| 摘要 |
PURPOSE:To miniaturize and lighten a robot even in the case of applying same to the in-pipe work of a large diameter pipe by moving an arm in a direction perpendicular to a rotary shaft in accordance with the rotation angle of a rotary body which is rotated around the shaft parallel to a pipe axis and making a work device on its end freely movable in a pipe. CONSTITUTION:A control device which controls motors 27, 40, 41 so that each rotary body 24 is interlocked with each arm 30, 31 is provided in each robot and controls the moving quantity of each arm 30, 31 in accordance with the rotation angle of each rotary body 24. Thereby, various work devices on the end portions of the arms 30, 31 can be moved in the inner peripheral direction along a pipe inner wall to carry out required operations. Work devices which are out of service are controlled to be kept from interfering with the pipe inner wall. By thus controlling the rotary bodies 24 and arms 30, 31, even through the rotary bodies 24, i.e., the rotary shafts of the arms 30, 31 are separated downward from a pipe axis C, the various work devices on the end portions of the arms 30, 31 can sweep all over the inside of the pipe, enabling an operation with a small-size light-weight robot even for a large diameter pipe. |
