| 摘要 |
PROBLEM TO BE SOLVED: To automatically perform removal of paint burr at a pipe end and painting for repair. SOLUTION: This finishing device for an end face of a cast iron pipe consists of a machining base 3 on which the cast iron pipe 2 is loaded, a robot arm 4 arranged at a pipe end 2a position of the machining base 3 and capable of changing its attitude in three-dimension direction, a branch arm 14 extending from a tip of the robot arm 4, a pipe end position detection sensor 5 of the cast iron pipe and a grinding device 6 attached to respective tips of the branch arm 14, and a painting device 7.
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