| 摘要 |
PURPOSE:To make efficient repairing operations performable, by moving a repairing grinder so as to follow flaws on an inner surface of a pipe in a nonrotational state, while storing the position information at that time as moving control information at the time of repairing operations, in case of repairs for these flaws in the pipe inner. CONSTITUTION:When repairing a pipe P being subjected to a paint mark on a flawed part at an inspection process, an operator operates an operation shaft 40a so as to situate a grinder 20a being in a nonrotational state in a flawed position taken in picture by a TV camera of a repairing device body 20 and displayed on a monitor 30. And, the repairing device body 20 is moved so as to surround the flaw inside the pipe, and the moving route is stored in a mem ory of an operational control unit 20b. On the basis of this stored information, the repairing grinder 20a is made to follow the flaw inside the pipe inner surface in a nonrotational state, and pressing force of the grinder 20a is controlled in addition. Thus, dispensing with any operation for 3-dimensional operation during repairing work, so that efficient repairing operations are performable. |
