| 摘要 |
PROBLEM TO BE SOLVED: To provide an in-pipe traveling device which can travel satisfactorily even in a route such as a reducer part or a bent pipe part, employing a simple configuration.SOLUTION: An in-pipe traveling device includes a first traveling truck 1A and a second traveling truck 1B connected together in a pipe axial direction by a flexible connector 9. The traveling truck 1 includes a base 6 having a front-rear axial center Xa, and a traveling unit 2 comprising a plurality of traveling modules 20 which are configured to extend from the base in a diametrical direction and are spaced radially in a peripheral direction. The traveling module 20 includes a wheel unit 21 which has a driving wheel 21 and two driven wheels 23 holding the driving wheel 21 to as to form a common tangential line CL with the driving wheel 21, and a displacement mechanism 30 which is displaced so as to change a diametrical-direction space between the wheel unit 21 and the base 6 and which maintains a parallelism between the common tangential line and the front-rear axial center. The displacement mechanism 30 is biased by a biasing mechanism 5. |
