| 摘要 |
PURPOSE:To aim at stable movement by vibrating the part, coming in contact with the surface of an object, of a suction seal in the case of getting the suction seal sucked to the surface of an object utilizing fluid pressure difference between the inside and outside of a decompression space to move the device main body along the surface of the object. CONSTITUTION:When a vacuum growing means is actuated, a fluid such as atmospheric air in a decompression space 02 is discharged from a suction hose 26, so that the pressure in the decompression space 02 is reduced. According to the fluid pressure difference between the inside and outside of the decompression space 02, a device main body is sucked to the wall surface 01 through a suction seal 23. When an air cylinder 601 is actuated, a vibrating plate 603 is vibrated in association with the advance/retreat of the air cylinder 601, so that the suction seal 23 is vibrated through the fluid in the decompression space 02. At this time, with the vibration of the suction seal 23, frictional force to the wall surface 01 becomes dynamic frictional force, and the frictional force becomes smaller compared to static frictional force in the non- vibrating case. The device main body thereby acquires larger driving force so as to move smoothly and stably along the wall surface 01. |
