With the purpose of realizing a robot arm that achieves both lightness of weight and ease of maintenance, and that has a long reach, a robot arm (100) is provided with a pneumatic cylinder (102) that pulls in a wire (104), and a movable pulley (105) that amplifies a force generated by the pneumatic cylinder (102) and that transmits the force by the wire (104), wherein the robot arm (100) is connected to a joint (103) that is driven by the force amplified by the movable pulley (105). An articulated robot arm can be realized by serially connecting a plurality of the robot arms (100) and arranging joints between the plurality of robot arms.
[Problem] To provide a pipe inspection device that can be attached to the distal end of a robot arm to press an ultrasonic probe against the pipe surface perpendicularly thereto for pipes of various sizes. [Solution] A pipe inspection device comprises an articulated grasping member 1, a base 2, an ultrasonic probe holding member 3, and a driving device 4 that drives the articulated grasping member 1, wherein the articulated grasping member 1 is constituted by four or more fixed-length link members 101 to 105 connected in series by rotating shafts, and mechanical restraining means that keep the angles formed by adjacent link members substantially equal at all times, the base 2 is fixed to one of the link members that constitute the articulated grasping member 1, the ultrasonic probe holding member 3 is fixed to the center of any one or each of the link members 101, 103, and 105, and the driving device 4 is fixed to one of the link members that constitute the articulated grasping member 1 or to the base 2. FIG. 1
G01N 29/22 - Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic wavesVisualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object Details
A winding device provided with an inlet for drawing a string-shaped winding target member and configured to wind the winding target member includes: a drum having flanges at both end portions of a body in an axial direction thereof and provided rotatably about the an axis of the body, a drive source configured to rotate the drum, a first guide portion configured to draw the winding target member along a first axis arranged substantially perpendicularly to the axis of the body in a skew relationship, a swing member provided swingably about the first axis, and a second guide portion attached to a tip end of the swing member to guide the winding target member from the first guide portion to the drum.
B65H 54/12 - Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers for making packages of specified shapes or on specified types of bobbins, tubes, cores, or formers on flanged bobbins or spools
A traction module for a robot system and a robot system using the traction module having, an outer frame and a rotating frame rotatably mounted within the outer frame. A drive system is operatively coupled to the rotating frame and configured to drive a traction drive component to propel the robot. An actuator is operatively connected to the rotating frame to controllably rotate the rotating frame. During a first portion of a rotating movement of the rotating frame, the drive system moves between a flat mode position relative to the outer frame and a clearance mode position in which the drive system extends outwardly from the outer frame to a greater extent than in the first position. During a second portion of the rotating movement of the rotating frame, the drive system may be positioned in a desired orientation to propel the robot.
B62D 57/024 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
B25J 5/00 - Manipulators mounted on wheels or on carriages
For the purpose of realizing a robot arm having a long reaching distance, as well as both reduced weight and ease of maintenance, provided is a robot arm (100) comprising a pneumatic cylinder (102) that pulls in a wire (104), and a movable pulley (105) that amplifies a force generated by the pneumatic cylinder (102) and transmits the force through the wire (104), the robot arm (100) being connected at a joint part (103) driven by the force amplified by the movable pulley (105). An articulated robot arm can be realized by connecting a plurality of robot arms (100) in series using joint parts disposed between adjacent robot arms of the plurality of robot arms.
For the purpose of providing a technology for contacting a probe substantially perpendicular to the surface of a pipe to be inspected regardless of the posture thereof, provided is an end effector that is connected to a robot arm which is configured to inspect an inspection object (200) using a probe (1030). The end effector comprises: an end effector base (101) that is connected to the robot arm; a probe holder (103) that holds the probe; a gimbal mechanism (102) that absorbs a deviation in the posture between the end effector base and the probe holder; and an inspection object contact part (104) that is connected to the probe holder and that contacts the inspection object. The inspection object contact part has four contact points (CP1, CP2, CP3, CP4), and the four contact points form a parallelogram which is projected on a contact surface of the probe and centered on the position of the probe. Among the four contact points, the two contact points located at opposing corners of the parallelogram are positioned at the same height on the basis of the contact surface of the probe.
With the purpose of realizing a robot arm that achieves both lightness of weight and ease of maintenance, and that has a long reach, a robot arm (100) is provided with a pneumatic cylinder (102) that pulls in a wire (104), and a movable pulley (105) that amplifies a force generated by the pneumatic cylinder (102) and that transmits the force by the wire (104), wherein the robot arm (100) is connected to a joint (103) that is driven by the force amplified by the movable pulley (105). An articulated robot arm can be realized by serially connecting a plurality of the robot arms (100) and arranging joints between the plurality of robot arms.
[Problem] When a beam is emitted from inside a pipe onto an inside surface of the pipe using an ultrasonic probe in which flat plate-like transducers are arranged, since the transduces are in the shape of flat shape, signals reflected from the tubular pipe wall do not always return straight to the transducers, and scattering and interferences occurs in the returning waves.
[Solution] An ultrasonic transducer according to the present application is curved to match the internal shape of the pipe, and therefore ultrasonic waves emitted from the transducers are radiated perpendicular to the pipe wall, and reflected echo signals thereof are also reflected and return perpendicularly from the irradiated pipe wall, and thus scattering and interference occur less than with ultrasonic waves and reflected waves emitted from flat plate-like transducers arranged in positions at oblique angles with respect to the pipe wall, and it is therefore possible to obtain clear data by selecting ultrasonic waves having a wavelength corresponding to the thickness of the pipe.
[Problem] To provide a winding device with a simple structure, with which an introduction hole can be located close to a drum so that the device can be made compact overall, and which winds a member to be wound in parallel. [Solution] A winding device 10 having an introduction hole 100 for introducing a string-shaped member 90 to be wound, and capable of winding the member to be wound, the winding device 10 comprising: a drum 20 that has flanges 24, 26 on both axial ends of a body 22 and is rotatable about the axis 28 of the body; a drive source 30 that rotates the drum; a first guide unit 40 for introducing a member to be wound along a first axis 48, which is disposed in a torsional relationship and substantially perpendicular to the axis of the body; a rocking member 60 capable of rocking about the first axis 48; and a second guide unit 50 for guiding the member to be wound from the first guide unit to the drum, the second guide unit 50 being attached to the leading end of the rocking member. The second guide unit is attached to the rocking member so that the member wound on the drum is substantially parallel to the first axis.
B65H 54/12 - Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers for making packages of specified shapes or on specified types of bobbins, tubes, cores, or formers on flanged bobbins or spools
A sensor interface module for an inspection robot includes a scissor lift for varied radial positioning of, and a universal sensor mount for mounting, a selected one of a plurality of different sensors. A visual inspection module for the robot includes an inspection unit for simultaneously visually inspecting a first surface facing a first direction and a spaced, second surface facing an opposing, second direction toward the first surface. The inspection unit includes a first visual sensor and a second visual sensor, each visual sensor facing in a direction different than the first and second directions. A first reflector reflects an image of the first surface to the first visual sensor, and a second reflector reflects an image of the second surface to the second visual sensor. A robot system may include the sensor interface module and the inspection unit.
A traction module (114, 240, 242, 244, 660, 662 664) for a robot system (108) and a robot system using the traction module, are disclosed. The traction modules comprises an outer frame (666, 668, 670, 810) and a rotating frame (820) rotatably mounted within the outer frame. A drive system (802) is operatively coupled to the rotating frame and configured to drive a traction drive component (678, 680, 682) to propel the robot. An actuator (822) is operatively connected to the rotating frame to controllably rotate the rotating frame. During a first portion of a rotating movement of the rotating frame, the drive system moves between a flat mode position relative to the outer frame and a clearance mode position in which the drive system extends outwardly from the outer frame to a greater extent than in the first position. During a second portion of the rotating movement of the rotating frame, the drive system may be positioned in a desired orientation to propel the robot.
B62D 57/02 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
B62D 57/024 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
[Problem] To provide a pipe interior inspection robot characterized by having an extremely simple device structure, easily realizing dustproof and waterproof properties, and being able to pass through pipe having curves in any direction, and enabling selection of the advancing direction. [Solution] A pipe interior inspection robot for inspecting the interior of a pipe that branches from a header, the robot comprising: 1) a movement means having a structure such that the movement means can be introduced from a pipe base, which is a header entrance, can move through the inside of the header, and can be fixed to a pipe wall on the inside of the header at a desired position; 2) a mechanism for identifying a position of a pipe to be inspected; and 3) a mechanism for inspecting the state inside the pipe to be inspected.
B62D 57/02 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
F16L 55/18 - Appliances for use in repairing pipes
13.
ULTRASONIC PROBE, AND METHOD FOR MEASURING THICKNESS OF PIPE BEING INSPECTED USING SAME
[Problem] When a beam is emitted from inside a pipe onto an inside surface of the pipe using an ultrasonic probe in which flat plate-like transducers are arranged, since the transducers are in the shape of flat plates, signals reflected from the tubular pipe wall do not necessarily return straight to the transducers, but scatter in the returning waves, causing interference. [Solution] An ultrasonic transducer according to the invention of the present application is curved to match the internal shape of the pipe, and therefore ultrasonic waves caused to oscillate from the transducer are radiated perpendicular to the pipe wall, and reflected echo signals thereof are also reflected and return perpendicularly from the irradiated pipe wall, and therefore scattering and interference occur less than with ultrasonic waves and reflected waves emitted from flat plate-like transducers arranged in positions at oblique angles with respect to the pipe wall, and it is thus possible to obtain clear data by selecting ultrasonic waves having a wavelength corresponding to the thickness of the pipe.
[Problem] To provide a self weight compensating type articulated arm with which high stability can be obtained, and which has a simple structure. [Solution] A base end arm portion 2 and coupling arm portions 3, 4 are each provided with a base end support member 7 and a distal end support member 8. A first link member 5 and a second link member 6, which are parallel to one another, are supported between the base end support member 7 and the distal end support member 8. In mutually adjacent arm portions, the distal end support member 8 of one arm portion and the base end support member 7 of the other arm portion are coupled to one another by way of a rotating shaft 17. One tensile force generating cable 16 is provided in the base end arm portion 2 and the coupling arm portions 3, 4. The tensile force generating cable 16 is stretched along the axis of each rotating shaft 17. The dimension of a spacing between a first base end horizontal axis 9 and a second base end horizontal axis 10 of each arm portion 2, 3, 4 is set in accordance with a distal end side load.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
Provided is a mechanism that uses a small number of drive sources, that is lightweight, and that is for operating a multi-jointed robot. This wave propagation mechanism (2) is provided with: a plurality of wires (10) that are stretched substantially in parallel to each other; a plurality of fixing tools (30) that are for fixing the plurality of wires (10) or cancelling the fixation thereof, and that are disposed at a prescribed interval; and an attitude restriction tool (60) which alternately restricts portions between adjacent fixing tools (30) such that each assumes a prescribed shape or cancels the restriction of the prescribed shape. The plurality of wires (10) are configured to have different lengths between the plurality of fixing tools (30) so as to be capable of keeping inter-fixing-tool portions in a bent state. The bent inter-fixing-tool portions and the inter-fixing-tool portions restricted in the prescribed shape are assumed to be a single unit, and the plurality of wires (10) are fixed by the fixing tools located at both ends of the unit, while fixation is cancelled at intermediate fixing tools. The attitude restriction tool (60) is able to propagate a bent position by restricting a bent inter-fixing-tool portion in a prescribed shape and then cancelling the restriction at the inter-fixing-tool portion restricted in the prescribed shape.
An in-pipe moving apparatus that can freely and smoothly move in a pipe having a bent portion and a branching portion, is not stuck in the pipe even if a drive motor of a movement mechanism fails or otherwise experiences a problem, and can be readily taken out of the pipe. The in-pipe moving apparatus includes two sets of wheel-based traveling elements (2A) and (2B), which each have two driving wheels (8A) and (8B) linearly arranged, and a variable bag, which is expanded and contracted in accordance with the pressure of a fluid supplied to the variable bag, and the two sets of wheel-based traveling elements (2A) and (2B) are so disposed as to sandwich the variable bag (3) and are fixed to the outer surface of the variable bag (3).
B62D 57/02 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
B62D 61/10 - Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
B62D 55/065 - Multi-track vehicles, i.e. more than two tracks
[Problem] To provide a wire tension aircraft that uses a connected wire to increase body stability. [Solution] A wire tension aircraft (1) comprises a main body extending from a wire connecting implement to a rotor holding member, and is provided with: a rotor (10) that generates thrust by rotation around an axis of rotation (14); a drive device (30) for rotating the rotor; a rotor holding member (20) that supports the drive device; a control device (40) that controls the drive device, and regulates the rotation speed of the rotor; and a wire connection implement (60), that is affixed to the rotor holding member, and that is connected to a wire (90), at a position spaced apart from the axis of rotation in a direction orthogonal to the direction of the axis of rotation. In the wire tension aircraft, the wire is connected to the wire connection implement, and by receiving tension from the wire the attitude of the main body around the pitch axis and the yaw axis is stabilized.
The present invention provides a suspended object attitude control device which is capable of easily and accurately controlling the attitude of a suspended member in a three-dimensional space by means of a relatively simple structure. This attitude control device 1 is provided with: a rotary drive part 10 which rotates a main body 81 together with a rod member 83 about the rotational axis R that passes through a connecting point between filament bodies 45A, 45B in one lateral wall 81A of the main body 81 and a connecting point between filament bodies 45C, 45D in the other lateral wall 81B of the main body 81; a turning drive part 30 which turns the rod member 83 about the turning axis Q that extends orthogonally to the rotational axis R and to the rod axis L of the rod member 83, in the horizontal direction; and an angle alteration part 50 which sets the angle θ formed between the rotational axis R and the filament bodies 45A, 45B connected to the one lateral wall 81A of the main body 81 and the angle θ formed between the rotational axis R and the filament bodies 45C, 45D connected to the other lateral wall 81B of the main body 81 so as to be in a certain proportion.
B66C 13/08 - Auxiliary devices for controlling movements of suspended loads, or for preventing cable slack for depositing loads in desired attitudes or positions
This disclosure provides systems and components for an omnidirectional traction module for use in a robot, such as a crawler robot used in in situ gap inspection in a machine, such as a generator, an electric motor, or a turbomachine. The traction module may include an outer frame and a rotating frame rotatably mounted within the outer frame. At least one drive system may be mounted within the rotating frame. The at least one dive system may have a fixed orientation within the rotating frame. An actuator may be operatively connected to the rotating frame to controllably rotate the rotating frame to a desired orientation for robot travel.
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
B25J 5/00 - Manipulators mounted on wheels or on carriages
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
20.
Deployment mechanism for passive normalization of a probe relative to a surface
The present apparatus is configured to carry an instrument or probe and optionally deploy it against a surface, such as a metal pipeline or storage tank. The apparatus can include a sensor probe for inspecting the integrity of the surface and a first linkage that is operatively coupled to the sensor probe and configured to move the sensor probe according to a first path (in a first direction/first degree of freedom). An actuator can be operatively connected to the first linkage for moving the first linkage so as to move the sensor probe along the first path. A second linkage is operatively connected to the sensor probe and configured to passively move the sensor probe according to a second degree of freedom to cause the sensor probe to become normal to the surface when at least a portion of the apparatus contacts the surface.
G01N 29/22 - Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic wavesVisualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object Details
G01N 29/265 - Arrangements for orientation or scanning by moving the sensor relative to a stationary material
This in-pipe moving device is able to move freely and smoothly within pipes which have bent portions or branching portions, and does not block the pipe even if a malfunction, such as a failure in the drive motor of a moving mechanism occurs as the device can be easily removed from the pipe. This in-pipe moving device comprises: two pairs of wheel traveling bodies 2A, 2B, each having two driving wheels 8A, 8B arranged linearly; and a variable bag 3 that is expanded/contracted in response to the pressure of supplied fluid. The two pairs of wheel traveling bodies 2A, 2B are arranged so as to sandwich the variable bag 3 therebetween, and are fixed to the outer surface of the variable bag 3.
B62D 55/065 - Multi-track vehicles, i.e. more than two tracks
B62D 61/10 - Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
A multidirectional wheel for traversing a surface is provided that includes a magnet and a plurality of rollers disposed around an outer periphery of each of the hubs of the wheels. The rollers are mounted for rotation in a second axial direction that is perpendicular to a first axial direction of the wheel. The rollers are supported by a plurality of magnetically-inducible brackets attached to the hub. The brackets are optimally sized and shaped to reduce the space between the magnetized materials of the wheel and the surface upon which the wheel travels.
B60B 19/00 - Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
B08B 9/049 - Cleaning the internal surfacesRemoval of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes
A multidirectional wheel (100) for traversing a surface is provided that includes a magnet (118) and a plurality of rollers (104) disposed around an outer periphery of each of the hubs (102) of the wheels. The rollers (104) are mounted for rotation in a second axial direction that is perpendicular to a first axial direction of the wheel (100). The rollers (104) are supported by a plurality of magnetically-inducible brackets (106) attached to the hub (102). The brackets (106) are optimally sized and shaped to reduce the space between the magnetized materials of the wheel (100) and the surface upon which the wheel travels.
B60B 19/00 - Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
B08B 9/049 - Cleaning the internal surfacesRemoval of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes
F16L 55/32 - Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
24.
DEPLOYMENT MECHANISM FOR PASSIVE NORMALIZATION OF A PROBE RELATIVE TO A WORKPIECE SURFACE
The present apparatus is configured to carry an instrument or probe and optionally deploy it against a surface, such as a metal pipeline or storage tank. The apparatus can include a sensor probe for inspecting the integrity of the surface and a first linkage that is operatively coupled to the sensor probe and configured to move the sensor probe according to a first path (in a first direction/first degree of freedom). An actuator can be operatively connected to the first linkage for moving the first linkage so as to move the sensor probe along the first path. A second linkage is operatively connected to the sensor probe and configured to passively move the sensor probe according to a second degree of freedom to cause the sensor probe to become normal to the surface when at least a portion of the apparatus contacts the surface.
G01N 29/22 - Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic wavesVisualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object Details
B25J 5/00 - Manipulators mounted on wheels or on carriages
G01N 29/265 - Arrangements for orientation or scanning by moving the sensor relative to a stationary material
G05D 1/02 - Control of position or course in two dimensions
25.
Deployment mechanism for passive normalization of a probe relative to a surface
The present apparatus is configured to carry an instrument or probe and optionally deploy it against a surface, such as a metal pipeline or storage tank. The apparatus can include a sensor probe for inspecting the integrity of the surface and a first linkage that is operatively coupled to the sensor probe and configured to move the sensor probe according to a first path (in a first direction/first degree of freedom). An actuator can be operatively connected to the first linkage for moving the first linkage so as to move the sensor probe along the first path. A second linkage is operatively connected to the sensor probe and configured to passively move the sensor probe according to a second degree of freedom to cause the sensor probe to become normal to the surface when at least a portion of the apparatus contacts the surface.
G01N 29/22 - Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic wavesVisualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object Details
G01N 29/265 - Arrangements for orientation or scanning by moving the sensor relative to a stationary material
Provided is an underwater observation device that enables stable observation by pressing an underwater observation unit onto a dam wall surface using an underwater propulsion unit at normal time, and that, if there is an obstacle and the like on the dam wall surface, can avoid the obstacle on a surface of the wall surface by temporarily leaving the dam wall surface by jet control of the underwater propulsion unit, thereby enabling observation of the surface of the wall surface with a wide range of clean images even in muddled water. An underwater observation device comprises: a housing 2 including a hollow portion 3 filled with transparent liquid and having a transparent plate 4 disposed in a face thereof facing the hollow portion, the transparent plate providing a see-through external view; a camera device 5 attached to the housing 2 and disposed with a lens portion 6 opposed to the transparent plate 4 across the hollow portion 3; a suspending device 7 suspending the housing 2 via a suspending wire 8 to lift or lower the housing 2 underwater; and underwater propulsion units 9A, 9B fitted to the housing 2 and capable of moving the housing 2 underwater.
The purpose of the present invention is to reduce the frictional force during operation of operating cables, so that two operating cables can be operated reliably with a minimum of operating force, and so that the individually adjustable tension of each can be held constant. The apparatus is provided with: three wheels (2A-2C) driven to rotate by a motor and longitudinally arranged in the rotation direction; two joint parts (3A, 3B) interlinking the three wheels swivelably in the horizontal direction and the vertical direction; two operating cables (5X, 5Y) affixed at one end to the wheel (2A) situated at the lead position in the direction of travel, passing to either side of the remaining wheels (2B, 2C) and the joint parts, and extending rearward from the wheel situated at the tail position; and a tension adjustment part (6) which faces towards the wheel situated at the tail position, and to which the other ends of the two operating cables are linked such that the tension of the two operating cables is adjustable. The wheel (2B) at the second position behind the lead position in the travel direction is provided with a cable guide member (9) for guiding the two operating cables (5X, 5Y) and shifting the positions thereof between left and right.
09 - Scientific and electric apparatus and instruments
37 - Construction and mining; installation and repair services
Goods & Services
Inspection apparatus which is movable along pipes (water
pipes, air conditioning pipes, gas pipes, plant pipes,
conduit pipes, communication cable pipes, oil pipes,
pipelines and others); testing apparatus not for medical
purposes; inspection apparatus which is equipped with
digital cameras and/or other NDT (non-destructive testing)
sensors and movable along pipes (water pipes, air
conditioning pipes, gas pipes, plant pipes, conduit pipes,
communication cable pipes, oil pipes, pipelines and others);
other telecommunication machines and apparatus; electronic
machines, apparatus and their parts. Inspection, repair and maintenance of pipes (water pipes,
air conditioning pipes, gas pipes, plant pipes, conduit
pipes, communication cable pipes, oil pipes, pipelines and
others); providing information relating to inspection,
repair and maintenance of pipes (water pipes, air
conditioning pipes, gas pipes, plant pipes, conduit pipes,
communication cable pipes, oil pipes, pipelines and others).
The objective of the present invention is to provide an apparatus that moves through the interior of a pipe, said apparatus being of extremely simple construction, easy to make dustproof and waterproof, and capable of passing through the pipe regardless of the direction of curvature and without being controlled for orientation, the apparatus also having the characteristic of allowing the direction of advance in a T-shaped branch pipe to be selected. The present invention is provided with at least three sets of wheel units (2A-2C) disposed longitudinally in the rotation direction, and at least two sets of joint parts (3A, 3B) turnably linking the at least three sets of wheel units, each of the at least three sets of wheel units having a wheel (7), a drive unit (10) for rotatably driving the wheel (7), a first frame (26) secured to the drive unit (10), and at least one second frame (25) rotatably attached to the drive unit (10), a bend-generating device (4) for applying tension to bend the first frame and the second frame into a V-shape being provided between the first frame (26) and the second frame (25) of the at least three sets of wheel units (2A-2C), and the two sets of joint parts being turnably configured in a direction substantially intersecting the turning direction of the second frame.
The purpose of the invention is to provide an intratubular travel device and a travel body in which the entire length in the travel direction can be shortened and a large drive force for forward and reverse operation can be set with a simple structure. The intratubular travel device comprises at least three travel bodies capable of passing through a pipe, and all of the travel bodies have a pair of travel wheels provided to one side of the travel body main body in the travel direction, a drive member for rotatably driving the pair of travel wheels, a linking member for linking with another travel body so as to be capable of bending in the pitch direction, and a swinging member for causing an adjacent travel body to swing in the yaw direction. The linking member has a first member provided to one side of the travel body main body in the travel direction and a second member provided to the other side, and all of the travel bodies are linked in a line via the linking members to constitute a travel body linked assembly. Elastic members are provided between adjacent travel bodies, the travel body linked assembly is elastically folded in the pitch direction by the spring force of the elastic members, and a pair of idler wheels is rotatably provided to the side of the travel body linked assembly that does not have the travel wheels.
09 - Scientific and electric apparatus and instruments
Goods & Services
Inspection and maintenance machines for power lines and high voltage transmission lines, namely, ultrasound inspection devices and mobile platforms with manipulators equipped with cameras and sensors; pipe inspection machines, namely, optical inspection apparatus, electro-optical instruments for use in inspection of pipes, and electronic instruments for use in remote inspection of pipes; inspection cameras; electronic devices for remote inspection, surveillance and location of pipes and lines, namely, automated self-contained electronic surveillance devices that can be deployed to gather evidence or intelligence in remote locations, and electronic instruments for use in remote inspection, surveillance and location of pipes, lines, and plants; sensors for remote inspection, surveillance and location of pipes and lines; electronic devices for locating mines during search and rescue operations, namely, automated self-contained electronic surveillance devices that can be deployed to gather evidence or intelligence in remote locations, and electronic instruments for use in remote inspection, surveillance and location; none of the foregoing being laboratory robots or for building security systems hardware
09 - Scientific and electric apparatus and instruments
37 - Construction and mining; installation and repair services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Electronic machines, apparatus and their parts;
telecommunication devices and apparatus; measuring machines
and apparatus; remotely-controlled pipe inspection devices;
self-propelled mine searching devices; self-propelled mine
detecting and cleaning devices; automatic checking devices
of electric wires for maintenance of high-voltage electrical
power lines. Maintenance and inspection of remotely-monitored electric
wires, cables, pipes etc by robots and information or
consultation thereof. Design, research and development of robots; consultation of
design, research and development of robots; information of
design, research and development of robots; design, creation
or maintenance of programs for computers; consultation of
design, creation or maintenance of programs for computers;
information of design, creation or maintenance of programs
for computers; computer programming; design and development
of machines, devices or apparatus (including their parts) or
facilities composed thereof; inspection or research in
relation to machines and apparatus.
