| 摘要 |
PURPOSE: A pipe exploration robot is provided to adjust a distance between wheels according to an inner diameter of a pipe which is becoming changed, thereby easily moving inside the pipe. CONSTITUTION: A pipe exploration robot comprises a body(20), a first front wheel unit(120), a first rear wheel unit(130), a first frame(110), a first rotation operating unit(150), a first force measuring unit(140), and a control unit. A first rotary shaft(21) is formed in one side of the body. The front wheel unit is arranged in the front side of the body and includes first front wheels(122). The first rear wheel unit is arranged in a rear side of the body and includes first rear wheels(132) symmetrical to the first front wheels. The first frame supports the first front wheel unit and the first rear wheel unit. The rotation operating unit is installed in the body and rotates the first frame around a first rotary shaft.
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