Underwater mobile type inspection system.

摘要

A underwater mobile type inspection system, wherein said system comprises a multi-articulated manipulator with a probe attached at its top end thereof, a pivot base which supports the proximal end of the manipulator for free rotation and having a thruster, an anchoring base which is attached to the bottom of said pivot base via a pivot driving mechanism, an adhesion device and a mobile vehicle device both of which are mounted on the outer periphery of said anchoring base. The inspection system may be applicable to a defect finding operation, other inspecting procedures, cleaning and recovery operations of foreign materials in large-sized vessels, such as nuclear reactor pressure vessels, water pools and storage tanks etc. <IMAGE>