災害時でも使用できる建物外壁の検査ロボットシステムと劣化診断方法

―第４報：摩擦低減機構を備えた負圧吸着移動ロボットの振動現象―

抄録

A wall-climbing machine which moves on the vertical wall of the building by the effect of the negative pressure generated by the rotating impeller was investigated. Mechanism to reduce the friction between the seal part and the wall surface have been developed. It was clarified that the machine fell from wall surface by occurring self-excited vibration in some cases. When rotation speed of the impeller becomes high, the pressure inside the machine vibrates and the machine falls. The stronger the force of the spring pressing the seal disk, the higher the revolution speed of the impeller when the machine vibrated and fell.