A pipe crawler apparatus particularly useful for 3-inch and 4-inch diameter pipes is provided. The pipe crawler apparatus uses a gripping apparatus in which a free end of a piston rod is modified with a bearing retaining groove. Bearings, placed within the groove, are directed against a camming surface of three respective pivoting support members. The non-pivoting ends of the support members carry a foot-like gripping member that, upon pivoting of the support member, engages the interior wall of the pipe.
STATEMENT AS TO RIGHTS TO INVENTIONS MADE UNDER FEDERALLY SPONSORED RESEARCH AND DEVELOPMENT
The United States Government has rights in this invention pursuant to contract no. DE-AC09-96SR18500 between the U.S. Department of Energy and Westinghouse Savannah River Company L.L.C.