ROBOTISED DEVICE FOR INSPECTING PIPES

摘要

Apodous, modular, hyper-redundant, cylindrical and naturally flexible robotised device for inspecting pipes, that comprises two steerable and directable heads (1, 1'), at least two modules (2), all identical to one another, each of said modules (2) being formed by two adjacent circular rings (3, 3') of rigid material, each of said rings (3, 3') comprising a plurality of independent magnetisable elements (31, 32, 33, 34) that generate a magnetic field of controlled intensity and orientation, three balls (4) for anchoring and positioning the device, such that the expansion and contraction of the modules (2) is generated through interactions between said modules (2) caused by electromagnetic forces, the ordered sequence of expansions and contractions of the modules (2) triggering the movement of the device.