Working device displacement mechanism and displacement method

Abstract

To use the pressure difference between a suction pressure and an atmospheric pressure during adsorption of an adsorption-type work robot as driving energy for a work device displacement mechanism, to simplify the configuration of the work device displacement mechanism and reduce its weight, without generating excessive pressing force (pressing load) on a work device or requiring other power.SOLUTION: A work device displacement mechanism comprises: a body attachment member 2 attached to the inside of a vacuum chamber 33 of an adsorption type work robot 31; a link mechanism 5 that moves the body attachment member and a holding member 4 for holding the work device 3 closer or farther apart; a bellows 6 attached between the body attachment member 2 and the holding member 4; a retraction member 10 that contracts the bellows 6; and an electromagnetic valve 7 that switches a pressure inside the bellows 6 to be the same as or different from a pressure inside the vacuum chamber 33. When performing work such as non-destructive testing, the work device displacement mechanism is configured to suction air into the bellows 6 to make an extended state, and keep the work device 3 protruding.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a technology for testing or working on the presence, location, and shape of deformed parts, cavities, and other defects and internal physical properties that have occurred inside structures such as concrete by bringing a testing device or working device using an electromagnetic wave method, elastic wave method, ultrasonic method, or the like into contact with the surface of the structure, without destroying the structure, to test or work on the presence, location, and shape of deformed parts, as well as internal physical properties, and in particular to a working device displacement mechanism and displacement method that, when an adhesive-type working robot equipped with the testing device or working device is moved while adhering to the surface of a structure, changes the distance between the testing device or working device and the surface of the structure. [Background technology]

[0002] Many concrete structures are large structures such as tunnels and bridges. Defects in structures are evaluated for defects such as improper construction during construction, static external forces after construction, fatigue, and deformation inside the concrete due to elongation pressure caused by corrosion of rebar, as well as the degree of filling of PC grout (prestressed concrete injection material). The presence of such defects has a significant impact on the load-bearing capacity and durability of the structure, so detecting internal deformation is important for maintaining the structure.

[0003] Various testing methods for defects and physical properties of structures such as concrete have been put into practical use. For example, non-destructive testing using electromagnetic waves, elastic waves, ultrasound, etc. includes the electromagnetic wave method, impact elastic wave method, and ultrasonic method. Conventional non-destructive testing was typically performed by manually applying measuring equipment to the measurement point. In recent years, instead of using human power, testing devices for each test method have been mounted on suction-sliding self-propelled devices (test robots) that adhere to walls such as concrete and move along them. This suction-sliding self-propelled device is a device (test robot) that adheres to the wall while creating a negative pressure inside a vacuum chamber and moves along the wall using a traveling mechanism.

[0004] As a technology relating to a suction sliding type self-propelled device that is expected to be used in this way, for example, Patent Document 1, Japanese Utility Model Laid-Open Publication No. 6-71378, entitled "Wall Surface Adsorption Moving Device," has been proposed, which comprises a device main body, a moving means mounted on the device main body, and a reduced pressure space provided below the device main body, and which moves along the wall surface by the moving means while adhering to the wall surface with the reduced pressure space in a negative pressure state. In this wall surface adsorption moving device, a rotating member rotatably attached to the device main body, a driving means connected to the rotating member and rotatingly driving the rotating member, and a brush-type sealing means attached to the rotating member and contacting the wall surface have been proposed. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Utility Model Application Publication No. 6-71378 Summary of the Invention [Problem to be solved by the invention]

[0006] However, tunnels, which are typical of large concrete structures, have more curved surfaces than flat surfaces, and even more uneven surfaces. When simply moving a suction-sliding self-propelled device (test robot) in a location with such curved or uneven surfaces, the constant contact of the test device or working device with the ground is likely to create running resistance for the wall-traveling robot (especially during rotational motion). This results in problems such as increased power consumption and the robot being prone to getting caught on protrusions on the surface of the structure, such as anchor bolts.

[0007] Furthermore, the test device or working device is often stored in the center of the interior of the suction-type work robot. Electrical lifting devices such as motors used as actuators for the lifting operation of the test device or working device have the problem of being heavy due to their complex structure and consuming a lot of power.

[0008] The inventors of the present invention focused on utilizing the negative pressure generated by an adhesive work robot during operation. Many non-destructive testing devices or working devices are often housed inside the body of an adhesive work robot in a position that is under negative pressure. The inventors focused on the possibility of utilizing this state of switchable air pressure, such as between atmospheric and negative pressure, for the lifting and lowering (displacement) of the non-destructive testing device or working device.

[0009] The present invention was devised to solve these problems. Specifically, the object of the present invention is to provide a working device displacement mechanism and a displacement method thereof that utilizes the differential pressure between the suction pressure and atmospheric pressure when an adhesive-type working robot is attached to provide drive energy for the displacement mechanism of a testing device or working device, thereby preventing the generation of an excessive pressing force (pressing load) on the testing device or working device and requiring no additional power, thereby simplifying the configuration of the displacement mechanism and reducing its weight. [Means for solving the problem]

[0010] The working device displacement mechanism (1) of the present invention comprises a vacuum chamber (33) having an opening (32) on one side thereof, and an exhaust pump (34) provided in the vacuum chamber (33) for creating a negative pressure inside the vacuum chamber (33), and is disposed in the vacuum chamber (33) of an adhesive-type working robot (31) that works while adhering to a wall surface (w), a main body mounting member (2) mounted in the vacuum chamber (33); a link mechanism (5) for moving the main body mounting member (2) and a holding member (4) for holding the working device (3) closer to or farther from each other; a bellows (6) having both ends in the expansion and contraction direction attached between the body mounting member (2) and the holding member (4); pull-back members (10) attached to both ends of the bellows (6) in the expansion / contraction direction so as to contract the bellows (6); a solenoid valve (7) for switching the pressure inside the bellows (6) to be the same as or different from the pressure inside the vacuum chamber (33); When the suction-type work robot (31) performs work, the solenoid valve (7) is switched to draw air into the bellows (6) in the vacuum chamber (33) under negative pressure, changing the state from contracted to extended, and the working device (3) is maintained in a state protruding toward the wall surface (w).

[0011] The link mechanism (5) A first arm (8) and a second arm (9) are rotatably connected at their respective intermediate positions in a substantially X-shape, one end of the first arm (8) is rotatably attached to a predetermined position of the body attachment member (2), and the other end of the first arm (8) is slidably attached to one surface of the holding member (4), Two sets of pantograph mechanisms are used, each of which has one end of the second arm (9) rotatably attached to a predetermined position on the holding member (4) and the other end of the second arm (9) slidably attached to one surface of the main body mounting member (2).

[0012] The retraction member (10) that contracts the bellows (6) is a spring attached inside the bellows (6).

[0013] The method for displacing a working device of the present invention comprises a vacuum chamber (33) having an opening (32) on one side thereof, and an exhaust pump (34) provided in the vacuum chamber (33) for creating a negative pressure inside the vacuum chamber (33), and is a method for displacing a working device disposed in the vacuum chamber (33) of an adhesion-type working robot (31) that works while adhering to a wall surface (w), and comprises: a link mechanism (5) for moving the body mounting member (2) and a holding member (4) for holding the working device (3) closer to or farther apart from each other; a bellows (6) attached at both ends in the expansion / contraction direction between the body mounting member (2) and the holding member (4); pull-back members (10) attached at both ends in the expansion / contraction direction of the bellows (6) for contracting the bellows (6); and a solenoid valve (7) for switching the pressure inside the bellows (6) to be the same as or different from the pressure inside the vacuum chamber (33), When the suction-type work robot (31) performs work, the solenoid valve (7) is switched, and air is drawn into the bellows (6) in the vacuum chamber (33) under negative pressure to create an atmospheric pressure state, causing the bellows (6) to be in an extended state, and the work device (3) is in a grounded state protruding toward the wall surface (w), thereby enabling non-destructive testing. Although no non-destructive testing is performed, when the suction-type work robot (31) is to be suctioned, the solenoid valve (7) is switched, the inside of the bellows (6) is also put into a negative pressure state inside the vacuum chamber (33) which is in a negative pressure state, and the bellows (6) is changed into a contracted state by the retraction member (10), so that the working device (3) is in a non-grounded state where it does not protrude toward the wall surface (w), and the suction-type work robot (31) is allowed to travel by suction. [Effects of the Invention]

[0014] When the suction-type work robot 31 is not in use, the working device displacement mechanism 1 of the present invention switches the solenoid valve 7 to allow air to flow in and out of the vacuum chamber 33 and the bellows 6, and by setting both to atmospheric pressure, the bellows 6 is contracted by the retraction member 10. As a result, the working device 3 attached to the holding member 4 is not grounded. Next, when the exhaust pump 34 of the suction-type work robot 31 is operated, the inside of the vacuum chamber 33 and the inside of the bellows 6 become negative pressure without switching the solenoid valve 7. Because the inside of the vacuum chamber 33 and the inside of the bellows 6 are at the same pressure, the contraction state of the bellows 6 caused by the retraction member 10 does not change, and the non-grounded state of the work device 3 attached to the holding member 4 does not change.

[0015] When the suction-type work robot (31) is to perform nondestructive testing or other work, the solenoid valve (7) is switched, the outside of the bellows (6) is kept in a negative pressure state, and air is introduced into the bellows (6) to create atmospheric pressure. This causes the bellows (6) to expand, pushing out the holding member (4) of the working device (3), causing the working device (3) to protrude toward the wall surface (w). As a result, the working device (3) comes into contact with the wall surface (w), allowing nondestructive testing to be performed.

[0016] After the non-destructive test or other work is completed, the solenoid valve 7 is switched to release the air from the bellows 6 and create a negative pressure inside the vacuum chamber 33, causing the bellows 6 to contract with the retraction member 10, returning the working device 3 to a non-grounded state. Once this state is reached, the suction-type working robot 31 can travel safely.

[0017] When the suction-type work robot (31) is moved to a flat, safe location and the exhaust pump (34) is stopped, the inside of the vacuum chamber (33) and the inside of the bellows (6) change from a negative pressure state to atmospheric pressure. Because the inside of the vacuum chamber (33) and the inside of the bellows (6) are at the same pressure, the contraction state of the bellows (6) caused by the retraction member (10) remains unchanged, and the non-grounded state of the working device (3) attached to the holding member (4) remains unchanged. As a result, when non-destructive testing or work is not being performed, the working device (3) attached to the holding member (4) does not protrude toward the wall surface (w) and is not in contact with the wall surface (w), so there is no problem with the working device (3) getting caught on protrusions on the surface of the structure, such as anchor bolts.

[0018] Furthermore, the working device displacement mechanism 1 of the present invention uses bellows 6 as a means for displacing the working device 3. Because the bellows 6 are filled with air, they function similarly to so-called "air suspension." Therefore, the bellows 6 also have the effect of cushioning the impact (irregularities on the wall surface w of the structure c) on the working device 3 during non-destructive testing. Thus, the working device displacement mechanism 1 of the present invention has both a displacement function (lifting function) for the working device 3 and a buffering function (vibration isolation function) for the working device 3. As a result, it also reduces impacts on the suction-type working robot 31, allowing the suction-type working robot 31 to travel safely in a suction-type manner.

[0019] The working device displacement mechanism (1) of the present invention displaces the working device (3) that performs non-destructive testing or other work, so the working device (3) held by the holding member (4) can be used for various tests or work such as electromagnetic wave radar (11) and elastic wave generators. Moreover, this contributes to cost reduction because no electrical energy is used for the displacement operation of the working device displacement mechanism 1. Furthermore, the working device displacement mechanism 1 has a simple configuration, which allows for weight reduction and contributes to reducing the electrical energy used for the suction-type working robot 31 to travel while suctioning. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a side view showing an adhesive-type working robot equipped with a working device displacement mechanism of the present invention. FIG. [Figure 2] 1 is a plan view showing an adhesive-type working robot equipped with a working device displacement mechanism of the present invention; [Figure 3] FIG. 2 is a side view showing the working device displacement mechanism of the present invention. [Figure 4] FIG. 2 is a front view showing the working device displacement mechanism of the present invention. [Figure 5] FIG. 2 is a plan view showing a working device displacement mechanism of the present invention. [Figure 6] FIG. 2 is an enlarged side view showing the inside of the bellows. [Figure 7] 1A, 1B, and 1C show an electromagnetic wave radar, which is an example of a working device that is raised and lowered by a working device displacement mechanism of the present invention, in which FIG. 1A is a side view, FIG. 1B is a front view, and FIG. 1C is a plan view. [Figure 8] 10 is a side view of the working device displacement mechanism showing a modified example of the pull-back member. FIG. [Figure 9] 1A and 1B are schematic explanatory diagrams illustrating the operation of the working device displacement mechanism of the present invention, where (a) is when an adhesive work robot is not used, (b) is when the adhesive work robot only moves but the working device is not used, and (c) is when the adhesive work robot moves by adsorption and the working device is used to perform non-destructive testing. [Figure 10] 5A to 5E are schematic explanatory diagrams illustrating the operation of the working device displacement mechanism of the present invention, where (d) shows a case in which the suction-type work robot is simply moved after non-destructive testing is completed, and (e) shows a case in which the suction-type work robot is not used. [Figure 11] FIG. 10 is an explanatory diagram showing a state in which a non-destructive test is being performed on a tunnel using an adhesive-type working robot equipped with the working device displacement mechanism of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0021] The present invention provides a working device displacement mechanism that includes a link mechanism that moves a main body attachment member attached inside a vacuum chamber of an adhesive working robot and a holding member that holds a working device used for non-destructive testing closer to or farther away from each other, a bellows attached between the main body attachment member and the holding member, a retraction member attached to contract the bellows, and a solenoid valve that switches the pressure inside the bellows to be the same as or different from the pressure inside the vacuum chamber. This working device displacement mechanism uses the differential pressure between the suction pressure (negative pressure) and atmospheric pressure when the adhesive working robot is traveling by suction to provide drive energy for the working device displacement mechanism, and prevents excessive pushing force (pushing load) from being generated on the working device. [Example]

[0022] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. <Overall configuration of suction-type work robot> Figure 1 is a side view of an adhesive-type work robot equipped with a working device displacement mechanism of the present invention, and Figure 2 is a plan view of an adhesive-type work robot equipped with a working device displacement mechanism of the present invention. The working device displacement mechanism 1 of the present invention is a device that is installed and operated inside an adhesive working robot 31. When an adhesive working robot 31 adheres to a wall surface w or travels while adhering to it, negative pressure is created inside the robot. The working device displacement mechanism 1 operates by making effective use of this negative pressure.

[0023] As shown, this suction-type working robot 31 is a test robot equipped with a vacuum chamber 33 having an opening 32 on one side (the bottom side in the plane of FIG. 1), an exhaust pump 34 that creates a negative pressure inside this vacuum chamber 33, and a traveling mechanism 35 such as wheels that travels along the wall surface w of a structure c. Inside this vacuum chamber 33, a working device 3 and the working device displacement mechanism 1 of the present invention are attached.

[0024] When the suction-type working robot 31 is used as a mobile working robot, two sets of traveling mechanisms 35 are attached in parallel. For example, the traveling mechanism 35 has a support member 37 with two wheels 36, and is attached to the side of the vacuum chamber 33 so that its center portion 37a can swing freely. In this way, by attaching the two sets of traveling mechanisms 35 to both sides of the vacuum chamber 33 so that they can swing freely, the robot can travel smoothly even on a wall surface w with small irregularities.

[0025] The exhaust pump 34 of the suction-type work robot 31 is attached, for example, to the periphery of the vacuum chamber 33. The exhaust pump 34 consists of a fan and a drive motor. The drive motor of the exhaust pump 34 is powered externally. For example, a sealing skirt 38 made up of multiple segments that are individually arranged to protrude and retract in the direction of the wall surface w is attached to the periphery of the opening 32 of the vacuum chamber 33 in order to improve the airtightness.

[0026] The working device displacement mechanism 1 of the present invention is incorporated into a space that is under negative pressure and can be switched between atmospheric and negative pressure conditions, formed between the vacuum chamber 33 of the suction-type working robot 31 and the wall surface w. The working device displacement mechanism 1 is incorporated into this space. The configuration of the suction-type working robot 31 shown in Figures 1 and 2 is merely an example, and it goes without saying that the robot is not limited to this configuration.

[0027] <Configuration of the working device displacement mechanism> Figure 3 is a side view showing the working device displacement mechanism of the present invention, Figure 4 is a front view showing the working device displacement mechanism of the present invention, and Figure 5 is a plan view showing the working device displacement mechanism of the present invention. The working device displacement mechanism 1 of the present invention is mounted within a vacuum chamber 33 formed on a suction-type working robot 31. The working device displacement mechanism 1 includes a main body mounting member 2 and a link mechanism 5 that moves the main body mounting member 2 toward or away from a holding member 4 that holds a working device 3 used for nondestructive testing. The means for moving the main body mounting member 2 toward or away from the holding member 4 is the expansion and contraction of a bellows 6 mounted between them. The bellows 6 is equipped with a solenoid valve 7 that switches the internal pressure between the bellows 6 and the vacuum chamber 33. While the bellows 6 refers to a so-called bellows, the present invention is not limited to a bellows configuration, as long as it takes in air to expand and expels air to contract. Various mechanisms, such as a simple bag-shaped member or a combination of a piston and a cylinder, can be used. However, a mechanism that contributes to weight reduction is preferred.

[0028] The vacuum chamber 33 is a space for storing the working device 3 in the suction-type working robot 31. Furthermore, this vacuum chamber 33 needs to be large enough to store the working device 3 and the working device displacement mechanism 1 in its fully extended state.

[0029] The main body mounting member 2 of the working device displacement mechanism 1 is attached to this vacuum chamber 33. This main body mounting member 2 is, for example, a plate material with a plurality of bolt through holes drilled therein. Bolts are fastened through these bolt through holes to bolt holes provided on the vacuum chamber 33 side. The main body mounting member 2 is not limited to being fastened to a plate material with bolts, as long as it is configured to be attached to the suction-type work robot 31 side.

[0030] A holding member 4 is attached to the main body mounting member 2 by a link mechanism 5 so that it can easily approach or move away. This holding member 4 is a member that holds a working device 3 that performs non-destructive testing. This holding member 4 is made up of a first frame member 4a, which is a plate material with two tongues that securely holds the rectangular parallelepiped-shaped working device 3 (described later) on both sides, and a second frame member 4b that swingably supports the tongue portions of the first frame member 4a and sandwiches them on both sides, and is attached to the bellows 6 side. The first frame member 4a is swingably supported so that it can travel along an uneven wall surface w during non-destructive testing. Note that the illustrated example of this holding member 4 is literally just one example, and it goes without saying that it can have various shapes to suit the shape of the working device 3.

[0031] The link mechanism 5 is a mechanism for shortening or increasing the distance between the main body mounting member 2 and the holding member 4. For example, as shown in the figure, a first arm 8 and a second arm 9 are rotatably connected at their midpoints in a generally X-shape, with one end of the first arm 8 rotatably attached to a predetermined position on the main body mounting member 2 and the other end of the first arm 8 slidably attached on one surface of the holding member 4. Two sets of pantograph mechanisms are used, each of which has one end of the second arm 9 rotatably attached to a predetermined position on the holding member 4 and the other end of the second arm 9 slidably attached on one surface of the main body mounting member 2. Note that the terms first arm and second arm are used here to distinguish between members of the same shape, and do not mean that they have different grades or qualities.

[0032] The link mechanism 5 is not limited to the configuration of the link mechanism shown in the example, as long as it is a mechanism that moves the distance between the main body attachment member 2 and the holding member 4 closer to or farther from each other. For example, although not shown, it may be configured such that the holding member 4 slides on several rails attached perpendicularly to the surface of the main body attachment member 2 via engaging members provided at several locations around the periphery of the holding member 4.

[0033] Both ends of the bellows 6 in the expansion / contraction direction are attached between the main body attachment member 2 and the holding member 4. When the bellows 6 is filled with air, the bellows 6 expands, increasing the distance between the main body attachment member 2 and the holding member 4. Conversely, when the air inside the bellows 6 is released, the bellows 6 contracts, decreasing the distance between the main body attachment member 2 and the holding member 4. The pressure inside the bellows 6 can be adjusted to be the same as or different from the pressure inside the vacuum chamber 33 by a solenoid valve 7, such as a three-way solenoid valve. The solenoid valve 7 is attached inside the vacuum chamber 33 to adjust the air pressure inside the vacuum chamber 33 and the air pressure inside the bellows 6. The solenoid valve 7 and the bellows 6, and the solenoid valve 7 and the vacuum chamber 33, are connected by pipes 7a and 7b, respectively. Although the solenoid valve 7 in the illustrated example is a three-way solenoid valve, it is not limited to this three-way solenoid valve.

[0034] FIG. 6 is an enlarged side view showing the inside of the bellows. Furthermore, a spring, for example, is attached as a retraction member 10 between the main body attachment member 2 and the holding member 4. The retraction member 10 contracts the bellows 6, bringing the holding member 4 closer to the main body attachment member 2. When the working device 3 is not in use, the holding member 4 that holds the working device 3 must be stored inside the vacuum chamber 33 of the suction-type working robot 31. This retraction member 10 must have enough strength to pull up the working device 3, for example, approximately 1.5 kgw. Note that an elastic member such as rubber can be used instead of the spring. The bellows 6, which functions as this actuator, has an expansion and contraction stroke of about 30 mm, which is a sufficient distance for the inspection unit of the working device 3 to move closer to or farther away from the wall surface w of the structure c, etc. However, it goes without saying that this expansion and contraction stroke is not limited to 30 mm.

[0035] The solenoid valve 7 can be operated via wireless communication, and is installed for the purpose of switching the pressure inside the bellows 6 to be the same as or different from the pressure inside the vacuum chamber 33. The difference between the pressure inside the bellows 6 and the pressure inside the vacuum chamber 33 causes the bellows 6 to expand and contract. When the bellows 6 expands, the holding member 4 moves away from the main body mounting member 2, and the working device 3 attached to the holding member 4 comes into contact with the structure c. When the bellows 6 is contracted via wireless communication, the holding member 4 moves closer to the main body mounting member 2, and the working device 3 on the holding member 4 comes into a non-contact state with the structure c. Along with remote control of the suction-type work robot 31, the working device 3 can be remotely controlled to be grounded or not grounded.

[0036] <Configuration of the work device (electromagnetic wave radar)> FIG. 7 shows an electromagnetic wave radar, which is an example of a working device displaced by the working device displacement mechanism of the present invention, where (a) is a side view, (b) is a front view, and (c) is a plan view. The working device 3 held by the holding member 4 is, for example, an electromagnetic wave radar 11. The electromagnetic wave radar 11 shown in the figure is used for testing using the electromagnetic wave radar method. In the electromagnetic wave radar method, electromagnetic waves are emitted from a transmitting antenna (transmitter) toward the concrete surface of a structure c, and the electromagnetic waves are reflected by the boundary between the concrete and a material with different electrical properties, such as rebar or a cavity, and then emerge again on the concrete surface and are received by a receiving antenna (receiver). The distance to the reflecting object can be determined from the time taken from transmission to reception. Planar position is a testing method in which position information can be obtained by moving a device with a built-in rangefinder.

[0037] The working device 3 used in the working device displacement mechanism 1 of the present invention is used for marking defective areas (deformed areas), repairing those areas, and other tasks. It is also possible to use an electromagnetic wave radar 11 as a testing device. Use as a testing device is not limited to the electromagnetic wave radar 11. For example, an elastic wave generator can be installed as testing equipment for conducting non-destructive testing. This elastic wave generator is used in an impact elastic wave testing method. In this impact elastic wave testing method, an impact elastic wave (sound) is generated when the surface of a structure is lightly struck with a hammer. The impact elastic wave (sound) travels within the structure and bounces off the boundary surface. This testing method measures and analyzes the reflected waves to confirm the compressive strength, thickness, internal defects (cracks, peeling), etc. of the structure.

[0038] <Modification of the pull-back member> FIG. 8 is a side view of the working device displacement mechanism showing a modified example of the pull-back member. The retraction member 10 contracts the bellows 6, bringing the holding member 4 closer to the main body attachment member 2. The retraction member 10 does not need to be attached to the inside of the bellows 6 as long as it can maintain the length of the contracted bellows 6. It can also be placed outside the bellows 6, as in the modified example shown in the figure. However, if only one retraction member is placed between the main body attachment member 2 and the holding member 4, there is a risk of the retraction force being uneven. Therefore, it is preferable to attach two retraction members 10 in opposing positions, as shown in the figure. Furthermore, it is preferable to use a retraction member with a tensile strength weaker than that of a single retraction member 10.

[0039] <Operation of the work device displacement mechanism> Fig. 9 is a schematic diagram illustrating the operation of the working device displacement mechanism of the present invention, where (a) shows a case where an adhesive-type working robot is not used, (b) shows a case where the adhesive-type working robot is only used to move without using the working device, and (c) shows a case where the adhesive-type working robot is used to move while adhering to the work device to perform non-destructive testing. Fig. 10 is a schematic diagram illustrating the operation of the working device displacement mechanism of the present invention, where (d) shows a case where the adhesive-type working robot is simply moved after non-destructive testing is completed, and (e) shows a case where the adhesive-type working robot is not used. Fig. 11 is an explanatory diagram showing the state where a non-destructive testing is being performed on a tunnel using an adhesive-type testing robot equipped with the working device displacement mechanism of the present invention. (1) When not using a suction-type work robot As shown in Figure 9(a), when suction-type work robot 31 is not in use, solenoid valve 7 is switched to allow air to flow in and out of vacuum chamber 33 and bellows 6, both of which are at atmospheric pressure, causing bellows 6 to contract due to retraction member 10. This causes working device 3 attached to holding member 4 to become non-grounded. In each of the illustrated examples, in order to make it easier to understand the displacement of the working device 3, the link mechanism 5 and bellows 6 are shown in an extremely retracted state in the non-grounding state.

[0040] (2) When the suction-type work robot simply moves by suction (activating the exhaust pump) As shown in Figure 9(b), when the suction-type work robot 31 is simply moving by suction, operating the exhaust pump 34 of the suction-type work robot 31 places the inside of the vacuum chamber 33 and the inside of the bellows 6 in a negative pressure state, without switching the solenoid valve 7. Because the inside of the vacuum chamber 33 and the inside of the bellows 6 are at the same pressure, the contracted state of the bellows 6 by the retraction member 10 does not change, and the non-grounded state of the working device 3 attached to the holding member 4 does not change. This allows the working device 3 to move by suction while remaining in a non-grounded state. Therefore, problems such as the working device 3 getting caught on protrusions on the surface of the structure c, such as anchor bolts, do not occur.

[0041] (3) When using a work device while a suction-type work robot is moving to perform non-destructive testing. As shown in Figures 9(c) and 11, when the suction-type working robot 31 performs non-destructive testing, the solenoid valve 7 is switched, the outside of the bellows 6 remains in a negative pressure state, and air is introduced into the inside of the bellows 6 to create atmospheric pressure. This causes the bellows 6 to expand, pushing out the holding member 4 of the working device 3, causing the working device 3 to protrude toward the wall surface w. As a result, the working device 3 comes into contact with the wall surface w, allowing non-destructive testing to be performed.

[0042] (4) After the non-destructive test is completed, the suction-type work robot is returned to flat ground. 10(d), once the non-destructive testing is complete, the solenoid valve 7 is switched to discharge the air from the bellows 6 and create a negative pressure together with the inside of the vacuum chamber 33, in order to return the working device 3 to a non-grounded state. When this state is reached, the bellows 6 is contracted by the retraction member 10, and the working device 3 returns to a non-grounded state. Once this state is reached, the suction-type working robot 31 can travel safely.

[0043] (5) When the suction-type work robot is returned to flat ground As shown in Figure 10(e), if the suction-type working robot 31 is moved to a flat, safe location and the exhaust pump 34 is stopped, the inside of the vacuum chamber 33 and the inside of the bellows 6 will change from a negative pressure state to atmospheric pressure. Because the inside of the vacuum chamber 33 and the inside of the bellows 6 are at the same pressure, the state of contraction of the bellows 6 by the retraction member 10 will not change, and the non-grounded state of the working device 3 attached to the holding member 4 will not change. In such a flat, safe location, the suction-type working robot 31 can of course be driven by the traveling mechanism 35 in the normal manner.

[0044] Furthermore, because the working device displacement mechanism 1 of the present invention uses bellows 6 as the displacement means, excessive pressing force (pressing load) is not generated on the working device 3. This allows the working device 3 to flexibly contact the wall surface w. Because the interior of this bellows 6 is filled with air, it functions similarly to so-called "air suspension." Therefore, the bellows 6 has the effect of mitigating the impact on the working device 3 (irregularities on the wall surface w of the structure c) during non-destructive testing.

[0045] In this way, the working device displacement mechanism 1 of the present invention has both a displacement function (lifting function) for the working device 3 and a buffer function (vibration isolation function) for this working device 3, so it also reduces the impact that occurs on the adhesive-type working robot 31, allowing the adhesive-type working robot 31 to travel safely in an adhesive manner.

[0046] Furthermore, the present invention is not limited to the above-described embodiment of the invention, and of course can be modified in various ways without departing from the spirit of the present invention, as long as the difference between the suction pressure and atmospheric pressure when the suction-type working robot 31 is moving by suction provides the driving energy for the working device displacement mechanism 1, thereby preventing the generation of excessive pressing force (pressing load) on the working device 3 and requiring no additional power, and allowing the working device displacement mechanism 1 to be simplified in configuration and reduced in weight. [Industrial Applicability]

[0047] The working device displacement mechanism and displacement method of the present invention are not limited to use on the wall surfaces of high-altitude structures such as highways and bridge girders, but can also be used to adsorb inspection devices and working devices to the wall surfaces of structures when inspecting and repairing other damage. [Explanation of symbols]

[0048] 1. Work device displacement mechanism 2 Main body mounting material 3 Work equipment 4 Retaining member 5 Link mechanism 6 Bellows 7. Solenoid valve 8. First Arm 9 Second Arm 10. Retraction member 11 Electromagnetic Wave Radar 31 Adsorption type work robot 32 Opening 33 Vacuum Chamber 34 Exhaust pump 35 Running mechanism 36 wheels 37 Support member 37a Center of support member 38 Sealing Skirt c structure w wall

Claims

1. A working device displacement mechanism (1) is provided in the vacuum chamber (33) of an adsorption-type working robot (31) that works while adsorbing to a wall surface (w), the working device displacement mechanism (1) comprising: a vacuum chamber (33) having an opening (32) on one side; and an exhaust pump (34) provided in the vacuum chamber (33) that creates a negative pressure inside the vacuum chamber (33), the working device displacement mechanism (1) being disposed in the vacuum chamber (33) of the adsorption-type working robot (31) that works while adsorbing to a wall surface (w), a body mounting member (2) mounted in the vacuum chamber (33); a link mechanism (5) for moving the main body mounting member (2) and a holding member (4) for holding the working device (3) closer to or farther from each other; a bellows (6) having both ends in the expansion and contraction direction attached between the body attachment member (2) and the holding member (4); A pull-back member (10) attached to both ends of the bellows (6) in the expansion / contraction direction so as to contract the bellows (6); and an electromagnetic valve (7) for switching the pressure inside the bellows (6) to be the same as or different from the pressure inside the vacuum chamber (33), When the suction-type work robot (31) performs work, the solenoid valve (7) is switched to draw air into the bellows (6) in the vacuum chamber (33) under negative pressure, changing the state from a contracted state to an extended state, thereby maintaining the working device (3) protruding toward the wall surface (w).

2. The link mechanism (5) A first arm (8) and a second arm (9) are rotatably connected at their respective intermediate positions in a substantially X-shape, one end of the first arm (8) is rotatably attached to a predetermined position of the body attachment member (2), and the other end of the first arm (8) is slidably attached to one surface of the holding member (4), 2. The working device displacement mechanism according to claim 1, wherein two sets of pantograph mechanisms are used, each of which has one end of the second arm (9) rotatably attached to a predetermined position of the holding member (4) and the other end of the second arm (9) slidably attached to one surface of the main body mounting member (2).

3. 3. The working device displacement mechanism according to claim 1, wherein the retracting member (10) for contracting the bellows (6) is a spring attached inside the bellows (6).

4. A method for displacing a working device disposed in a vacuum chamber (33) of an adhesive-type working robot (31) that works while adhering to a wall surface (w), the method comprising: a vacuum chamber (33) having an opening (32) on one side; and an exhaust pump (34) provided in the vacuum chamber (33) that creates a negative pressure inside the vacuum chamber (33), the working device comprising: a link mechanism (5) for moving the body attachment member (2) and a holding member (4) for holding the working device (3) closer to or farther apart from each other; a bellows (6) attached at both ends in the expansion / contraction direction between the body attachment member (2) and the holding member (4); pull-back members (10) attached at both ends in the expansion / contraction direction of the bellows (6) for contracting the bellows (6); and a solenoid valve (7) for switching the pressure inside the bellows (6) to be the same as or different from the pressure inside the vacuum chamber (33), When the suction-type work robot (31) performs work, the solenoid valve (7) is switched, and air is drawn into the bellows (6) in the vacuum chamber (33) under negative pressure to create an atmospheric pressure state, and the bellows (6) is extended, so that the work device (3) projects toward the wall surface (w) and is in a grounded state, thereby enabling non-destructive testing. A method for displacing a working device, in which no non-destructive testing is performed, but when the suction-type working robot (31) is to be suctioned, the solenoid valve (7) is switched, the inside of the bellows (6) is also put into a negative pressure state inside the vacuum chamber (33) which is in a negative pressure state, the bellows (6) is changed into a contracted state by the pull-back member (10), the working device (3) is put into a non-grounded state where it does not protrude toward the wall surface (w), and the suction-type working robot (31) is allowed to travel by suction.

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