| 摘要 |
PURPOSE: A robot for inspecting a pipe is provided to automatically perform detection of the corrosion, fault, leakage, and material of process pipe equipment. CONSTITUTION: A robot(10) for inspecting a pipe comprises a first gripper(11), a first link(13), a first gripper rotary motor, a second link(14), a first link rotary motor, a third link(15), a second link rotary motor, a fourth link(16), a third link rotary motor, a second gripper, and a second gripper rotary motor. One side of the third link rotary motor is connected to the third link, and the other side is connected to the fourth link. The second gripper is installed in the other end of the robot for inspecting the pipe, and can hold the pipe. The second gripper rotary motor is installed in the fourth link, and rotates the second gripper in place. |
