SELF-TRAVELING ROBOT DEVICE WITH NEGATIVE PRESSURE SUCTION

To provide a robot device capable of traveling either in a Y direction and in an X direction while adhered to an object surface by negative pressure suction.SOLUTION: A robot device comprises: four suction discs; a Y-axis actuator; and an X-axis actuator. A plane surface shape of the suction disc is a shape configured from one quadrangle divided by four into four same shaped quadrangles, and the shape comprising two right angle portions in diagonal portions. One right angle of the two right angle portions constitutes one right angle of the four right angles of the quadrangles. Two sides constituting one of right angles of the suction discs overlap with two sides constituting the one of right angles of the quadrangle. Furthermore, one of the two sides constituting the other one of right angles of the suction discs intersects at an acute angle with one of the two sides constituting the one of right angles of the quadrangle, while the other ones of the respective sides intersect at an obtuse angle with each other.SELECTED DRAWING: Figure 10 【課題】物体表面に負圧吸着しＹ軸方向とＸ軸方向のどちらへも自走することが可能なロボット装置を提供する。【解決手段】ロボット装置は４個の吸盤ユニットとＹ軸アクチュエータとＸ軸アクチュエータを具備しており、吸盤の平面形状は１個の正方形を同一形状の４個の四角形に４分割した形状を成し、又対角部分に２個の直角部分を備えた四角形を成し、又２個の直角部分のうちの１個の直角は正方形の４個の直角のうちの１個の直角を構成し、又吸盤の直角を構成する２つの辺は正方形の直角を構成する２つの辺と重なり、又吸盤のもう１つの直角を構成する２つの辺は、正方形の直角を構成する２つの辺と、一方の辺どうしは鋭角に他方の辺どうしは鈍角に交差している。【選択図】図１０