To provide a legged mobile work device which easily ensures the stability of the posture of a work machine during climbing up/down steps.
The legged mobile work device 1 has six leg bodies 4fR, 4fL, 4mR, 4mL, 4rR, 4rL which are extended from both right and left sides of a base body 3 on which the work machine 2 is loaded, so that the three leg bodies are longitudinally arranged in two rows on both the sides. An end of each leg body 4 close to the base body 3 is rotatable about two axes in vertical and lateral directions, and an intermediate portion is expandable about the lateral axis. Further, actuators 11, 12, 13 for activating each leg body 4 are provided for each leg body 4. When the work device climbs up/down the steps, while the two leg bodies 4 on each side, i.e. the four leg bodies 4, are kept grounded, the remaining two leg bodies 4 are put on a stepped surface in a traveling frontward direction as swing legs, and by repeatedly carrying out this motion, the legged mobile work device 1 climbs up/down the steps.
| WO/2021/039829 | PRODUCTION SYSTEM |
| WO/2018/081725 | MOVABLE BASE FOR A ROBOTIC SYSTEM |
| WO/2023/218835 | SELF-PROPELLED WORK ROBOT |
KINUKAWA HIDEKI
MORIKAWA MASARU
KOBELCO CONSTR MACHINERY LTD
| JPS6389275A | 1988-04-20 | |||
| JPH023577A | 1990-01-09 | |||
| JP2006255816A | 2006-09-28 | |||
| JPS6243371A | 1987-02-25 |
Susumu Hori
Takeshi Sagi
Kenichi Homma
Tsuyoshi Kagaya
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