To provide a traveling device of a mobile robot capable of ensuring the high-step ride-over performance and the straight traveling when riding over the step even in an auxiliary wheel having a wheel of a small diameter, and ensuring the traveling stability by keeping a ground contact state of a driving wheel even when the auxiliary wheel rides over the step.
In the traveling device of the mobile robot having first driving wheels 2 and second driving wheels 3 on the right and left sides in the advancing direction and first auxiliary wheels 4 and second auxiliary wheels 5 on the front and rear sides in the advancing direction, the first auxiliary wheels 4 and the second auxiliary wheels 5 are connected to a traveling stand 1 via a suspension 18. The first auxiliary wheels 2 and the second auxiliary wheels 3 have a step ride-over slide mechanism 16 which is abutted on a step before wheels 10 for the auxiliary wheels and slide backwardly in the advancing direction with a radius of curvature larger than that of the wheel 10 for the auxiliary wheels, and a turn-locking mechanism 17 for fixing a turning shaft 13 of the first auxiliary wheel 2 or the second auxiliary wheel 3 when riding over the step interlockingly with the sliding operation.
NAKAGAWA SUSUMU
HACHITANI SHUJI
INOUE KIYOSHI
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