Drive module of autonomous pipe inspection vehicle used for non-destructive testing of gas or other mains supply pipes

摘要

The drive module (100) moves the endo-tubular vehicle along the pipe axis. It has a motor (135) driving wheels (160), which contact the internal pipe wall. At least a pair of driven wheels are supported by arms (113), opposed to the pipe axis. The arms are forced apart elastically (165), applying the wheels to the pipe walls. The module transmission system may be formed by moving belts (162), and the wheels are formed by a number of separate discs (151). The motor axis (170) may be the same as the pipe, a motor conical pinion (103) meshing with two others (104), carried on arms (130), perpendicular to motor axis. These pinions drive the belts (162), thus driving a pinion (127) on the wheel axle (150).