| 摘要 |
The present invention provides an apparatus for traveling on a closed track on the surface of a wall in which the moving platform can circuit along a rail forming a closed track while being maintained in the same orientation. To this end, a crawling-type moving apparatus is configured with a moving platform 4 moving along a guide rail 2 disposed on a wall surface W provided with supporting units 8A to 8D which can slide on the guide rail, a rotational member provided on the moving platform, to be driven to rotate by a driving mechanism, and a plurality of mating units for generating a driving force by mating with guide faces, which are curved in a cycloidal shape, of driving guides disposed on the wall surface, the mating units being disposed around the rotational member at the same distance from each other. The guide rail 2 includes rails 3A to 3D forming a plurality of closed tracks disposed separated from each other and to be different in phase so as not to contact and intersect each other, the moving platform 4 is provided with the supporting units, each to mate with one of the rails, the supporting units of the moving platform, which mate with the outer rails, circumvent the inner rails, and supporting arms of the supporting units are rotatably mounted on the moving platform.
|
