Wall surface walking machine

Abstract

Abstract PURPOSE:To stabilize a walking attitude by determining a deviation from the reference value of the stroke of a leg frame operating actuator, and correcting the distance between a machine and a leg frame to be equal to a reference stroke. CONSTITUTION:When a suction cup 4 is lowered so as to be absorbed during walking to the direction shown by an arrow head with the suction cup absorbed, the stroke Lx of a front suction cup 4 until the grounding of a double acting cylinder 30 thereof becomes longer than the stroke 10 of a rear suction cup 4 until the grounding of a double acting cylinder 30 under the state of a wall surface as shown in the figure. Each of these is measured respectively by a position sensor 33 so as to determine a deviation 1x-10. Then, the double acting cylinder 30 (a cylinder for a front side leg frame 2 in this case) is operated in such a way that the aforesaid deviation is eliminated. This constitution may hold the machine in parallel with the wall surface, thereby enabling it to walk in a stable attitude.

Inventors

• 👤 Yoshio Tajima
• 👤 Yoshihiro Shibagaki
• 👤 Noboru Murata

Bibliographic Details