| 摘要 |
PURPOSE:To provide a device for inspection of piping which can accurately grasp pipes and can inspect the pipes in a stable state. CONSTITUTION:Wheels 3a and 3b, pinions 4a and 4b, a speed reducer 5, a motor 6, and rotary encoder 7 constitute a moving mechanism which moves the main body 1 of a device for inspection of piping along a rail 2. Tongues 8a and 8b, a motor 9, screws 11 and 12, and a rotary encoder 13 constitute a clamping mechanism which clamps the main body 1 to a pipe 10. An inspection probe 22 detects the state of the pipe 10. A force sensor 15 detects the force applied to the clamping mechanism from the pipe 10. The detecting signal of the sensor 15 becomes one of the signals used for controlling the moving position of the moving mechanism. Therefore, the main body 1 can be fixed to the pipe 10 without error based only on drawing information and the pipe 10 can be stably scanned with the probe 22 even when the position of installation of the pipe 10 contains an error. |
