To easily travel over obstructions even if obstructions such as level differences are present in conduits, speedily inspect the inside of the conduits, and achieve a simple constitution and compactness.
A self-propelled camera apparatus for inspecting the inside of tubes is provided with a traveling unit 11 capable of traveling in a tube to be inspected; a camera unit 35 mounted on the traveling unit 11 for observing the inside of the tube to be inspected; at least two pairs of swing units 17a and 17b bilaterally symmetrically provided for both right and left sides of the traveling unit 11 at intervals in front-back directions in such a way as to freely oscillate in vertical directions on swing shafts 18; wheels 21a and 21b provided on both end parts of each of the swing units 17a and 17b in front-back directions; a drive motor 23 mounted on the traveling unit 11; and a rotational force transmitting mechanism 34 for transmitting a rotational force of the drive motor 23 to each of the wheels 21a and 21b via the swing shafts 18 to make the traveling unit 11 travel and making such rotation torque act as to oscillate the swing units 17a and 17b on the swing shafts 18.
| JPH023754B2 | 1990-01-24 | |||
| JP2006198206A | 2006-08-03 | |||
| JPH0294597U | 1990-07-27 |
Satoshi Kono
Makoto Nakamura
Kurata Masatoshi
Takashi Mine
Yoshihiro Fukuhara
Sadao Muramatsu
Ryo Hashimoto