Inspection Robot System and Deterioration Estimation of Building Wall That Can Be Applied Even in Disaster

- Part2, Method Decreasing Frictional Force for a Wall-Climbing Machine Using the Vacuum Pressure Induced by a Blower Impeller -

Abstract

A wall-climbing machine was studied in order to reduce the friction between a seal and a wall surface. A vacuum contact mechanism was used by climbing machine in which the negative pressure was generated by the blower impeller. Even if the outer side wall, which connects to the seal from the outer wall of a climbing machine to maintain negative pressure, was made by the flexible bellows, energy loss due to the friction between the seal and the wall occurred because of the need to press the seal against the wall. To further reduce the friction, the authors contrived sealing mechanism, which used negative pressure in the machine, and the effect of the mechanism was investigated experimentally in this report.