JPS6451281A - Wall surface follower of walking type robot - Google Patents

Wall surface follower of walking type robot

Info

Publication number
JPS6451281A
JPS6451281A JP20635487A JP20635487A JPS6451281A JP S6451281 A JPS6451281 A JP S6451281A JP 20635487 A JP20635487 A JP 20635487A JP 20635487 A JP20635487 A JP 20635487A JP S6451281 A JPS6451281 A JP S6451281A
Authority
JP
Japan
Prior art keywords
frame
center
wall surface
along
detached
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP20635487A
Other languages
Japanese (ja)
Other versions
JP2539448B2 (en
Inventor
Shinji Sonoda
Masayuki Watabiki
Yoshishige Iobe
Chikara Sato
Kiyoshi Sakamoto
Munenori Tsuge
Akitaka Fujita
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Tokyo Gas Co Ltd
Original Assignee
Hitachi Ltd
Tokyo Gas Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd, Tokyo Gas Co Ltd filed Critical Hitachi Ltd
Priority to JP62206354A priority Critical patent/JP2539448B2/en
Publication of JPS6451281A publication Critical patent/JPS6451281A/en
Application granted granted Critical
Publication of JP2539448B2 publication Critical patent/JP2539448B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Landscapes

  • Manipulator (AREA)

Abstract

PURPOSE: To stably travel a frame along a wall surface by providing a slidable guide element to one frame along an arc guide which is provided in the other frame and by constituting the frame center faced to the center of the curved wall surface. CONSTITUTION: An adsorption element 13 of one frame 1 is adsorbed to a sphere of a prescribed curvature or an R surface 16 and the absorption element 13 of the other frame 2 is detached from the surface 16. An actuator 12 is driven in this state, the frame 2 detached from the absorption element is moved by the relative movement of the drive mechanism 3 of one frame and the drive support part 5 of the other frame. This operation is repeated in the each frame alternately so that the frames 1, 2 are traveled and moved along the surface 16. In this case, though the frame 2 becomes to be inclined to the frame 1, it is followedly rotated by the free rotation of a pin 9 and a roller guide element 10 of the frame 2 is moved along the arc guide 4 of the frame 1. As a result, the center of the frame can be held in such a state as being faced to the center of the curvature of the surface 6 at all times.
JP62206354A 1987-08-21 1987-08-21 Wall-following device for walking robot Expired - Lifetime JP2539448B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62206354A JP2539448B2 (en) 1987-08-21 1987-08-21 Wall-following device for walking robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62206354A JP2539448B2 (en) 1987-08-21 1987-08-21 Wall-following device for walking robot

Publications (2)

Publication Number Publication Date
JPS6451281A true JPS6451281A (en) 1989-02-27
JP2539448B2 JP2539448B2 (en) 1996-10-02

Family

ID=16521926

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62206354A Expired - Lifetime JP2539448B2 (en) 1987-08-21 1987-08-21 Wall-following device for walking robot

Country Status (1)

Country Link
JP (1) JP2539448B2 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0486106U (en) * 1990-11-30 1992-07-27
JPH05169347A (en) * 1991-12-20 1993-07-09 Honda Motor Co Ltd Tool setting trouble procedure of numerical control system

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61200069A (en) * 1985-03-01 1986-09-04 Tokyo Gas Co Ltd Walking type wall surface moving device
JPS61211175A (en) * 1985-03-15 1986-09-19 Tokyo Gas Co Ltd Vacuum adsorption wall face moving apparatus

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61200069A (en) * 1985-03-01 1986-09-04 Tokyo Gas Co Ltd Walking type wall surface moving device
JPS61211175A (en) * 1985-03-15 1986-09-19 Tokyo Gas Co Ltd Vacuum adsorption wall face moving apparatus

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0486106U (en) * 1990-11-30 1992-07-27
JPH05169347A (en) * 1991-12-20 1993-07-09 Honda Motor Co Ltd Tool setting trouble procedure of numerical control system

Also Published As

Publication number Publication date
JP2539448B2 (en) 1996-10-02

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