PROBLEM TO BE SOLVED: To provide a self-propelled inspection robot capable of securely suctioning and sliding on a wall surface including one with a large step owing to separation in configuration between an inspection device and suction pads, as well as allowing, even when some of the suction pads becomes operationally defective, the self-propelled inspection robot to suction a wall surface w so as to travel, with suction force of remaining suction pads.SOLUTION: A self-propelled inspection robot comprises: inspection devices s for inspecting a wall surface w and the inside thereof; a device body 4 encasing the work devices for working on the wall surface w; multiple suction pads 2 each traveling driven by a travel mechanism 3 while making a chamber 5 suctioning the wall surface w with the inside thereof being in a negative pressure state; and movable arms 6, which are attached to the device body 4 around thereof, and each pair of which movably holds each of the suction pads 2. The self-propelled inspection robot can travel on a flat wall surface using the suction pads 2 suctioning and sliding on the wall surface, as well as move positions of the suction pads 2 using the movable arms 6 when attaching to the wall surface w having a step.SELECTED DRAWING: Figure 2
【課題】点検装置と吸着盤を別構成にすることで、大きな段差がある壁面であっても安全に吸引滑動させることができ、一部の吸着盤が動作不良になったときでも残りの吸着盤の吸引力で自走点検ロボットを壁面wに吸着維持させ、走行させる。【解決手段】壁面wとその内部を点検する点検装置s、壁面wで作業する作業装置を収納した装置本体4と、チャンバー5内を負圧状態にしながら壁面wに吸着させつつ、走行機構3により走行する複数の吸着盤2と、装置本体4の周囲に取り付けられた、吸着盤2を可動保持する可動アーム6と、を備え、吸着盤2により平坦な壁面では吸引滑動させながら走行させ、段差がある壁面wでは可動アーム6により吸着盤2の位置を可変させ得る。【選択図】図2
SUCTION-SLIDE-TYPE SELF-PROPELLED INSPECTION ROBOT
吸引滑動型自走点検ロボット
2018-05-10
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
SUCTION DISK FOR SUCTION SLIDING TYPE MOBILE INSPECTION ROBOT
European Patent Office | 2018
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