| 摘要 |
PROBLEM TO BE SOLVED: To provide a technique capable of effectively utilizing a cable rack as movement means for inspection or the like without being affected by an obstacle around the cable rack and change in shape of the cable rack.SOLUTION: A self-propelled robot 1 is configured by coupling plural travel units 10 with parallel links 17 so that the travel units can move individually. Each of the travel units 10 is provided, on a side surface thereof, with a travel driving wheel 13 and a driven holding wheel 14 capable of holding and releasing a beam frame member 101 on one side of a cable rack 100 and a situation sensor 15. When the situation sensor 15 detects an obstacle A or a rack width difference part B, the travel driving wheel 13 and the like of each travel unit 10 passing through the obstacle A or the rack width different part B can release the beam frame member and return, and each travel unit 10 can separate from the cable rack 100 with the parallel links 17 and return. Consequently, the cable rack can be effectively utilized as movement means for inspection or the like without being affected by the obstacle A around the cable rack 100 and change in shape of the rack width different part B. |
