| 摘要 |
PURPOSE: To improve operability and enlarge a range of operations by equipping four fitted with negative pressure suckers via a telescopic means of the legs, a releasing means of the suckers for releasing the suckers from a wall surfce, and an open and close means of the legs for adjusting the distance between the suckers. CONSTITUTION: At the first stage, cylinders 20 to 23 fro telescopic motions of the first to the fourth legs and the cylinders 61 and 62 for open and close motions of the first and second legs are set in elongated state, while the first to the fifth suckers 24 to 27 and 32 are set in sucking state by cylinders for sucking and releasing. According to the order to travel upward, the first and the fourth suckers 24 and 27 are set in released state, and the cylinders 20 and 23 for telescopic motions of the first and fourth legs as well as the cylinders 61 and 62 for open and close motions of the first and the fourth legs are set in contracted state, respectively. Then, the first and the fourth suckers 24 and 27 are set in sucking state, the fifth sucker 32 is set in released state, and the cylinders 20 and 23 for telescopic motions of the first and the fourth legs are set in elongated state. Thereafter, the fifth sucker 32 is set in sucking state, the second and the third suckers 25 and 26 are set in released state, and the cylinders 21 and 22 for telescopic motions of the second and the third legs as well as the cylinders 61 and 62 for open and close motions of the first and second legs are set in elongated state, and then the second and the third suckers 25 and 26 are set in sucking state. In this state cleaning is carried out according to the order thereto. |
