Abstract: Provided is a pipe interior inspection robot that has characteristics of having an extremely simple device structure to easily achieve dustproof and waterproof properties, being able to pass through a pipe bent in any direction, and enabling the selection of the advancing direction. A pipe interior inspection robot for inspecting the inside of a pipe branched from a pipe header, the robot including: 1) a moving means having a structure capable of being introduced from a pipe base, which is an inlet of the pipe header, and capable of moving in the pipe header and being fixed to a pipe wall inside the pipe header at a desired position; 2) a mechanism for specifying a position of a pipe to be inspected; and 3) a mechanism for inspecting a condition inside the pipe to be inspected.

Abstract: 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.

Abstract: Provided is a pipe interior inspection robot that has characteristics of having an extremely simple device structure to easily achieve dustproof and waterproof properties, being able to pass through a pipe bent in any direction, and enabling the selection of the advancing direction. A pipe interior inspection robot for inspecting the inside of a pipe branched from a pipe header, the robot including: 1) a moving means having a structure capable of being introduced from a pipe base, which is an inlet of the pipe header, and capable of moving in the pipe header and being fixed to a pipe wall inside the pipe header at a desired position; 2) a mechanism for specifying a position of a pipe to be inspected; and 3) a mechanism for inspecting a condition inside the pipe to be inspected.