| 摘要 |
PURPOSE:To enable a walking machine on a wall to move in a stably adsorbed condition on an object wall surface by preventing an air flow from the suction cup of one leg to that of the other when the former suction cup is connected to a vacuum source. CONSTITUTION:Suction cups 15 and 25 provided on the tips of a pair of legs are connected to a common vacuum source 30 via changeover valves 17 and 27. An accumulator 31 is connected between the changeover valves 17 and 27 and a vacuum pump at a position near said valves 17 and 27. The accumulator, when the suction cups 15 and 25 are connected to the vacuum source 30 in the final stage of the advance motion of each leg, prevents an air flow as much as possible from the suction cup of the moving leg to that of another leg already adsorbing on the wall surface, and absorbs the air into the accumulator 31, thereby preventing a loss in adsorption force. |
