| 摘要 |
PURPOSE:To insert/draw back the body part of a long multi-joint robot having discontinuous structure easily and to house the robot compactly while winding and to guide the forward end part of the robot body while switching simply between the inspection machine introduction hole side and the inspection cask side in a limited space. CONSTITUTION:The robot insertion/draw back unit comprises a winding drum mechanism 1 disposed in a casing 4, an insertion/draw back mechanism, and a curved pipe guide mechanism 3 with a direction converting mechanism. The winding drum mechanism 1 comprises a drum for housing the body part 8 of a long multijoint robot while winding spirally, a mechanism interlocked with the rotation of the winding drum to move the drum axially by an amount corresponding to the winding pitch, a conveyor chain for handling the cables moving in the axial direction of the drum, and a conveyor belt for handling the cables on the rotary side of the drum. The insertion/draw back mechanism further comprises a unit for guiding the robot body part 8 through a freely rotatable pulley and feeding or drawing back the robot body part 8 by pressing by means of a belt drive feed mechanism, and a curved pipe guide pipe for guiding the robot body part 8 to an inspection machine introduction hole side or an inspection cask side while switching. |
