INDEPENDENT SUSPENSION TYPE IN-PIPE ROBOT

摘要

The present invention relates to an individual suspension type in-pipe robot, which comprises: a main body unit having a central axis, and an elastic member whose one end is fixated to both ends of the central axis respectively and whose the other end elastically moves on the central axis; a pair of cross links which is placed to cross each other, is individually controlled, and whose one end is installed to be able to slide on the central axis in a direction of being separated or approaching toward the central direction of the central axis; and a driving unit having a pair of driving wheels which is separated from each other, and is connected with the other end of the cross links respectively in order to individually control the separation distance from the central axis. Therefore, provided in the present invention is the individual suspension type in-pipe robot which can be in contact with a pipe at an excellent adhesion even in a curved pipe by individually suspending the front driving wheel and the rear driving wheel.