Tire-type pipe inspection robot and tube inspection apparatus using the same

摘要

The present invention can also be traveling on a flat road yen conduit, an excellent possible versatility may correspond to the conduit of different cross-sectional shapes, without falling into non traveling bite foreign matter, running stability gender, the provision of tire type pipe inspection robot with excellent mobility. A pair of tire holding section from the bottom toward the both outer downwardly disposed shaped leaf frame and, circular conduit bottom surface portion in contact with the wall of the pipe during traveling of the arc-shaped tube contact portion Multiple tires are disposed to face the inner surface of the tire holding portion of each having a flat road contact portion of the ground during the travel of the inner flat road is formed on the peripheral portion of the continuously in circular pipe contact portion and a pair of tires column was, and built several tires and a pair of drive motor for driving all the wheels on the left and right tires column unit, the frame having a traveling direction of the front side lens disposed at the distal end of the frame and a camera, a storage unit for storing an image captured by the built-in camera on the frame, a lighting unit disposed in the frame illuminate the forward direction side. .BACKGROUND