IN-TUBE SELF-PROPELLED MACHINE

摘要

PROBLEM TO BE SOLVED: To provide an in-tube self-propelled machine formed by mounting a drive wheel on a machine body formed of a helical plate, while reducing probability of contact with an in-tube wall surface of a machine body part other than a wheel.SOLUTION: An in-tube self-propelled machine includes: a helical machine body 1 formed of a helical plate 10 which extends in a helical shape around a longitudinal axial center and can be elastically expanded/contracted in a radial direction; spherical wheels 2 arranged at predetermined intervals on the helical plate 10; and a drive unit that drives a wheel drive shaft which is extended in the spherical wheels 2 in a cross direction crossing the extension direction of the helical plate 10 through the center of the spherical wheel 2 to drive the spherical wheels 2. The wheel drive shaft is located outside an outer surface 10a of the helical plate 10.