| 摘要 |
PROBLEM TO BE SOLVED: To conduct work in close contact with a wall face by providing a robot body having sheaves wound with a string, and arranging the sheaves at positions farther from the wall face than the suspension line of the sling. SOLUTION: This wall face work robot 10 is provided with erect frames 13, 14 on a base frame 11 fitted with travel wheels 12 traveled in contact with the wall face 61 of a building 60. The erect frame 3 is provided with sheaves 16, 17, 18, 19 wound with a string 30 on branches 15, 15a protruded on the side face. The sheave 17 applied with rotating force by a drive motor 21 retracts or delivers the string 30 to lift or lower the robot 10 itself on the wall face 61. The sheave 18 is provided at a position farther from the wall face 61 than the string 30, and it generates the thrust pressing the wall face work robot 10 to the wall face 61 via the tension of the wound string 30. A sheave 23 is fitted at the farthest position from the wall face 61 on the erect frame 14, and a tension rope 40 is wound on it.
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