| 摘要 |
PROBLEM TO BE SOLVED: To provide an in-pipe travel device which can be adapted to an obstacle in a pipe-line by changing a crawler shape in accordance with circumstances in the pipe-line and can reduce the size and cost.SOLUTION: A plurality of crawler type travelers 3 arranged on different positions in the circumferential direction of a vehicle body 2 includes: a first arm freely rotatably supported by a frame 6; a driving pulley and an idler pulley supported by the first arm; a driving arm part 8 having a differential mechanism which transmits a driving force of a motor 7 to the driving pulley during normal traveling and transmits a driving force of the motor 7 to the first arm upon contacting an obstacle; a second arm which is freely rotatably supported by the frame 6; a driven arm part 9 having a driven side idler pulley which is supported by the second arm; a crawler 10 which is wound by the driving pulley and the driven side idler pulley; and a rotation transmission mechanism 11 which rotates the second arm in synchronism with rotation of the first arm by means of a driving force of the motor upon contacting an obstacle and changes the crawler 10 into a substantially parallelogram shape. |
