JP2003062771A5 - - Google Patents

Claims (4)

The measuring device is mounted, the inspection robot device moves in one direction while adsorbed on the wall surface of the object performing the inspection of the subject, sliding that is stretched and the outer frame, between the legs of the outer frame A guide, an inner frame disposed between the legs of the outer frame and guided by the sliding guide, and a pair of outer drive legs provided on the legs of the outer frame so as to be vertically extendable. A pair of inner drive legs provided on the inner frame so as to be extendable in the vertical direction, a plurality of suction pads respectively provided at the lower ends of the pair of outer drive legs and the pair of inner drive legs, A vacuum generating device that is provided for each suction pad and vacuum-adsorbs the suction pad to the subject wall surface, and is attached to the outer frame. A cylinder that moves one of the side frame and the inner frame that is not adsorbed to the subject wall in one direction relative to the other that is adsorbed to the subject wall, and the subject attached to the outer frame An inspection robot apparatus comprising: a curved surface sensor that detects a curved surface of a wall surface; and a control device that adjusts an extension amount of the outer driving leg on the front side in the movement direction when the curved surface sensor detects a curved surface. The measuring device is mounted, the inspection robot device moves in one direction while adsorbed on the wall surface of the object performing the inspection of the subject, sliding that is stretched and the outer frame, between the legs of the outer frame A guide is provided between the legs of the outer frame and is provided on the inner frame that is guided by the sliding guide and moves. The legs of the outer frame are provided so as to be vertically extendable and extend by a predetermined distance. A pair of outer drive legs that can be adjusted in multiple stages, a pair of inner drive legs that are provided on the inner frame so as to be vertically expandable and contractable, and that can be adjusted by one step at a predetermined distance, and the pair of outer drive legs and a pair of outer drive legs A plurality of suction pads respectively provided at the lower end of the inner drive leg, and a vacuum provided for each of the suction pads, wherein the suction pads are placed in a vacuum state and are sucked onto the subject wall surface. A living device and a reciprocating piston that is attached to the outer frame, and one of the outer frame and the inner frame that is not adsorbed to the subject wall is relatively to the other that is adsorbed to the subject wall. A plurality of stages including a cylinder that moves in one direction, a curved surface sensor that is attached to the outer frame and detects a curved surface of the subject wall surface, and the outer driving leg on the front side in the moving direction extends when the curved surface sensor detects a curved surface. And a personal computer that adjusts the amount of extension by adjusting the amount of expansion. The measuring device is mounted, the inspection robot device moves in one direction while adsorbed on the wall surface of the object performing the inspection of the subject, sliding that is stretched and the outer frame, between the legs of the outer frame A shaft and an inner frame disposed between both legs of the outer frame and guided and moved by the sliding shaft, and both legs of the outer frame are provided so as to be vertically extendable and extend by a predetermined distance. A pair of outer drive legs that can be adjusted in multiple stages, a pair of inner drive legs that are provided on the inner frame so as to be vertically expandable and contractable, and that can be adjusted by one step at a predetermined distance, and the pair of outer drive legs and a pair of outer drive legs A plurality of suction pads respectively provided at the lower end of the inner drive leg, and a vacuum generator provided for each of the suction pads and sucking the suction pads to the subject wall surface in a vacuum state The one of the outer frame and the inner frame that is attached to the outer frame and is not attracted to the subject wall surface in one direction relative to the other that is attracted to the subject wall surface. A cylinder to be moved, a curved surface sensor attached to the outer frame to detect a curved surface of the subject wall surface, a camera for photographing the subject wall surface, and the outer driving leg on the front side in the moving direction when the curved surface sensor detects a curved surface. An inspection robot apparatus comprising: a personal computer that adjusts the expansion stage to a plurality of stages to increase the expansion amount, and displays a measurement result of the measurement apparatus and a captured image of the camera. In an inspection robot apparatus that is equipped with a measurement device and moves in one direction while adsorbing to the wall surface of a subject having curved surfaces formed at four corners of a rectangular parallelepiped, the outer frame and the outer frame A sliding shaft stretched between both legs, an inner frame disposed between the legs of the outer frame and guided and moved by the sliding shaft, and both legs of the outer frame can be vertically expanded and contracted. A pair of outer drive legs that can be adjusted in a plurality of stages, and a pair of inner drive legs that are provided on the inner frame so as to be extendable in the vertical direction and can be adjusted by one stage of a predetermined distance. A plurality of suction pads respectively provided at the lower ends of the pair of outer drive legs and the pair of inner drive legs; and provided for each of the suction pads; A vacuum generator that is adsorbed on the sample wall, and the other of the outer frame and the inner frame that are attached to the outer frame and are not adsorbed on the sample wall by the reciprocating movement of the piston. A cylinder that moves in one direction relative to the outer frame, a proximity sensor that is attached to the outer frame and that detects curved surfaces formed at four corners of the subject based on distances to the subject wall surface, and the subject When the proximity sensor detects a curved surface, the stage where the outer drive leg on the front side in the moving direction is extended to a plurality of stages to increase the extension amount, and the measurement result of the measuring device and the camera An inspection robot apparatus comprising a personal computer for displaying a photographed image.