Patent ID: 6011455
Filing Date: 2000-01-04
Classification: B25J,B62D

Abstract:
A wall surface attraction type moving apparatus comprising:moving body which moves on a wall surface made of a magnetic substance;wheels which are supported by said moving body and including a front wheel and a rear wheel;a plurality of attraction mechanisms which are carried by the moving body; anda controller for controlling the attraction mechanism;each of said attraction mechanisms including a permanent magnet carried by the moving body, and spaced from said wall surface, a drive mechanism for advancing the permanent magnet toward or retracting the permanent magnet away from the wall surface, and an attraction force sensor for detecting an attraction force of the permanent magnet acting on the wall surface;said permanent magnets being longitudinally spaced from each other with respect to the running direction of said moving body;said controller being operable to control the drive mechanisms in the attraction mechanisms to obtain an optimal wall surface attraction force which attracts the moving body toward the wall surface by the total sum of wall surface attraction forces of the permanent magnets in the attraction mechanisms in accordance with the detection information from said attraction force sensors.