| 摘要 |
PROBLEM TO BE SOLVED: To surely prevent falling of a two-wheel travelling robot.SOLUTION: A two-wheel traveling robot 10 includes: a travelling body 11; a pair of wheels 60, 61 rotatably supported to the travelling body 11; driving motors 62, 63 that drive the pair of wheels 60, 61 to rotate; a tilt detection device 66 for detecting a tilt of the travelling body 11; and a control unit 69 for controlling a driving of the driving motors. The travelling body 11 includes: a suspended bar 30 rotatably provided about an axis line in parallel with the pair of wheels 60, 61; a locking mechanism 40 that restrains and releases a rotation of the suspended bar 30 with respect to the travelling body 11; and a transmission mechanism 35 for generating an axial movement of a part of the suspended bar 30 when the suspended bar 30 is in contact with a floor surface, and transmitting the axial movement to the locking mechanism 40. When the suspended bar 30 is in contact with the floor surface, the axial movement is transmitted to the locking mechanism 40 via the transmission mechanism 35, and the rotation of the suspended bar 30 is restricted by the locking mechanism 40.SELECTED DRAWING: Figure 1 |
