| 摘要 |
PURPOSE:To avoid a problem, caused by cable dragging, by connecting a plurality of relay carriages, which hold the compound cable connected to a robot main unit, successively to the rear parts of 2 robot main unit through connecting devices. CONSTITUTION:For cleaning the inside of a pipe 2, a relay carriage 8, stored in a stocker 11, is taken out to the upper of a conveyer 13 with a suitable means by a command from a control panel 7, and the conveyer 13 is lifted by a lifter 12 with the carriage 8 loaded on this conveyer. Further the conveyer 13 is lifted with the carriage 8, and a compound cable 5 is hold-supported by a supporting tool 10 of the carriage 8. Then, when the conveyer 13 is driven by a conveyer driving motor 14, the carriage 8 on the conveyer is moved to the front and connected to a leading robot main unit 1 or the carriage 8 through a connecting tool 9 and the main unit 1 and the carriage 8 are advanced by moving the carriage 8 on the conveyer. Thus the carriages 8 in the stocker 11 are fed out successively so that the main unit 1 may advance in the pipe 2, and during this time, the main unit 1 is actuated by a control signal to perform cleaning. |
