| 摘要 |
PURPOSE: To provide an in-pipe traveling device that is travelable in a state that the whole device keeps a stable attitude in a pipeline as in stableness. CONSTITUTION: This device is provided with an inertial body 1 and two piezoelectric elements 21 and 2b being connected to this inertial body and expansibly deformed by way of the impression and release of voltage. In this in-pipe traveling device, traveling by means of inertly driving the inertial body 1 with these piezoelectric elements 2a and 2b, each two of pins 4a, 4b and 4c, 4d in contact with a pipe wall each is installed in both ends in front and in the rear of the device, and these two by two pins 4a, 4b and 4c, 4d are symmetrically installed with one another to the center shaft. Since two by two pins are installed in both front and rear ends at the symmetrical position, these pins come to contact with the inner surface of a diametral part of a pipeline, whereby this device can be kept in a stable attitude, and thus even in the case of movements, this device can be kept in the stable attitude. |
