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Robotic pipe crawling device

  • US 4,862,808 A
  • Filed: 08/29/1988
  • Issued: 09/05/1989
  • Est. Priority Date: 08/29/1988
  • Status: Expired due to Fees
First Claim
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1. A self-propelled vehicle for movement along the interior surface of a pipe comprising;

  • a wheeled lead module and a wheeled trailing module pivotally to form a linearly articulated structure,each wheeled module having one idler wheel and two drive wheels adapted for rolling engagement with the interior surface of the pipe,each of said wheeled modules being pivotable independently into and out of a wheel engaging position on the interior surface of the pipe,motor means carried for driving said drive wheels to move said vehicle linearly inside a pipe, andsaid idler wheels being operative to track the interior surface of the pipe ahead of and behind said modules to guide said vehicle around turns in the pipe.

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