| 摘要 |
[Problem] A wall-surface travelling robot which adheres to and travels on a vertical wall-surface can attach to/detach from the wall-surface when travelling due to a frame and the wall-surface not remaining parallel as a result of the rotational moment caused by the weight of the robot. [Solution] A wall-surface travelling robot which adheres to and travels on a vertical wall-surface is provided with: an expanding and contracting adhesion pad mechanism (3) in which an adhesion pad (3-3) for attaching to and detaching from a non-adhesive wall surface moves in parallel to the wall surface and in the vertical direction of the wall surface, and which expands and contracts in the direction of the wall; and a rotational moment offsetting mechanism (4) for providing a biasing force, in the reverse direction relative to the wall-surface, on a lower end part frame (2-1-2) in a frame (2). |
