This invention is comprised of a pipe inspection instrument carriage for use with a pipe crawler or other locomotion means for performing internal inspections of piping surfaces. The carriage has a front leg assembly, a rear leg assembly and a central support connecting the two assemblies and for mounting an instrument arm having inspection instruments. The instrument arm has means mounted distally thereon for axially aligning the inspection instrumentation and means for extending the inspection instruments radially outward to operably position the inspection instruments on the piping interior. Also, the carriage has means for rotating the central support and the front leg assembly with respect to the rear leg assembly so that the inspection instruments azimuthally scan the piping interior. The instrument carriage allows performance of all piping inspection operations with a minimum of moving parts, thus decreasing the likelihood of performance failure.

This invention is comprised of a pipe crawler having a midsection that provides the stability and flexibility to allow the pipe crawler to negotiate curved and uneven segments of piping while traveling through piping systems. The pipe crawler comprises a front leg assembly, a rear leg assembly, a midsection with a gimbal at each end for connecting the midsection to the front and rear leg assemblies in a flexible manner, and an air cylinder for changing the distance between the front and rear leg assemblies. The pipe crawler moves in ``inch worm`` fashion with the front and rear leg assemblies alternating between an extended and a retracted position as the air cylinder moves the retracted leg assembly forward. The midsection has a plurality of legs extending radially for holding the midsection within a maximum displacement from the piping axis so that the gimbals are not pivoted to extreme angles where they might lock up or seize. When the midsection is displaced sufficiently, its legs with wheels on each end engage the interior surface of the piping and prevent further displacement. Using two gimbals divides the angle between the planes defined by the front and rear leg assemblies which also helps …