| 摘要 |
PURPOSE:To make it possible to perform automatic SUMP (Suzuki's universal micro- printing) work in a risky places, by sequentially extending and controlling mamipulating arms by a remote control device, and contacting the SUMP checking devices at the tip of the arms with checking points or bringing them close to the checking points in order to perform checking. CONSTITUTION:An SUMP checking part 1 and a monitoring part 2 are inserted into the inner wall part of a pipe 3. Monitoring is performed by a monitoring TV15 through a lamp 2a and a camera 2b provided at one end of the monitoring part. Said parts 1 and 2 are moved by an electrically driven winch 12 and stopped at a specified position in the pipe 3. Thereafter, a motor is rotated by the command of a control device 13, and a rotary drum is stopped when a polishing arm 21 reaches the check point. Then, an air cylinder in the arm 21 is extended and contracted and the grinding stone at the tip of the arm is contacted with the checking point to grind it. Each arm of a manipulating part 20 is monitored by the TV15 and sequentially manipulated by the same way, and the SUMP checking work is finished. Thereafter the monitoring part 2 and the checking part 1 are extracted to the outside of the pipe 3, and the replica which is transferred to film is taken out and observed by an optical microscope and the like. |
