| 摘要 |
PROBLEM TO BE SOLVED: To suppress influence of noise entering a sensor so as to provide accurate information about a flaw and a crack on the outside of a tube at a low cost by forming an annular dummy lead wire parallelly to sensor wiring formed into an annular shape through respective robots. SOLUTION: In a dummy sensor, a dummy lead wire 9 is arranged annularly and parallelly to an annularly arranged wire of a sensor 3, that is, a transmission system line. The dummy lead wire 9 is formed of a single conducting wire made of the same material as wires 3c, 3d in the sensor 3 as a whole and is constructed similarly to wiring in all the slave robots, that is, wiring 3d1 in a sensor 3b of a slave machine 1b. When a robot is connected annularly, the dummy lead wire 9 is connected to a female connector 4a for the adjacent slave machine 1b via a male connector 4b for a master machine 1 from a terminal of a transmission system main body 2a as a starting point. This is repeated, and the dummy lead wire 9 passes through the respective robots 1 and passes around the outside of a tube annularly so as to return to the right terminal of the system main body 2a.
|
