| 摘要 |
PROBLEM TO BE SOLVED: To provide a unit traveling through a pipe which can mount a working apparatus without requiring an individual truck and in which the track can be corrected without requiring any special mechanism. SOLUTION: The unit traveling through a pipe comprises a first frame 1a having one end coupled rotatably with one end of a second frame 1b, a motor 2 for turning the frames 1a, 1b relatively, air cylinders 3a-3d disposed closely to one end of the frames 1a, 1b while being paired to hold the frames 1a, 1b between, and wheels 4a-4d disposed at the forward end of the air cylinders 3a-3d. On the other hand, driving actuators 5a-5d are supported closely to the other end of the central part of frames 1a, 1b while being linked through joints 6a, 6b such that they can be turned coaxially in same direction as the wheels 4a-4d while holding the frames 1a, 1b between. Bevel gears 8a-8d of reduction gears 7a-7d coupled with the driving actuators 5a-5d are meshed with the bevel gears 9a-9d of the wheels 4a-4d. |
