JPS6436587A - Wall surface walking machine - Google Patents

Wall surface walking machine

Info

Publication number
JPS6436587A
JPS6436587A JP62190334A JP19033487A JPS6436587A JP S6436587 A JPS6436587 A JP S6436587A JP 62190334 A JP62190334 A JP 62190334A JP 19033487 A JP19033487 A JP 19033487A JP S6436587 A JPS6436587 A JP S6436587A
Authority
JP
Japan
Prior art keywords
stroke
suction cup
wall surface
deviation
double acting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP62190334A
Other languages
Japanese (ja)
Inventor
Yoshio Tajima
Yoshihiro Shibagaki
Noboru Murata
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yokohama Rubber Co Ltd
Original Assignee
Yokohama Rubber Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yokohama Rubber Co Ltd filed Critical Yokohama Rubber Co Ltd
Priority to JP62190334A priority Critical patent/JPS6436587A/en
Publication of JPS6436587A publication Critical patent/JPS6436587A/en
Pending legal-status Critical Current

Links

Landscapes

  • Manipulator (AREA)

Abstract

PURPOSE:To stabilize a walking attitude by determining a deviation from the reference value of the stroke of a leg frame operating actuator, and correcting the distance between a machine and a leg frame to be equal to a reference stroke. CONSTITUTION:When a suction cup 4 is lowered so as to be absorbed during walking to the direction shown by an arrow head with the suction cup absorbed, the stroke Lx of a front suction cup 4 until the grounding of a double acting cylinder 30 thereof becomes longer than the stroke 10 of a rear suction cup 4 until the grounding of a double acting cylinder 30 under the state of a wall surface as shown in the figure. Each of these is measured respectively by a position sensor 33 so as to determine a deviation 1x-10. Then, the double acting cylinder 30 (a cylinder for a front side leg frame 2 in this case) is operated in such a way that the aforesaid deviation is eliminated. This constitution may hold the machine in parallel with the wall surface, thereby enabling it to walk in a stable attitude.
JP62190334A 1987-07-31 1987-07-31 Wall surface walking machine Pending JPS6436587A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62190334A JPS6436587A (en) 1987-07-31 1987-07-31 Wall surface walking machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62190334A JPS6436587A (en) 1987-07-31 1987-07-31 Wall surface walking machine

Publications (1)

Publication Number Publication Date
JPS6436587A true JPS6436587A (en) 1989-02-07

Family

ID=16256462

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62190334A Pending JPS6436587A (en) 1987-07-31 1987-07-31 Wall surface walking machine

Country Status (1)

Country Link
JP (1) JPS6436587A (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5351773A (en) * 1992-12-01 1994-10-04 Ken Yanagisawa Walking robot
US5351626A (en) * 1991-11-11 1994-10-04 Ken Yanagisawa Walking robot
US5468099A (en) * 1993-08-11 1995-11-21 Vought Aircraft Company Seam tracking drilling machine
US5839532A (en) * 1995-03-22 1998-11-24 Honda Giken Kogyo Kabushiki Kaisha Vacuum wall walking apparatus
US6561785B1 (en) 1999-10-25 2003-05-13 Kabushiki Kaisha Meiki Seisakusho Mold clamping apparatus having ballscrew directly connected to rotor of servo motor
CN102107371A (en) * 2010-12-07 2011-06-29 中国商用飞机有限责任公司 Walking and positioning device for walking and positioning on workpiece
WO2012012034A2 (en) 2010-07-19 2012-01-26 The Boeing Company Electromagnetic crawler assembly system
CN108622224A (en) * 2018-04-29 2018-10-09 刘禄军 A kind of metope crawling device
CN110341827A (en) * 2019-07-22 2019-10-18 上海神谷电子科技有限公司 Dropproof Climbing Robot and its traveling method
DE112016002749B4 (en) 2015-06-18 2021-12-23 Denso Corporation ELECTRIC ACTUATOR
CN116513332B (en) * 2023-03-17 2024-01-05 广西南宁西格汇居电子科技有限公司 Wall climbing robot framework structure and walking control method

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5351626A (en) * 1991-11-11 1994-10-04 Ken Yanagisawa Walking robot
US5351773A (en) * 1992-12-01 1994-10-04 Ken Yanagisawa Walking robot
US5468099A (en) * 1993-08-11 1995-11-21 Vought Aircraft Company Seam tracking drilling machine
US5839532A (en) * 1995-03-22 1998-11-24 Honda Giken Kogyo Kabushiki Kaisha Vacuum wall walking apparatus
US6561785B1 (en) 1999-10-25 2003-05-13 Kabushiki Kaisha Meiki Seisakusho Mold clamping apparatus having ballscrew directly connected to rotor of servo motor
JP2013535366A (en) * 2010-07-19 2013-09-12 ザ・ボーイング・カンパニー Electromagnet and / or vacuum crawler assembly system for moving and securing work tools on an arcuate surface such as an aircraft fuselage
WO2012012034A2 (en) 2010-07-19 2012-01-26 The Boeing Company Electromagnetic crawler assembly system
WO2012012034A3 (en) * 2010-07-19 2012-05-24 The Boeing Company Electromagnetic and/or vacuum crawler assembly system for moving and fixing a working tools on arcuate surface like a fuselage of an airplane
US8695190B2 (en) 2010-07-19 2014-04-15 The Boeing Company Electromagnetic crawler assembly system
EP2595862B1 (en) * 2010-07-19 2019-12-11 The Boeing Company Electromagnetic and/or vacuum crawler assembly system for moving and fixing a working tools on arcuate surface like a fuselage of an airplane
CN102107371A (en) * 2010-12-07 2011-06-29 中国商用飞机有限责任公司 Walking and positioning device for walking and positioning on workpiece
DE112016002749B4 (en) 2015-06-18 2021-12-23 Denso Corporation ELECTRIC ACTUATOR
CN108622224A (en) * 2018-04-29 2018-10-09 刘禄军 A kind of metope crawling device
CN110341827A (en) * 2019-07-22 2019-10-18 上海神谷电子科技有限公司 Dropproof Climbing Robot and its traveling method
CN110341827B (en) * 2019-07-22 2022-03-29 上海神谷电子科技有限公司 Anti-falling wall climbing robot and walking method thereof
CN116513332B (en) * 2023-03-17 2024-01-05 广西南宁西格汇居电子科技有限公司 Wall climbing robot framework structure and walking control method

Similar Documents

Publication Publication Date Title
DE58909049D1 (en) Adjustable ski boot.
JPS5385454A (en) Distance detecting method
JPS5360410A (en) Combustion chamber
IE41082B1 (en) A part for an expandable fastener
JPS5291317A (en) Deflection device for in-line type color crt
JPS6436586A (en) Wall surface walking machine
JPS53132617A (en) Electronic type fuel supplying system
JPS6413911A (en) Rolling equipment of combine
Gürsel Metrology for spatial interferometry
JPS53133371A (en) Lead frame of plastic package for integrated circuit
JPS52155486A (en) Profile device for cutting end surface of tube
IT7921970A0 (en) PROCEDURE FOR INCORPORATING BY INJECTION A METALLIC BODY, ESPECIALLY A HOLLOW BODY, INTO A BODY OF ARTIFICIAL MATERIAL.
JPS53104543A (en) Detector for copying welder
JPS6437208A (en) Method for controlling travel direction of agricultural working machine or the like
JPS57187414A (en) Measuring device for penetration of shoe block
JPS5569031A (en) Construction of detection bar in drawing load detector for agricultural working machine
IE782565L (en) Imidazole derivatives
JPS6427822A (en) Substrate position correcting method
JPS5332580A (en) Apparatus for supporting roller
JPS56157930A (en) Surface board positioning
JPS533239A (en) Cleaning process
JPS536783A (en) Process for correcting accuracy in positioning in numerical control machine tool
JPS52141063A (en) Sucking member for vacuum cleaner
JPS52143680A (en) Cooperation control device for bucket elevator type unloader
JPS5244058A (en) Suction accessory for vacuum cleaner