JP2018070042A - Suction-slide-type self-propelled inspection robot - Google Patents
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- 238000007689 inspection Methods 0.000 title claims abstract description 112
- 230000002950 deficient Effects 0.000 abstract 1
- 238000000926 separation method Methods 0.000 abstract 1
- 238000001179 sorption measurement Methods 0.000 description 5
- 239000002184 metal Substances 0.000 description 4
- 230000007257 malfunction Effects 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000008439 repair process Effects 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 230000032683 aging Effects 0.000 description 2
- 230000006866 deterioration Effects 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000011179 visual inspection Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000002542 deteriorative effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
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Abstract
Description
本発明は、高速道路、橋梁の橋桁などの高所にある壁面、金属面の損傷を点検するためにその壁面、金属面に吸着して移動させながら、コンクリートの壁面に生じたひび割れ、金属面の錆などの劣化を点検する吸引滑動型自走点検ロボットに関する。 The present invention is a method for inspecting damage to a metal surface, such as a highway wall, a bridge wall girder, and the like. The present invention relates to a suction sliding type self-running inspection robot that checks for deterioration such as rust.
コンクリートなどの壁面に吸着させて走行させる吸引滑動型の自走装置は、コンクリートの内部変状部を診断する電磁ハンマー一体型磁歪センサを搭載している。この吸引滑動型の自走装置は、その他に非破壊検査装置、遠隔操作カメラ、汚染検査装置などを搭載して壁面等の点検にも利用されている。 2. Description of the Related Art A suction sliding self-propelled device that travels while adsorbed on a wall surface of concrete or the like is equipped with an electromagnetic hammer integrated magnetostrictive sensor that diagnoses an internal deformed portion of concrete. This suction-sliding type self-propelled device is also equipped with a nondestructive inspection device, a remote control camera, a contamination inspection device, etc., and is also used for inspection of wall surfaces.
表面が粗い壁面、凹凸がある壁面に対しては、吸引滑動型の自走装置にブラシ型の吸着装置を用いることが多い。吸着装置のブラシが凹凸面に追従し、隙間を洩れなく密封性を高めることにより吸着装置内の真空圧を維持でき、壁面等に具合よく吸着して走行させることができる。このような吸引滑動型の自走装置については、少子高齢化、人口減少による建設産業における労働力不足の懸念、インフラの老朽化に対応した効率的な維持管理及び更新の必要性、更に大規模災害への迅速な対応するために種々提案されている。 For a wall surface with a rough surface or an uneven wall surface, a brush-type suction device is often used for a suction-sliding self-propelled device. Since the brush of the suction device follows the uneven surface and enhances the sealing performance without leaking through the gap, the vacuum pressure in the suction device can be maintained, and it can be adsorbed to the wall surface etc. and run. Such suction-sliding self-propelled devices have a low birthrate and an aging population, concerns about labor shortages in the construction industry due to population decline, the need for efficient maintenance and renewal in response to aging infrastructure, and the larger scale Various proposals have been made to respond quickly to disasters.
このような吸引滑動型の自走装置は、建造物の「維持管理」に利用されている。例えば、「橋梁」では、近接目視するとき、打音検査をするとき、更に点検者が移動するときに吸引滑動型の自走装置の利用が期待されている。「トンネル」では、近接目視するとき、打音検査をするとき、更に点検者が移動するときに、その利用が期待されている。更に、ダム、河川についてもその利用が期待されている。 Such suction-sliding self-propelled devices are used for “maintenance management” of buildings. For example, in the case of “bridge”, the use of a suction sliding type self-propelled device is expected when visual inspection is performed, when a hammering inspection is performed, and when an inspector moves. The “tunnel” is expected to be used when a close visual inspection is performed, when a hammering inspection is performed, and when an inspector moves further. Furthermore, the use of dams and rivers is also expected.
また、吸引滑動型の自走装置は、災害時にもその利用が期待されている。土砂崩落、火山災書、トンネル崩落についての災書状況調査時の利用が期待されている。例えば、現場被害状況を把握するとき、土砂等を計測するとき、引火性ガス等の情報を取得するとき、トンネル崩落状態や規模を把握するときに、その利用が期待されている。
更に、土砂崩落、火山災害などの災書応急復旧時の利用が期待されている。例えば、土砂崩落等の応急復旧するとき、排水作業の応急対応するとき、情報伝達するとき、その利用が期待されている。
In addition, suction sliding type self-propelled devices are expected to be used even during disasters. It is expected to be used when investigating the status of landslides, volcanic disasters, and tunnels. For example, when grasping on-site damage status, measuring earth and sand, obtaining information on flammable gas, etc., it is expected to be used when grasping a tunnel collapse state and scale.
Furthermore, it is expected to be used for emergency restoration of disaster books such as landslides and volcanic disasters. For example, when emergency restoration such as landslides, emergency response of drainage work, information transmission is expected.
このようにその利用が期待されている吸引滑動型の自走装置に関する技術として、例えば特許文献１の特開２００５−４７４５１公報「自己吸着型走行装置」のように、吸着部側を除いた外周部を本体カバーで覆われた本体フレームと、本体フレームの進行方向両側に設けたクローラ又は車輪と、前記本体フレームに搭載した真空力発生用のブロアーと、前記本体フレームの下側中央部に装着したブラシ型吸着盤と、前記ブラシ型吸着盤の内側に設けた吸引空気濾過用のフィルタとからなる自己吸着型走行装置が提案されている。 As a technique related to the suction-sliding type self-propelled device that is expected to be used in this way, for example, as disclosed in Japanese Patent Application Laid-Open No. 2005-47451 “Self-adsorptive traveling device” in Patent Document 1, the outer periphery excluding the suction portion side A body frame covered with a body cover, crawlers or wheels provided on both sides of the body frame in the traveling direction, a vacuum force generating blower mounted on the body frame, and a lower central portion of the body frame There has been proposed a self-adsorption type traveling device comprising a brush-type suction disk and a suction air filtering filter provided inside the brush-type suction disk.
従来の吸引滑動型の自走装置は、壁面に大きなクラック、穴があいていると、そこから大量の空気を吸引することになり、吸着力が低下することがあり安定して走行させることができないという問題を有していた。 The conventional suction-sliding type self-propelled device has a large crack or hole in the wall surface, and a large amount of air is sucked from the wall. Had the problem of not being able to.
また、特許文献１の自己吸着型走行装置は、大きな段差を有する壁面では安定走行させることができないという問題を有していた。更に、柱などの柱状部分についても自己吸着させて走行させることができないという問題を有していた。 Moreover, the self-adsorption type traveling device of Patent Document 1 has a problem that it cannot be stably traveled on a wall surface having a large level difference. In addition, there is a problem that columnar portions such as columns cannot be self-adsorbed and run.
本発明は、かかる問題点を解決するために創案されたものである。すなわち、本発明の目的は、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に吸着維持させ、走行させることができる吸引滑動型自走点検ロボットを提供することにある。 The present invention has been developed to solve such problems. That is, the object of the present invention is to make the inspection device and the suction plate separate, so that even a wall surface with a large step can be sucked and slid safely, and some of the suction plates have malfunctioned. It is an object of the present invention to provide a suction sliding type self-propelled inspection robot that can maintain the self-propelled inspection robot on the wall surface with the suction force of the remaining suction discs, and can make it run.
本発明は、壁面（ｗ）に吸引滑動させながら、この壁面（ｗ）とその内部を点検又は壁面（ｗ）で作業する吸引滑動型自走点検ロボット（１）であって、
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、
前記装置本体（４）の周囲に取り付けられた、前記吸着盤（２）を可動保持する可動アーム（６）と、を備え、
前記吸着盤（２）により平坦な壁面（ｗ）では吸引滑動させながら走行させ、段差がある壁面（ｗ）では前記可動アーム（６）により該吸着盤（２）の位置を可変させ得るように構成した、ことを特徴とする。
The present invention is a suction sliding self-running inspection robot (1) that inspects or works on the wall surface (w) and the inside thereof while causing the wall surface (w) to slide.
An inspection device (s) for inspecting the wall surface (w) and the interior thereof, an apparatus main body (4) containing a working device for working on the wall surface (w),
A plurality of suction plates (2) that travel by the travel mechanism (3) while adsorbing to the wall surface (w) while the inside of the chamber (5) is in a negative pressure state;
A movable arm (6) attached to the periphery of the apparatus body (4) to move and hold the suction plate (2);
The suction plate (2) is allowed to run while being slid and slide on a flat wall surface (w), and on the wall surface (w) having a step, the position of the suction plate (2) can be varied by the movable arm (6). It is characterized by comprising.
前記装置本体（４）は、
内部に点検装置（ｓ）、作業装置を収納し得る筐体から成り、
前記筐体に、前記可動アーム（６）の後端部を、角度調節機構（２３）を介在して連結し、
前記可動アーム（６）の先端部を、前記吸着盤（２）に可動可能に連結したものである。
前記装置本体（４）の筐体の両側に、該装置本体（４）を挟むように前記吸着盤（２）をそれぞれ取り付けたものである。
The device body (4)
Consists of a housing that can accommodate the inspection device (s) and work device inside,
The rear end of the movable arm (6) is connected to the housing via an angle adjustment mechanism (23),
The tip of the movable arm (6) is movably connected to the suction disk (2).
The suction cups (2) are respectively attached to both sides of the casing of the apparatus body (4) so as to sandwich the apparatus body (4).
前記装置本体（４）の周囲に、複数の吸着盤（２）を可動アーム（６）により放射状に取り付けることができる。 Around the device body (4), a plurality of suction disks (2) can be attached radially by a movable arm (6).
上記構成では、可動アーム（６）が、装置本体（４）の周囲において壁面（ｗ）に対して垂直方向へ吸着盤（２）を移動させることができる。そこで、大きな段差がある壁面（ｗ）では、個々の可動アーム（６）の角度を可変すれば、自走点検ロボット（１）をその壁面（ｗ）に沿って走行させることができる。また、装置本体（４）に複数の吸着盤（２）が取り付けられているので、仮に１台の吸着盤（２）が動作不良になったときに、残りの吸着盤（２）の吸引力で自走点検ロボット（１）を壁面（ｗ）に吸着維持し、走行を可能にすることができる。 In the above configuration, the movable arm (6) can move the suction disk (2) in the direction perpendicular to the wall surface (w) around the apparatus main body (4). Therefore, on the wall surface (w) having a large level difference, the self-running inspection robot (1) can travel along the wall surface (w) by changing the angle of each movable arm (6). In addition, since a plurality of suction plates (2) are attached to the apparatus main body (4), if one suction plate (2) malfunctions, the suction force of the remaining suction plates (2). Thus, the self-running inspection robot (1) can be maintained by being attracted to the wall surface (w), thereby enabling traveling.
装置本体（４）に、これを挟むように吸着盤（２）を可動アーム（６）により取り付けたものでは、片側の吸着盤（２）を壁面（ｗ）に吸着させた状態で、反対側の吸着盤（２）を壁面（ｗ）から離し、可動アーム（６）の角度を可変して、壁面（ｗ）の別の位置に吸着させることができる。この動作を繰り返すことで、段差がある壁面（ｗ）に自走点検ロボット（１）を吸着させ、走行させることができる。同じく、天井面に段差がある壁面（ｗ）においても自走点検ロボット（１）を吸着させ、走行させることができる。
また、壁面（ｗ）の縁端部又は柱（ｐ）についても、縁端部又は柱（ｐ）を吸着盤（２）で挟むように、各可動アーム（６）の角度を設定すれば、自走点検ロボット（１）を吸着させ、走行させることができる。
In the case where the suction disk (2) is attached to the apparatus main body (4) by the movable arm (6) so as to sandwich the suction disk (2), the suction disk (2) on one side is adsorbed to the wall surface (w) and the opposite side The suction disk (2) can be separated from the wall surface (w), and the angle of the movable arm (6) can be varied to be attracted to another position of the wall surface (w). By repeating this operation, the self-running inspection robot (1) can be adsorbed to the wall surface (w) having a level difference and run. Similarly, the self-running inspection robot (1) can be adsorbed and run on the wall surface (w) having a step on the ceiling surface.
Moreover, also about the edge part or column (p) of a wall surface (w), if the angle of each movable arm (6) is set so that an edge part or a column (p) may be pinched | interposed with a suction disk (2), The self-running inspection robot (1) can be adsorbed and run.
装置本体（４）の周囲に、吸着盤（２）を可動アーム（６）により放射状に取り付けたものでも、個別に吸着盤（２）を壁面（ｗ）に吸着させた状態で、残りの吸着盤（２）を壁面（ｗ）から離し、可動アーム（６）の角度を可変して、壁面（ｗ）の別の位置に吸着させることができる。 Even if the suction disk (2) is mounted radially by the movable arm (6) around the device body (4), the remaining suction is performed with the suction disk (2) individually adsorbed to the wall surface (w). The board (2) can be separated from the wall surface (w) and the angle of the movable arm (6) can be varied to be attracted to another position of the wall surface (w).
本発明の吸引滑動型自走点検ロボットは、壁面に吸引滑動させながら、この壁面とその内部を点検又は壁面で作業する自走点検ロボットであり、吸着盤により平坦な壁面では吸引滑動させながら走行させ、段差がある壁面では可動アームにより吸着盤の位置を可変させ、移動させ得るように構成した装置である。 The suction sliding type self-running inspection robot of the present invention is a self-running inspection robot that inspects or works on the wall surface and the inside thereof while sucking and sliding on the wall surface. The apparatus is configured such that the position of the suction plate can be changed and moved by a movable arm on a wall surface with a level difference.
以下、本発明の実施の形態を図面を参照して説明する。
＜吸引滑動型自走点検ロボットの構成＞
図１は実施例１の吸引滑動型自走点検ロボットを示す正面図である。図２は実施例１の吸引滑動型自走点検ロボットを示す平面図である。図３は実施例１の吸引滑動型自走点検ロボットを示す側面図である。図４は吸引滑動型自走点検ロボットに取り付ける吸着盤の一例を示す一部断面にした正面図である。
本発明の吸引滑動型自走点検ロボット１は、高速道路、橋梁の橋桁などの高所にあるコンクリート壁面ｗ、金属面等の壁面ｗに吸引滑動させながら、そのコンクリートの壁面ｗに生じたひび割れ、金属面の錆などの劣化を点検し、更にその内部の異常について検査し、又は壁面ｗで補修、塗装など様々な作業をする装置である。本発明の自走点検ロボット１は、吸着盤２を負圧状態にして壁面ｗに吸着させながら、走行機構３により壁面ｗに沿って走行させる装置である。
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
<Configuration of suction sliding type self-running inspection robot>
FIG. 1 is a front view showing a suction sliding type self-running inspection robot according to a first embodiment. FIG. 2 is a plan view showing the suction sliding type self-running inspection robot of the first embodiment. FIG. 3 is a side view showing the suction sliding self-running inspection robot of the first embodiment. FIG. 4 is a partial cross-sectional front view showing an example of a suction disk attached to the suction sliding type self-running inspection robot.
The suction sliding type self-propelled inspection robot 1 of the present invention is a crack generated on a concrete wall surface w while sucking and sliding to a concrete wall w at a high place such as an expressway or a bridge girder, or a wall surface w such as a metal surface. It is a device that inspects deterioration such as rust on the metal surface, further inspects abnormalities inside, or repairs and paints on the wall surface w. The self-running inspection robot 1 of the present invention is a device that travels along the wall surface w by the travel mechanism 3 while the suction plate 2 is in a negative pressure state and adsorbed to the wall surface w.
自走点検ロボット１は、図示するように、壁面ｗとその内部を検査又は壁面ｗで作業する点検装置ｓと作業装置を収納する装置本体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、走行車輪などの走行機構３により走行する複数の吸着盤２と、これらの吸着盤２を装置本体４の周囲に取り付ける可動アーム６と、を備えた装置である As shown in the figure, the self-propelled inspection robot 1 has an inspection device s for inspecting or working on the wall surface w and its interior, an apparatus main body 4 for housing the working device, and a wall surface w while the chamber 5 is in a negative pressure state. The apparatus includes a plurality of suction disks 2 that travel by a traveling mechanism 3 such as a traveling wheel, and a movable arm 6 that attaches these suction disks 2 to the periphery of the apparatus body 4.
装置本体４は、その内部に点検装置ｓ、作業装置を複数台収納する略直方体形状の筐体である。図示例では、６個の点検装置ｓを収納した状態を示し、周囲に４台の吸着盤２を備えた状態を示している。この点検装置ｓの個数、吸着盤２の台数もこの数に限定されない。検査の目的、場所に応じて検査装置の個数、吸着盤２の台数も異なるので、装置本体４の形状も変わるため、装置本体４はこの略直方体形状に限定されない。 The device main body 4 is a substantially rectangular parallelepiped housing that houses a plurality of inspection devices s and work devices. In the example of illustration, the state which accommodated the six inspection apparatuses s is shown, and the state provided with the four suction panels 2 in the circumference | surroundings is shown. The number of inspection devices s and the number of suction cups 2 are not limited to this number. Since the number of inspection devices and the number of suction cups 2 differ depending on the purpose and location of the inspection, the shape of the device main body 4 also changes, so the device main body 4 is not limited to this substantially rectangular parallelepiped shape.
装置本体４内には、点検装置ｓのみではなく、この点検装置ｓに必要な周辺機器、更に吸着盤２の動作を制御するマイコンなどを収納する。 In the apparatus main body 4, not only the inspection apparatus s but also peripheral devices necessary for the inspection apparatus s and a microcomputer for controlling the operation of the suction cup 2 are accommodated.
＜吸着盤の構成＞
吸着盤２は、図４に示すように、略円筒形状のチャンバー５から成り、このチャンバー５にその使用に際しての壁面ｗ側に開けた開口７を有する。このチャンバー５内に、走行機構３を構成する２個の走行車輪８が並列するように設けられている。この走行車輪８は走行車輪差動機構９の両側にそれぞれ取り付けられている。この走行車輪差動機構９は細板形状の支持部材１０の中央に取り付けられている。この支持部材１０の両端部は、可動アーム６の先端部に取り付けられる、ヒンジ軸１１を有する。
<Structure of suction cup>
As shown in FIG. 4, the suction disk 2 includes a substantially cylindrical chamber 5, and the chamber 5 has an opening 7 opened on the wall surface w side when used. In this chamber 5, two traveling wheels 8 constituting the traveling mechanism 3 are provided in parallel. The traveling wheels 8 are respectively attached to both sides of the traveling wheel differential mechanism 9. The traveling wheel differential mechanism 9 is attached to the center of a thin plate-shaped support member 10. Both end portions of the support member 10 have hinge shafts 11 attached to the distal end portion of the movable arm 6.
チャンバー５は、その開口７の反対側は筒形状に成り、この内部に排気ポンプ１２が取り付けられている。この排気ポンプ１２は、このチャンバー５内を負圧にして、チャンバー５全体を壁面ｗに吸着させるものである。排気ポンプ１２はファンと駆動モータとからなる。排気ポンプ１２の電源は外部から取るようになっている。 The chamber 5 has a cylindrical shape on the opposite side of the opening 7, and an exhaust pump 12 is attached to the inside of the chamber 5. The exhaust pump 12 makes the inside of the chamber 5 have a negative pressure and adsorbs the entire chamber 5 to the wall surface w. The exhaust pump 12 includes a fan and a drive motor. The exhaust pump 12 is powered from the outside.
＜吸着盤の走行機構の構成＞
走行車輪８を駆動させる走行車輪差動機構９は、旋回機構１４を介して支持部材１０の中央位置に取り付けられている。この旋回機構１４は、例えば、支持部材１０に取り付けられた旋回用歯車１５に，旋回モータ１６で駆動するピニオン１７を噛合させる機構である。この旋回モータ１６を回転駆動すると、走行車輪差動機構９は旋回用歯車１５で旋回するようになる。
<Configuration of suction plate travel mechanism>
A traveling wheel differential mechanism 9 that drives the traveling wheel 8 is attached to the center position of the support member 10 via a turning mechanism 14. The turning mechanism 14 is, for example, a mechanism for engaging a pinion 17 driven by a turning motor 16 with a turning gear 15 attached to the support member 10. When the turning motor 16 is rotationally driven, the traveling wheel differential mechanism 9 turns with the turning gear 15.
走行車輪差動機構１３は、走行モータ１８の回転駆動力を両走行車輪８に異なるように回転させるようになっている。走行車輪差動機構９は、２個の走行車輪８が曲がるときに、内側と外側の車輪に速度差（回転数の差）が生じるが、それを吸収しつつ走行モータ１８の回転駆動力から同じトルクを振り分けて伝達する機構である。これにより安定した走行が可能になる。 The traveling wheel differential mechanism 13 rotates the rotational driving force of the traveling motor 18 so that the traveling wheels 8 are different. The traveling wheel differential mechanism 9 generates a speed difference (difference in rotational speed) between the inner and outer wheels when the two traveling wheels 8 bend, and absorbs this from the rotational driving force of the traveling motor 18. This mechanism distributes and transmits the same torque. This makes it possible to travel stably.
走行車輪差動機構９に２個の走行車輪８が並列して取り付けられているので、その走行方向に傾斜するおそれがある。その結果、開口７の周縁部が強く壁面ｗに接触するおそれがある。この部分が強く接触すると自走点検ロボット１を円滑に走行させることができない場合がある。そこで、本発明では、チャンバー５の傾斜を防止するために補助輪１９を備えた。この補助輪１９により、チャンバー５が傾斜しないので、その周縁部のシール部材２０部分が、壁面ｗに均等に接触又は近づくようになる。そこで、この補助輪１９は、走行車輪差動機構９に補助輪用板材２１を介して２個取り付けられている。この補助輪１９は補助輪用板材２１に取り付けられ、走行車輪差動機構９により３６０度旋回可能になる。 Since the two traveling wheels 8 are attached to the traveling wheel differential mechanism 9 in parallel, there is a risk of tilting in the traveling direction. As a result, the peripheral edge of the opening 7 may be in strong contact with the wall surface w. If this part is in strong contact, the self-running inspection robot 1 may not be able to run smoothly. Therefore, in the present invention, the auxiliary wheel 19 is provided to prevent the chamber 5 from being inclined. Since the auxiliary wheel 19 prevents the chamber 5 from inclining, the peripheral portion of the seal member 20 comes into contact with or approaches the wall surface w evenly. Therefore, two auxiliary wheels 19 are attached to the traveling wheel differential mechanism 9 via auxiliary wheel plate 21. The auxiliary wheel 19 is attached to the auxiliary wheel plate 21 and can be rotated 360 degrees by the traveling wheel differential mechanism 9.
なお、実施例１の吸引滑動型自走点検ロボット１では、装置本体４に取り付けられた可動アーム６に吸着盤２が取り付けられた構成であれば、吸着盤２は図示例の構成に限定されない。一般的な構成の吸着盤２、即ちチャンバー５の開口７周縁部にブラシを取り付けて密封性を高めている一般的な構造の吸着盤でもよい。 In the suction sliding self-running inspection robot 1 according to the first embodiment, the suction plate 2 is not limited to the configuration shown in the drawing as long as the suction plate 2 is attached to the movable arm 6 attached to the apparatus body 4. . The suction disk 2 having a general structure, that is, a suction disk having a general structure in which a brush is attached to the periphery of the opening 7 of the chamber 5 to improve the sealing performance may be used.
＜可動アームの構成＞
装置本体４の筐体の周囲において、１台の吸着盤２は２本の可動アーム６の先端部で挟まれるように可動可能に連結支持されている。可動アーム６の先端部は、吸着盤２のヒンジ軸１１に取り付けられる。図示例のように４台の吸着盤２は、同様に可動アーム６を介して装置本体４の筐体に取り付けられている。
<Configuration of movable arm>
Around the casing of the apparatus main body 4, one suction disk 2 is movably connected and supported so as to be sandwiched between the distal ends of two movable arms 6. The tip of the movable arm 6 is attached to the hinge shaft 11 of the suction disk 2. As in the illustrated example, the four suction disks 2 are similarly attached to the housing of the apparatus main body 4 via the movable arm 6.
この可動アーム６の後端部は、角度調節機構２３を介在して装置本体４（筐体）に連結されている。この角度調節機構２３は、例えば可動アーム６をウオームギヤにより回動させることができる。差動型ウオーム減速機を昇降モータで駆動し、可動アーム６を所定の角度に調節できるようにする。 The rear end portion of the movable arm 6 is connected to the apparatus main body 4 (housing) via an angle adjusting mechanism 23. The angle adjusting mechanism 23 can rotate the movable arm 6 with a worm gear, for example. The differential worm speed reducer is driven by a lifting motor so that the movable arm 6 can be adjusted to a predetermined angle.
なお、自走点検ロボット１を吸引滑動させる際に、壁面ｗは平坦ではないので、若干の凹凸は、吸着盤２のシール部材２０部分で吸収する。シール部材２０部分で吸収できない程度の凹凸がある場合もある。そこで、この角度調節機構２３にはいわゆる「遊び」と称される程度の可動アーム６の回動を吸収する、ばね等の弾性部材を可動アーム６の後端部に取り付けることが好ましい。 Note that when the self-running inspection robot 1 is slid and sucked, the wall surface w is not flat, so that some unevenness is absorbed by the seal member 20 portion of the suction disk 2. There may be irregularities that cannot be absorbed by the seal member 20 portion. Therefore, it is preferable to attach an elastic member such as a spring to the rear end portion of the movable arm 6 that absorbs the rotation of the movable arm 6 to a degree called “play”.
＜自走点検ロボットの基本的な動作説明＞
図５は本発明の自走点検ロボットを吸引滑動させている壁面の状態を示し、（ａ）は壁面の正面図、（ｂ）は壁面の側断面図である。
このように構成された本発明の自走点検ロボット１は、各吸着盤２により密封性を低下させず安全に壁面ｗを吸引滑動することができる。この自走点検ロボット１の装置本体４に搭載した点検装置ｓ、作業装置を用いてこの壁面ｗとその内部を点検し、又は壁面ｗで作業することができる。可動アーム６が、装置本体４の周囲において壁面ｗに対して垂直方向へ吸着盤２を移動させることで、大きな段差がある壁面ｗでは、個々の可動アーム６の角度を可変すれば、自走点検ロボット１をその壁面ｗに沿って走行させることができる。
<Basic operation description of self-propelled inspection robot>
FIG. 5 shows the state of the wall surface on which the self-running inspection robot of the present invention is slid and sucked, (a) is a front view of the wall surface, and (b) is a side sectional view of the wall surface.
The self-running inspection robot 1 of the present invention configured as described above can suck and slide the wall surface w safely by each suction board 2 without deteriorating the sealing performance. The wall surface w and the inside thereof can be inspected using the inspection device s and the working device mounted on the device main body 4 of the self-running inspection robot 1, or work can be performed on the wall surface w. If the movable arm 6 moves the suction cup 2 in the direction perpendicular to the wall surface w around the apparatus main body 4, and the wall surface w has a large level difference, the angle of each movable arm 6 can be changed to be self-propelled. The inspection robot 1 can travel along the wall surface w.
また、本発明の自走点検ロボット１は、装置本体４に複数の吸着盤２が取り付けられているので、仮に１台の吸着盤２が動作不良になったときに、残りの吸着盤２の吸引力で自走点検ロボット１を壁面ｗに吸着維持させ、走行を可能にすることができる。 Moreover, since the self-propelled inspection robot 1 of the present invention has a plurality of suction cups 2 attached to the apparatus body 4, if one of the suction cups 2 malfunctions, the remaining suction cups 2 The self-running inspection robot 1 can be adsorbed and maintained on the wall surface w by the suction force to enable running.
＜吸引滑動走行状態の説明１＞
図６は本発明の自走点検ロボットを、曲面を有する壁面を走行させる状態を示す説明側面図である。
本発明の自走点検ロボット１は、平坦な壁面ｗを走行、昇降させるときは勿論のこと、トンネルのように曲面を有する壁面ｗについても、安全に走行させることができる。例えば、図示するように、装置本体４の可動アーム６は、吸着盤２のヒンジ軸１１に可動可能に取り付けられるので、このヒンジ軸１１を回動中心にして吸着盤２の吸着面はその方向を自由に変えられる。トンネル内のような曲面を有する壁面ｗにも密着させることができ、自走点検ロボット１をその壁面ｗに沿って走行させることができる。
<Description 1 of suction sliding running state>
FIG. 6 is an explanatory side view showing a state in which the self-running inspection robot of the present invention runs on a wall surface having a curved surface.
The self-running inspection robot 1 of the present invention can travel safely on a wall surface w having a curved surface such as a tunnel as well as traveling on a flat wall surface w. For example, as shown in the figure, the movable arm 6 of the apparatus main body 4 is movably attached to the hinge shaft 11 of the suction disk 2 so that the suction surface of the suction disk 2 is oriented in the direction around the hinge shaft 11 as a rotation center. Can be changed freely. It can be brought into close contact with a wall surface w having a curved surface such as in a tunnel, and the self-running inspection robot 1 can travel along the wall surface w.
＜吸引滑動走行状態の説明２＞
図７は本発明の自走点検ロボットを壁面の段差を挟むように走行させる状態を示す説明側面図である。
本発明の自走点検ロボット１は、平坦な壁面ｗ、曲面を有する壁面ｗ以外に段差があるような壁面ｗについても、安全に走行、昇降させることができる。この説明２の図示例にあるように、段差を挟むように自走点検ロボット１を走行させることができる。例えば、装置本体４の可動アーム６は、装置本体４の周囲において壁面ｗに対してその垂直方向へ吸着盤２を移動させることができる。そこで、大きな段差がある壁面ｗでも、個々の可動アーム６の回動角度を異なるように設定すれば、自走点検ロボット１をその壁面ｗの段差を挟むように走行させることができる。
<Description 2 of suction sliding running state>
FIG. 7 is an explanatory side view showing a state in which the self-running inspection robot of the present invention is driven so as to sandwich a step on the wall surface.
The self-running inspection robot 1 of the present invention can safely travel and move up and down even on a wall surface w having a step in addition to a flat wall surface w and a curved wall surface w. As in the illustrated example of this explanation 2, the self-running inspection robot 1 can be caused to travel so as to sandwich the step. For example, the movable arm 6 of the apparatus main body 4 can move the suction disk 2 in the direction perpendicular to the wall surface w around the apparatus main body 4. Therefore, even if the wall surface w has a large level difference, if the rotation angles of the individual movable arms 6 are set to be different, the self-running inspection robot 1 can be driven so as to sandwich the level difference of the wall level w.
＜吸引滑動走行状態の説明３＞
図８は自走点検ロボットを壁面の段差において階段を昇降するように走行させる状態を示す説明側面図であり、（ａ）は走行中の状態、（ｂ）は走行前方側の吸着盤を壁面から離す状態、（ｃ）は前進後吸着盤を壁面に吸着させる状態、（ｄ）は走行後方側の吸着盤を離す状態、（ｅ）は全体の吸着盤を壁面に吸着させ、前進させる状態である。
更に、本発明の自走点検ロボット１は、複数の吸着盤２と可動アーム６を利用して、壁面ｗに複数の段差がある状況であっても、階段を昇降するように吸着盤２を吸着させ、走行、昇降させることができる。各吸着盤２は可動アーム６により装置本体４を挟むように取り付けているので、走行後方側の吸着盤２を壁面ｗに吸着させた状態で、走行前方側の吸着盤２を壁面ｗから離すことができる。逆に、走行前方側の吸着盤２を壁面ｗに吸着させた状態で、走行後方側の吸着盤２を壁面ｗから離すことができる。このとき、走行後方側の吸着盤２のみでも自走点検ロボット１全体の重量を支持できる程度の吸引力を、残りの吸着盤２が有するように排気ポンプ１２を稼働させる。
<Description 3 of suction sliding running state>
FIGS. 8A and 8B are explanatory side views showing a state in which the self-running inspection robot travels so as to move up and down the stairs at the level difference of the wall surface, where FIG. 8A is a traveling state and FIG. (C) is a state in which the suction plate is attracted to the wall surface after traveling forward, (d) is a state in which the suction plate on the rear side of the traveling is separated, and (e) is a state in which the entire suction plate is attracted to the wall surface and advanced. It is.
Furthermore, the self-running inspection robot 1 of the present invention uses the suction cups 2 and the movable arms 6 to move the suction cups 2 so as to move up and down the stairs even when there are multiple steps on the wall surface w. It can be adsorbed, run and lifted. Since each suction plate 2 is attached so that the apparatus main body 4 is sandwiched by the movable arm 6, the suction plate 2 on the traveling front side is separated from the wall surface w in a state where the suction plate 2 on the traveling rear side is attracted to the wall surface w. be able to. On the contrary, the suction plate 2 on the traveling rear side can be separated from the wall surface w while the suction plate 2 on the traveling front side is attracted to the wall surface w. At this time, the exhaust pump 12 is operated so that the remaining suction disks 2 have a suction force enough to support the weight of the entire self-running inspection robot 1 with only the suction disk 2 on the rear side of the traveling.
先ず、図８（ａ）に示すように、自走点検ロボット１を壁面ｗの段差の近くまで走行させる。
次に、図８（ｂ）に示すように、走行後方側の吸着盤２を壁面ｗに吸着させた状態で、走行前方側の吸着盤２を壁面ｗから離し、可動アーム６の角度を前方の段差の位置に合わせるように可変する。この状態で自走点検ロボット１を段差に更に近づける。
図８（ｃ）に示すように、走行前方側の吸着盤２を前方の段差に吸着させる。走行後方側の吸着盤２を壁面ｗから離し、可動アーム６の角度を前方の段差の位置に合わせるように可変する。このとき一方（走行前方側）の吸着盤２の吸引力が自走点検ロボット１全体の重量を支持できる程度に高まったら、他方（走行後方側）の吸着盤２を壁面ｗから離すことは勿論である。
First, as shown in FIG. 8 (a), the self-running inspection robot 1 is caused to travel to the vicinity of the step on the wall surface w.
Next, as shown in FIG. 8B, in the state where the suction plate 2 on the rear side of the travel is attracted to the wall surface w, the suction plate 2 on the front side of the travel is separated from the wall surface w, and the angle of the movable arm 6 is set to the front. It is variable to match the position of the step. In this state, the self-running inspection robot 1 is brought closer to the step.
As shown in FIG. 8C, the suction disk 2 on the traveling front side is attracted to the front step. The suction disk 2 on the rear side of the travel is separated from the wall surface w, and the angle of the movable arm 6 is varied so as to match the position of the front step. At this time, if the suction force of the suction board 2 on one side (traveling front side) increases to such an extent that the weight of the entire self-running inspection robot 1 can be supported, it is a matter of course that the suction board 2 on the other side (traveling rear side) is separated from the wall surface w. It is.
図８（ｄ）に示すように、走行後方側の吸着盤２の可動アーム６の角度を前方の段差の位置に合わせるように可変して、自走点検ロボット１を前進させる。 As shown in FIG. 8D, the self-running inspection robot 1 is advanced by changing the angle of the movable arm 6 of the suction plate 2 on the rear side of the running so as to match the position of the front step.
最後に、図８（ｅ）に示すように、走行前方側の吸着盤２を壁面ｗの別の位置に吸着させる。走行前方側と走行後方側の吸着盤２が吸着したら、自走点検ロボット１を前進させる。
なお、段差が階段状になるときは、この動作を繰り返すことで、段差がある壁面ｗに自走点検ロボット１を吸引滑動走行させることができる。
また、図示例では、前進方向が右側に飛び出した状態の段差について説明したが、この逆に前進方向が左側に飛び出した状態の場合でも、可動アーム６の角度の合わせる方向が異なるだけ、自走点検ロボット１を吸引滑動走行させることができる。
Finally, as shown in FIG. 8E, the suction disk 2 on the traveling front side is sucked to another position on the wall surface w. When the traveling front side and the traveling rear side suction boards 2 are attracted, the self-running inspection robot 1 is advanced.
In addition, when a level | step difference becomes step shape, the self-running inspection robot 1 can be made to carry out the suction sliding run on the wall surface w with a level | step difference by repeating this operation | movement.
Further, in the illustrated example, the step in the state where the forward direction protrudes to the right side has been described, but conversely, even in the state where the forward direction protrudes to the left side, only the direction in which the angle of the movable arm 6 is adjusted is different. The inspection robot 1 can be slid / slid.
＜吸引滑動走行状態の説明４＞
図９は自走点検ロボットを天井面にある段差を走行させる状態を示す説明側面図であり、（ａ）は走行前方側の吸着盤を離し、前進後にこの走行前方側の吸着盤を吸着させる状態、（ｂ）は走行後に走行前方側の吸着盤を吸着させ、前進後にこの走行後方側の吸着盤を離し、走行前方側の吸着盤を前進させる状態、（ｃ）は走行前方側の吸着盤を前進させ、走行後方側の吸着盤を吸着させる状態である。
本発明の自走点検ロボット１は、天井面（壁面ｗ）に複数の段差がある状況であっても、図８に示した状況と同様に、階段を昇降するように複数の吸着盤２を天井面（壁面ｗ）に吸着させ、走行させることができる。
先ず、図９（ａ）に示すように、走行前方側の吸着盤２を離し、前進後にこの走行前方側の吸着盤２を吸着させる。
次に、図９（ｂ）に示すように、走行後に走行前方側の吸着盤２を吸着させ、前進後にこの走行後方側の吸着盤２を離し、走行前方側の吸着盤２を前進させる。
最後に、図９（ｃ）に示すように、走行前方側の吸着盤２を前進させ、走行後方側の吸着盤２を吸着させる。
<Description 4 of suction sliding running state>
FIG. 9 is an explanatory side view showing a state where the self-running inspection robot travels a step on the ceiling surface. FIG. 9A shows a state in which the suction front plate on the traveling front side is released and the front suction plate on the traveling front side is sucked after moving forward. The state, (b) is a state in which the suction disk on the traveling front side is attracted after traveling, the suction disk on the rear side in traveling is released after the advancement, and the suction disk on the traveling front side is advanced, and (c) is the suction on the traveling front side. This is a state where the board is moved forward and the suction board on the rear side of the running is sucked.
The self-running inspection robot 1 of the present invention has a plurality of suction cups 2 so as to move up and down the stairs in the same manner as the situation shown in FIG. 8 even in a situation where there are a plurality of steps on the ceiling surface (wall surface w). It can be adsorbed to the ceiling surface (wall surface w) and run.
First, as shown in FIG. 9A, the suction front plate 2 on the traveling front side is released, and the front suction side suction plate 2 is adsorbed after moving forward.
Next, as shown in FIG. 9B, the traveling suction side suction plate 2 is attracted after traveling, and after traveling, the traveling rear side suction plate 2 is released, and the traveling front side suction plate 2 is advanced.
Finally, as shown in FIG. 9C, the suction disk 2 on the traveling front side is advanced, and the suction disk 2 on the traveling rear side is attracted.
但し、自走点検ロボット１を天井面（壁面ｗ）を走行、昇降させるときは、上下方向の壁面ｗの走行に比較して、落下のおそれが高くなるので、走行前方側の吸着盤２を壁面ｗから離す際、走行後方側の吸着盤２を壁面ｗから離す際に、残りの吸着盤２の吸引力が自走点検ロボット１全体の重量を支持できる程度に高まっているか否かを厳密に測定する必要がある。そのために、各吸着盤２（チャンバー５）内に、圧力測定器を備えることが好ましい。 However, when the self-running inspection robot 1 travels and moves up and down the ceiling surface (wall surface w), the risk of falling becomes higher compared to traveling on the wall surface w in the vertical direction. When separating from the wall surface w when separating from the wall surface w, it is strictly determined whether or not the suction force of the remaining adsorption plate 2 is increased to support the weight of the entire self-running inspection robot 1 when separating from the wall surface w. Need to be measured. Therefore, it is preferable to provide a pressure measuring device in each suction disk 2 (chamber 5).
＜吸引滑動走行状態の説明５＞
図１０は自走点検ロボットについて壁面の縁部分、角柱を走行させる状態を示す説明平面図である。
本発明の自走点検ロボット１は、壁面ｗの縁部分又は柱ｐのような上下方向に細い点検対象物についても、安全に走行、昇降させることができる。図示するように、可動アーム６の角度を大きく可変して、吸着盤２で壁面ｗの縁部分又は柱ｐの２面を挟むように吸着させる。この状態で装置本体４を昇降させることで、壁面ｗの縁部分又は柱ｐの点検、補修作業などが実施できる。
<Description 5 of suction sliding running state>
FIG. 10 is an explanatory plan view showing a state in which the edge portion of the wall surface and the prism are caused to travel on the self-running inspection robot.
The self-running inspection robot 1 of the present invention can safely run and lift even an inspection object that is thin in the vertical direction, such as an edge portion of the wall surface w or a column p. As shown in the drawing, the angle of the movable arm 6 is greatly varied, and the suction disk 2 is adsorbed so as to sandwich the edge portion of the wall surface w or the two surfaces of the column p. By raising and lowering the apparatus main body 4 in this state, inspection of the edge part of the wall surface w or the pillar p, repair work, etc. can be implemented.
自走点検ロボット１を走行させる得る壁面ｗの縁部分又は角柱ｐに限定されず、図に示すように、円柱又は曲率の短い曲面を走行させることもできる。例えば、図示するように、装置本体４を可動アーム６の角度を可変して、吸着盤２で円柱（柱ｐ）の２面（２ヶ所）に吸着させる。この状態で装置本体４を昇降させることで、柱ｐの点検、補修作業などが実施できる。 The self-running inspection robot 1 is not limited to the edge portion of the wall surface w or the prisms p that can travel, and as shown in the figure, it can also travel a cylinder or a curved surface with a short curvature. For example, as shown in the drawing, the apparatus main body 4 is attracted to two surfaces (two locations) of a column (column p) by the suction disk 2 while changing the angle of the movable arm 6. By raising and lowering the apparatus main body 4 in this state, the inspection and repair work of the pillar p can be performed.
＜実施例２の自走点検ロボットの構成＞
図１１は実施例２の装置本体の周囲に吸着盤を放射状に取り付けた自走点検ロボットを示す平面図である。
本発明の自走点検ロボット１の構成は、実施例１のように、装置本体４を２台の吸着盤２で挟む構成の計４台の吸着盤２の構成に限定されない。実施例２の自走点検ロボット１は、図示するように、四角形状又は円形状の装置本体４の周囲に、吸着盤２を可動アーム６により放射状に取り付けた構成にした。
<Configuration of Self-propelled Inspection Robot of Example 2>
FIG. 11 is a plan view showing a self-running inspection robot in which suction cups are radially attached around the apparatus main body of the second embodiment.
The configuration of the self-running inspection robot 1 of the present invention is not limited to the configuration of a total of four suction cups 2 in which the apparatus main body 4 is sandwiched between the two suction boards 2 as in the first embodiment. As shown in the figure, the self-running inspection robot 1 of Example 2 is configured such that the suction disk 2 is radially attached by a movable arm 6 around a square or circular device body 4.
実施例２の自走点検ロボット１では、装置本体４の周囲において個別に吸着盤２を壁面ｗに吸着させた状態で、壁面において凹凸に変化が大きい場合に適している。更に、装置本体４に大きな検査装置ｓを搭載することが可能である。 The self-running inspection robot 1 according to the second embodiment is suitable for a case where the unevenness on the wall surface is greatly changed in a state where the suction disk 2 is individually attracted to the wall surface w around the apparatus body 4. Furthermore, it is possible to mount a large inspection apparatus s on the apparatus body 4.
＜自走点検ロボットの変形例＞
本発明の自走点検ロボット１の構成は、検査装置ｓ、作業装置を有する装置本体４を複数の吸着盤２を可動アーム６により可動支持する構成であれば、実施例１又は実施例２の構成に限定されない。例えば、吸着盤２は２台、３台、５台、６台と点検、目的、壁面ｗの状況に応じて適宜組み合わせることができる。
<Modification of self-running inspection robot>
The configuration of the self-running inspection robot 1 of the present invention is that of the first embodiment or the second embodiment as long as the apparatus main body 4 having the inspection apparatus s and the work apparatus is configured to move and support the plurality of suction disks 2 by the movable arm 6. It is not limited to the configuration. For example, two, three, five, and six suction cups 2 can be combined as appropriate according to the status of inspection, purpose, and wall surface w.
なお、本発明は、点検装置ｓと吸着盤２を別構成にすることで、大きな段差がある壁面ｗ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２が動作不良になったときでも残りの吸着盤２の吸引力で自走点検ロボット１を壁面ｗに吸着維持させ、走行させることができれば、上述した発明の実施の形態に限定されず、本発明の要旨を逸脱しない範囲で種々変更できることは勿論である。 In the present invention, the inspection device s and the suction board 2 are configured separately, so that even if the wall surface w has a large level difference, it can be safely suctioned and slid, and some of the suction boards 2 malfunction. Even if the self-running inspection robot 1 can be attracted and maintained on the wall surface w by the suction force of the remaining suction board 2 even when it becomes, it is not limited to the embodiment of the invention described above, and departs from the gist of the present invention. Of course, various modifications can be made without departing from the scope.
本発明は、高速道路、橋梁の橋桁などの高所にある壁面、金属面に限定されず、その他の損傷を点検し、補修する際に利用することができる。 The present invention is not limited to a wall surface or a metal surface at a high place such as a highway or a bridge girder of a bridge, but can be used when inspecting and repairing other damage.
１ 吸引滑動型自走点検ロボット
２ 吸着盤
３ 走行機構
４ 装置本体
５ チャンバー
６ 可動アーム
２３ 角度調節機構
ｓ 点検装置
ｗ 壁面
DESCRIPTION OF SYMBOLS 1 Suction sliding type self-running inspection robot 2 Suction board 3 Traveling mechanism 4 Apparatus main body 5 Chamber 6 Movable arm 23 Angle adjustment mechanism s Inspection apparatus w Wall surface
Claims (4)
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、
前記装置本体（４）の周囲に取り付けられた、前記吸着盤（２）を可動保持する可動アーム（６）と、を備え、
前記吸着盤（２）により平坦な壁面（ｗ）では吸引滑動させながら走行させ、段差がある壁面（ｗ）では前記可動アーム（６）により該吸着盤（２）の位置を可変させ得るように構成した、ことを特徴とする吸引滑動型自走点検ロボット。 A suction slide type self-running inspection robot (1) that inspects or works on the wall surface (w) and the inside thereof while causing the wall surface (w) to slide.
An inspection device (s) for inspecting the wall surface (w) and the interior thereof, an apparatus main body (4) containing a working device for working on the wall surface (w),
A plurality of suction plates (2) that travel by the travel mechanism (3) while adsorbing to the wall surface (w) while the inside of the chamber (5) is in a negative pressure state;
A movable arm (6) attached to the periphery of the apparatus body (4) to move and hold the suction plate (2);
The suction plate (2) is allowed to run while being slid and slide on a flat wall surface (w), and on the wall surface (w) having a step, the position of the suction plate (2) can be varied by the movable arm (6). A suction-sliding self-propelled inspection robot characterized by comprising.
内部に点検装置（ｓ）、作業装置を収納し得る筐体から成り、
前記筐体に、前記可動アーム（６）の後端部を、角度調節機構（２３）を介在して連結し、
前記可動アーム（６）の先端部を、前記吸着盤（２）に可動可能に連結した、ことを特徴とする請求項１の吸引滑動型自走点検ロボット。 The device body (4)
Consists of a housing that can accommodate the inspection device (s) and work device inside,
The rear end of the movable arm (6) is connected to the housing via an angle adjustment mechanism (23),
The suction-sliding self-running inspection robot according to claim 1, wherein a tip end portion of the movable arm (6) is movably connected to the suction disk (2).
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| CN109850027A (en) * | 2019-02-28 | 2019-06-07 | 重庆邮电大学 | A kind of bionical biped climbing robot based on magnetosensitive rubber pasting material |
| CN110641567A (en) * | 2019-10-17 | 2020-01-03 | 哈尔滨学院 | Multi-foot reversible crawling robot based on intelligent material |
| CN112003176A (en) * | 2020-08-24 | 2020-11-27 | 山东梅格彤天电气有限公司 | Intelligent power distribution room inspection device based on artificial intelligence and edge computing technology |
| CN112428304A (en) * | 2020-10-19 | 2021-03-02 | 芜湖赛宝机器人产业技术研究院有限公司 | Transfer robot removes test equipment |
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| CN109278424A (en) * | 2018-11-23 | 2019-01-29 | 北京小米移动软件有限公司 | Printer and printer system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109850027A (en) * | 2019-02-28 | 2019-06-07 | 重庆邮电大学 | A kind of bionical biped climbing robot based on magnetosensitive rubber pasting material |
| CN110641567A (en) * | 2019-10-17 | 2020-01-03 | 哈尔滨学院 | Multi-foot reversible crawling robot based on intelligent material |
| CN112003176A (en) * | 2020-08-24 | 2020-11-27 | 山东梅格彤天电气有限公司 | Intelligent power distribution room inspection device based on artificial intelligence and edge computing technology |
| CN112428304A (en) * | 2020-10-19 | 2021-03-02 | 芜湖赛宝机器人产业技术研究院有限公司 | Transfer robot removes test equipment |
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