大型ボイラ内壁を検査するロボットシステムの開発

―上下移動機構と試作点検台車の統合による点検システムについての報告―

抄録

In this paper, we report on an inspection system integrating vertically moving winches and a prototype inspection carrier in the development of the robot system that inspects the inner wall of a large boiler for power generation. We develop a mechanism that can raise and lower while maintaining the horizontal level of an inspection carrier using two vertically moving winches and integrate them with an inspection carrier. We will install inspection equipment on the inspection carrier for inspection operation and construct an inspection system. And we are planning experiments using a large imitation wall to evaluate the performance of the prototype inspection system we developed, and from now on we will confirm the behavior of an inspection carrier and identify problems.