PROBLEM TO BE SOLVED: To solve the problems of a cylinder lifting robot having an arm mechanism that moves upper and lower active wheels in the direction of the cylinder center and in the opposite direction, regarding the posture adjustment of the column elevator that lifts up and down using its own weight with respect to a cylindrical pillar having a narrowness (its outer diameter changes).SOLUTION: The present invention is characterized in that the upper and lower active wheels are provided with a speed difference corresponding to the attitude angle so as to move, and the attitude change is caused thereby, and at the same time the upper and lower arms are driven.SELECTED DRAWING: Figure 4COPYRIGHT: (C)2019,JPO&INPIT【課題】細りのある(外径が変化する)円筒形状の柱に対して、自重を利用して昇降する柱体昇降機の姿勢調整に関して、上下の能動車輪を円筒中心方向・反方向に移動させるアーム機構を有する円筒昇降ロボットは、不静定問題が生じうる。【解決手段】上下の能動車輪に姿勢角度に応じた速度差を設けて動かし、これによる姿勢変化を生じさせ、同時に上下のアーム駆動を行うことを特徴とする。【選択図】図4
