PURPOSE: To prevent occurence of inconvenience of breakage, twisting, etc., of a hose for vacuum generation by regulating unrequired motion, especially motion in the slewing direction while securing a required following-up property of a suction cup against a sucking surface in a vacuum suction cup device used as a support means of a mobile robot.

CONSTITUTION: A bar 25 is projectively provided on the side of a support leg 1 from one side of a suction cup, an engagement frame 26 is projectively provided on the side of the support leg 1, and the engagement frame 26 engages the aforementioned bar 25 with a play with it free to move in the advancing and retreating direction against the support leg 1 in a vacuum suction cup device constituted by connecting a suction cup 3 to the support leg 1 through a spherical surface fitting mechanism 7 free to move in all directions.