PROBLEM TO BE SOLVED: To provide a wall surface travel device capable of being suppressed from slipping from a wall surface without comprising a curvature detection sensor even when the wall surface abruptly changes in curvature.SOLUTION: A wall surface travel device comprises: two suction parts (11a, 11b) which form suction spaces with a wall surface (3); a pressure sensor which measures pressure in the suction spaces of the suction parts (11a, 11b); travel rings (13a, 13b) which are provided closely to the respective suction parts (11a, 11b) to be in contact with the wall surface (3); and a control part (17a) which performs control to drive the travel ring (13b) close to the suction part (11b) to travel when measured pressure of one suction part (11b) becomes higher than set pressure.SELECTED DRAWING: Figure 1

    【課題】壁面の曲率が急激に変化する場合においても、曲率検知センサを備えることなく、壁面からの滑落を抑制し得る壁面走行装置を提供する。【解決手段】壁面(3)との間に吸着空間を形成する少なくとも2つの吸着部(11a・11b)と、各吸着部(11a・11b)の吸着空間の圧力を計測する圧力センサと、壁面(3)に接触可能に、各吸着部(11a・11b)に近接してそれぞれ設けられた走行リング(13a・13b)と、一方の吸着部(11b)の計測した圧力が設定圧力よりも高くなった場合に、吸着部(11b)に近接する走行リング(13b)を走行駆動させるように制御する制御部(17a)とが備えられている。【選択図】図1


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    Title :

    WALL SURFACE TRAVEL DEVICE


    Additional title:

    壁面走行装置


    Contributors:

    Publication date :

    2016-12-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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