INSPECTING ROBOT SELF-RUNNING ON INNER SURFACE OF HYDRAULIC IRON PIPE

摘要

PURPOSE:To perform smooth and proper running within a hydraulic iron pipe installed vertically or at a steep gradient by providing a plurality of expandable arms, located to a sensor-mounted unit and radially protruded around a power device, and disposing an sucking crawler to the tip of the arm and connected to the power deivce therethrough. CONSTITUTION:An expandable arm 4 is pressed against the wall surface of a hydraulic iron pipe 1, the sucker of an sucking crawler 5 attached to the tip of the arm sucks on a wall surface, and a sensor-mounted unit 2 is held in a hydraulic iron pipe 1. By rotating the sucking crawler 5 at the tip of the arm by means of a power device 3, the sensor-mounted unit 2 is elevated within the hydraulic iron pipe 1. Information caught by various sensors mounted on the sensor-mounted unit is transmitted through a cable 6 to the outside of the pipe. A so formed inspecting robot is smoothly and properly self-run within the hydraulic iron pipe installed vertically or at a steep gradient without using a large scale suspending device containing a peripheral device.