| 摘要 |
PURPOSE:To obtain a clear image with a significant reduction in shake with hands at a tip vision section and external vibration, by fixing a long-sized inspection equipment on an object while being made free to slide and rotate or to lock with respect to rods to relieve a worker of a great load burden imposed in holding and operating it. CONSTITUTION:First, rods 51 and 52 are fixed to a desired length with a collet couple 53. A joint 60 has three joint parts theta1-theta3 which are so arranged at the tip of the rod 52 to turn about three axes orthogonal to one another. A motor for the joint 60 is rotated to turn the joint part theta1 roughly at a set angle. There after, the joint parts theta2 and theta3 are also set roughly likewise. Then, keeping an air bag 49 expanded, a bottom part of the rod 51 is held and moved so that a ground unit section 40 gets in contact with an inspecting position and an adsorbing part 41 is turned ON. A button of a control panel 89 is operated to finely adjust and drive the joint parts theta1, theta2 and theta3 with the motor viewing an image from a TV camera 71 with a monitor receiver 81 to inspect desired points. |
