| 摘要 |
A robot drive assembly 110 for moving a robot along a substantially cylindrical pipeline within the pipeline comprises first 111 and second body portions, the first body portion 111 being arranged to be rotated about a longitudinal axis of the assembly relative to the second body portion by drive means, wherein the first body portion 111 has at least one drive roller 111R coupled thereto, the robot being configured wherein rotation of the first body portion 111 relative to the pipeline and second body portion about a longitudinal axis of the first body portion causes the at least one drive roller 111R to rotate in contact with an inner wall of the pipeline about a roller axis oriented such that a resultant force acts on the first body portion in a direction to cause simultaneous rotation and translation of the first body portion with respect to the pipeline. Two such drive assemblies, 111, 111 may be used together, wherein by driving the two assemblies in opposite directions the assembly may be locked in place in the pipeline and the second body portions rotated to change their orientations in the pipeline. |
