| 摘要 |
PURPOSE:To enable the simple execution of an operation of transfer of an apparatus for operation, by a construction wherein an accommodating element is fitted to a manipulator for operation, the apparatus for operation is accommodated therein, and the position of the accommodating element and the position in the axial direction of a piping are detected by a position detecting element. CONSTITUTION:A connecting block 21 of a transfer apparatus 10 for operation outside a pipe is connected to a manipulator for operation, a support 23 is fitted to the connecting block 21 through the intermediary of a shock absorbing spring 22, and an accommodating element 20 is fitted to the support 23. The accommodating element 20 accommodates a tractor for running outside the pipe and an ultrasonic flaw detector as apparatuses B and D for operation, which are connected by a link C, and a holding-opening element 30 holds or opens the apparatus B and D, while a position detecting element 40 detects a position of approach or separation of the accommodating element 20 to or form a piping and also detects the position in the axial direction of the piping and outputs a position modification signal to the manipulator. According to this constitution, the apparatus B and D can be transferred simply onto the piping. |
