CPC G01D 11/30 (2013.01) [B25J 9/1679 (2013.01); B25J 15/0019 (2013.01); G01B 11/24 (2013.01); G05D 3/125 (2013.01)] | 30 Claims |
1. An inspection apparatus for inspecting a vertically arranged layer of tubes, comprising:
a drive module comprising a pair of wheels structured to engage a top tube of the vertically arranged layer of tubes;
at least one telescoping pole;
a sensor carriage assembly coupled to the at least one telescoping pole, the sensor carriage assembly structured to accept at least one of a plurality of sensors,
wherein the sensor carriage assembly comprises at least one guide arm structured to engage a tube of at least one of the vertically arranged layer of tubes or an adjacent vertically arranged layer of tubes;
a sensor carriage actuator operatively engaged with the sensor carriage assembly, and structured to selectively rotate the sensor carriage assembly between an inspection position and a raising/lowering position, wherein the sensor carriage assembly has a narrower vertical profile in the raising/lowering position than in the inspection position; and
a lowering mechanism operationally coupled to the at least one telescoping pole and structured to selectively extend or retract the at least one telescoping pole, thereby providing a selected vertical position of the sensor carriage assembly.
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