| 摘要 |
The invention concerns a self-propelled carriage capable of moving in a substantially cylindrical tunnel. The carriage comprises an underframe (1) consisting of two axle systems (14), a skip (10) and a longitudinal axle (16 ) providing horizontal support whereon said skip is pivotably mounted. Each ax le system comprises two support arms (24, 26), whereof one first end is pivotab ly mounted on one end of said axle, two rotational driving shafts (32), orthogonal to the support axle and mounted at the second end of the arms; means (38) driving in rotation said shafts; and two wheels (40, 42), each wheel comprising a hub (54) integral with a shaft, at least a circular disc integral with the hub and whereof the periphery is provided with a plurality of live rollers mounted in free rotation about axes orthogonal to the wheel shaft.
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