| 摘要 |
PURPOSE:To devise a uniaxial oscillating coupling means to travel on a travelling surface having a curved surface at an stable position by furnishing the uniaxial oscillating coupling means with an oscillating horizontal shaft having an oscillating surface practically orthogonal with an oscillating surface of each oscillating horizontal shaft of a biaxial oscillating coupling means as well as practically orthogonal with the travelling surface. CONSTITUTION:A relative angle of a main frame 4 and each oscillating frame 6 is changed on a surface of a biaxial oscillating coupling means 34 orthogonal with an oscillating horizontal shaft 40, and also the relative angle of the main frame 4 and each oscillating frame 6 is changed on the surface orthogonal with an oscillating vertical shaft. The relative angle of the main frame 4 and each oscillating frame 6 on the surface orthogonal with the oscillating vertical shaft 38 becomes less than 90 degrees. Additionally at this time, a distance between the central part of a connecting frame 8 and the oscillating horizontal shaft 40 of the biaxial oscillating coupling means 34 on the surface orthogonal with the oscillating vertical shaft 38 of the biaxial oscillating coupling means 34 is also reduced. Consequently, the central part of the connecting frame 8 moves to slide in the direction approaching the main frame 4 on an oscillating horizontal shaft 36 of a uniaxial oscillating coupling means 30. |
