KUDAYOROBOTSUTONOSOKOSOCHI

摘要

PURPOSE:To enable the smooth traveling of the device even in reducer parts and bend parts and to constitute the entire part compact. CONSTITUTION:At least 3 pieces of leg supporting members 21 are disposed freely turnably around the axial center in the radial direction thereof at every equal interval around the axial center C of the pipe in the peripheral part of a robot body 1. These leg supporting members 21 are provided with sliding legs 22 having traveling wheels 23A, 23B freely slidably in the longitudinal direction at both ends of the respective members. Energizing cylinder devices for energizing the traveling wheels 23A, 23B to the inside surface side of the pipe P by turning the sliding legs 22 in the tangent direction around the leg supporting members 21 are provided. Then, the respective traveling wheels are surely grounded to the inside surface of the pipe and are made to travel smoothly by the rotation and the sliding of the sliding legs even in the reducer parts and bend parts thereof.