| 摘要 |
The purpose of the invention is to provide an intratubular travel device and a travel body in which the entire length in the travel direction can be shortened and a large drive force for forward and reverse operation can be set with a simple structure. The intratubular travel device comprises at least three travel bodies capable of passing through a pipe, and all of the travel bodies have a pair of travel wheels provided to one side of the travel body main body in the travel direction, a drive member for rotatably driving the pair of travel wheels, a linking member for linking with another travel body so as to be capable of bending in the pitch direction, and a swinging member for causing an adjacent travel body to swing in the yaw direction. The linking member has a first member provided to one side of the travel body main body in the travel direction and a second member provided to the other side, and all of the travel bodies are linked in a line via the linking members to constitute a travel body linked assembly. Elastic members are provided between adjacent travel bodies, the travel body linked assembly is elastically folded in the pitch direction by the spring force of the elastic members, and a pair of idler wheels is rotatably provided to the side of the travel body linked assembly that does not have the travel wheels. |
