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概要

We considered painting of the inner wall of the containment vessel of the reactor and maintenance of the welded part are important. Therefore, we are developing a wall running robot which can paint walls and maintain welded parts even at elevated places. A magnet was used as a tire to make it an adsorption mechanism and a follower. A mechanism that does not use magnets is used for the drive wheels. In the conventional wall motion robot, it was impossible to overcome corner steps. Also, although forward and backward directions are possible, we could not move the robot to rotate. In order to solve these problems, we chose a buffer casters for the magnet rings and tried to improve running performance. We made a prototype machine and conducted a running experiment to overcome the step. It was possible to overcome the step, to make it possible to rotate, and to improve the running performance from last time. In the future, we will install cameras and ultrasonic flaw detectors in prototype and verify the possibility of maintenance.

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