| 摘要 |
PROBLEM TO BE SOLVED: To improve working efficiency of inspection by carrying out travelling control of travelling drive wheels provided on segments on a front end and a rear end and steering control of the travelling drive wheels through a controller out of a pipe connected by a robot and a cable. SOLUTION: An inspection head 6 is integrally provided frontward and backward on segments of a front end and a rear end, and a travelling drive wheel and a driven wheel making contact with a pipe inner surface are furnished. A travelling motor 9 as travelling power is provided on the travelling drive wheel, and a sterring mechanism to change a travelling direction of the travelling drive wheel and a steering motor 11 are provided. Lead wires of equipment 17-20 for inspection equipped on the inspection heads 6 provided on the segments of the front end and the rear end, an electric power source wire of the travelling motor of the travelling drive wheel, a steering motor control wire and an electric power source wire of the steering mechanism of the travelling drive wheel are constitued to be included in a cable 21 to connect a robot and a controller 22 out of the pipe to each other. Consequently, it is possible to improve efficiency of work of inspection, etc.
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