| 摘要 |
PURPOSE:To correct the posture change of a machine body by extending the leg by the attraction portion of the machine body to the joint-surface side through the deformation of adsorbing panels accompanied by adsorption. CONSTITUTION:An outside leg 2 is equipped with a slidable body 21 which slides on a slidable guide lever 13 on a machine body 1, and leg frames 25 which can be extended and contracted by a driving mechanism B are installed onto the right and left sides of the slidable body 21. Adsorbing panels 26 and 27 are installed at the front and rear parts of the leg frame 25 through the horizontal driving mechanisms Cf1 and Cr1 by the respective spherical joints 28. While, also an inside leg 3 has the same mechanism to the outside leg 2. When the release of the negative pressure is detected by a negative-pressure sensor installed onto the adsorbing panel, driving signals are sent into the driving mechanisms Bf1 and Br1 and the driving mechanisms Bf2 and Br2, and the posture of the machine body is corrected and the leg for which the adsorption is released can be shortened. |
