JPS6436587A - Wall surface walking machine - Google Patents
Wall surface walking machineInfo
- 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
Links
- 101150038956 cup-4 gene Proteins 0.000 abstract 3
- 235000013290 Sagittaria latifolia Nutrition 0.000 abstract 1
- 235000015246 common arrowhead Nutrition 0.000 abstract 1
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.
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)
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 |
-
1987
- 1987-07-31 JP JP62190334A patent/JPS6436587A/en active Pending
Cited By (16)
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 |
---|---|---|
JPS6436587A (en) | Wall surface walking machine | |
DE58909049D1 (en) | Adjustable ski boot. | |
JPS5385454A (en) | Distance detecting method | |
EP0852902A3 (en) | An implement for spreading material | |
JPS5317034A (en) | Image sensor output correcting system | |
JPS5360410A (en) | Combustion chamber | |
IE41082B1 (en) | A part for an expandable fastener | |
JPS5410825A (en) | Prefiring preventing arrangement for two cycle engine | |
JPS53114134A (en) | All direction moving vehicle | |
JPS53132617A (en) | Electronic type fuel supplying system | |
JPS6413911A (en) | Rolling equipment of combine | |
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. | |
Gürsel | Metrology for spatial interferometry | |
JPS5421658A (en) | Two-dimensional refrigerating cycle | |
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 | |
JPS5661241A (en) | Centering device for blank | |
JPS6427822A (en) | Substrate position correcting method | |
JPS5682716A (en) | Parts feeder | |
JPS56157930A (en) | Surface board positioning | |
JPS536783A (en) | Process for correcting accuracy in positioning in numerical control machine tool |