Five strethcable legs 12 fitted with the driving wheels 13 are placed at positions corresponding to the apexes of a pentagon, and a main body 1 is supported by the legs 12. The legs 12 are so constructed as to transmit the rotation of a motor 37 to a nut 34 through gears 36, 35. The nut 34 is placed in a housing 39, which is fstened to the main body 40 by bolts through a bush 38. When passing over an obstacle, for example, first the legs 1, 3, 4 are simultaneously brought into contact with the obstacle, then the leg 1 is lifted and brought onto the obstacle, and other leg 4 is lifted. After causing the leg 4 to make a step, it is lowered to make an advance. Similarly, the legs 3, 4 are sequentially lifted and caused to make a step, whereby the main body 40 can be mounted on the obstacle. A descending motion is performed by actions reverse to the above. |
