WHEEL FOR COMPACT TRAVELING ROBOT AND COMPACT TRAVELING ROBOT

摘要

PROBLEM TO BE SOLVED: To improve turning performance by coaxially providing a main wheel formed of magnetic material and an auxiliary wheel formed of soft material so that elastic deformation is made to effectively transmit lateral force. ;SOLUTION: This wheel for a robot coaxially has a main wheel 18 which is a magnet wheel formed of magnetic material and an auxiliary wheel 19 formed of soft material. In this case, two auxiliary wheels 19, 19 are coaxially arranged on both sides of the main wheel 18. In the thus formed wheel, when a wheel 5 as a driving wheel or a wheel 6 as a driven wheel is in contact with an iron plate as the ground, the gravity of a small traveling robot and a magnetic field 20 are applied between the main wheel 18 and the iron plate 14 as magnetic parts of the wheel. By the magnetic attracting force, the auxiliary wheel 19 as the soft material part of the wheel is elastically deformed so that the lateral force 17 is effectively transmitted. Accordingly, the turning performance of the compact traveling robot can be improved.;COPYRIGHT: (C)2000,JPO