Abstract: A mobile robot 1 having a plurality of kinds of moving forms includes a body unit 11 having a front face and a back face, four limb units 12 having a plurality of limb-side drive shafts, and front end tools 13 provided on a front end side of the limb units 12. A base end side of the limb unit 12 is connected to the body unit 11. The four limb units 12 are the same units. The body unit 11 and the four limb units 12 are movable by switching a front face side and a back face side so that a moving operation of the front face side and a moving operation of the back face side are symmetrical across the center of a thickness direction of the body unit 11.

Abstract: A mobile robot 1 having a plurality of kinds of moving forms includes a body unit 11 having a front face and a back face, four limb units 12 having a plurality of limb-side drive shafts, and front end tools 13 provided on a front end side of the limb units 12. A base end side of the limb unit 12 is connected to the body unit 11. The four limb units 12 are the same units. The body unit 11 and the four limb units 12 are movable by switching a front face side and a back face side so that a moving operation of the front face side and a moving operation of the back face side are symmetrical across the center of a thickness direction of the body unit 11.

Abstract: A mobile robot 1 having a plurality of kinds of moving forms includes a body unit 11 having a front face and a back face, four limb units 12 having a plurality of limb-side drive shafts, and front end tools 13 provided on a front end side of the limb units 12. A base end side of the limb unit 12 is connected to the body unit 11. The four limb units 12 are the same units. The body unit 11 and the four limb units 12 are movable by switching a front face side and a back face side so that a moving operation of the front face side and a moving operation of the back face side are symmetrical across the center of a thickness direction of the body unit 11.

Abstract: A mobile robot 1 having a plurality of kinds of moving forms includes a body unit 11 having a front face and a back face, four limb units 12 having a plurality of limb-side drive shafts, and front end tools 13 provided on a front end side of the limb units 12. A base end side of the limb unit 12 is connected to the body unit 11. The four limb units 12 are the same units. The body unit 11 and the four limb units 12 are movable by switching a front face side and a back face side so that a moving operation of the front face side and a moving operation of the back face side are symmetrical across the center of a thickness direction of the body unit 11.

Abstract: Provided is a tail cylinder attaching and detaching fixture that attaches and detaches a tail cylinder to and from a casing, the tail cylinder being included in a combustor inserted into the casing so that the front end is connected to an inlet portion of a combustion gas passageway, the tail cylinder attaching and detaching fixture including: a guide portion of which the front end is disposed inside the casing and the front end and the base end are respectively supported by the casing and which supports the tail cylinder so as to be movable in the axial direction of the combustor; and an advancing and retracting mechanism that advances and retracts the tail cylinder in the axial direction.

Abstract: A film thickness measurement apparatus includes: an ECT sensor for measuring a film thickness of a thermal barrier coating formed on a turbine blade; a storage unit for storing a measurement point on the turbine blade which is a point where the film thickness of the thermal barrier coating is measured; a laser displacement meter for measuring a shape of the turbine blade; a measurement position calculation unit for calculating an actual measurement point suitable for actual film thickness measurement using the ECT sensor, based on the shape of the turbine blade measured by the laser displacement meter and the measurement point on the turbine blade stored in the storage unit; and an arm drive unit for driving the ECT sensor to adjust a measurement position of the ECT sensor based on the actual measurement point calculated by the measurement position calculation unit.

Abstract: A film thickness measurement apparatus includes: an ECT sensor for measuring a film thickness of a thermal barrier coating formed on a turbine blade; a storage unit for storing a measurement point on the turbine blade which is a point where the film thickness of the thermal barrier coating is measured; a laser displacement meter for measuring a shape of the turbine blade; a measurement position calculation unit for calculating an actual measurement point suitable for actual film thickness measurement using the ECT sensor, based on the shape of the turbine blade measured by the laser displacement meter and the measurement point on the turbine blade stored in the storage unit; and an arm drive unit for driving the ECT sensor to adjust a measurement position of the ECT sensor based on the actual measurement point calculated by the measurement position calculation unit.

Abstract: Provided is a tail cylinder attaching and detaching fixture that attaches and detaches a tail cylinder to and from a casing, the tail cylinder being included in a combustor inserted into the casing so that the front end is connected to an inlet portion of a combustion gas passageway, the tail cylinder attaching and detaching fixture including: a guide portion of which the front end is disposed inside the casing and the front end and the base end are respectively supported by the casing and which supports the tail cylinder so as to be movable in the axial direction of the combustor; and an advancing and retracting mechanism that advances and retracts the tail cylinder in the axial direction.