| 摘要 |
An object of the invention is to provide an in-pipe moving apparatus that has an extremely simple structure, readily achieves dustproof and waterproof capabilities, is capable of passing through a pipe bent in any direction without control of the attitude of the apparatus, and is characterized by selectivity of a traveling direction in a T-shaped bifurcating pipe. The in-pipe moving apparatus according to the invention includes at least three sets of tire-integrated wheel units 2A to 2C arranged in series in a traveling direction and at least two sets of joint sections 3A and 3B that pivotably link the at least three sets of tire-integrated wheel units to each other. Each of the at least three sets of tire-integrated wheel units includes a tire-integrated wheel 7, a drive section 10 that drives and rotates the tire-integrated wheel 7, a first frame 26 fixed to the drive section 10, and at least one second frame 25 pivotably attached to the drive section 10. A bending generator 4 is provided between one of the first frames 26 and one of the second frames 25 in the at least three sets of tire-integrated wheel units 2A to 2C and imparts tension for causing the first frames and the second frames to have a V-like bent shape. Each of the two sets of joint sections is configured to be pivotable in a direction roughly perpendicular to the direction in which the second frames pivot. |
