| 摘要 |
PURPOSE:To simplify attachment to and removal from a tube as well as improve controllability by a method wherein a driver is equipped with two motors whose rotation speeds are controlled independently of each other while a pair of arms are openingly/closingly and advancingly/retreatingly slid to be held. CONSTITUTION:Drivers 50,50 of two crawlers 42,42 are equipped with motors 51,51 respectively which house a rotation speed detection control means to control the rotation speed of each of the crawlers 42,42 independently so that snaking can be corrected. Holding to a tube of a running device is such that when a handle 83 is directed upward, an arm 61 is opened by operation of a cam 84, a compressed spring 75 and a horizontal shaft 80. When the handle 83 is set to a horizontal position, a slide block 81 moves along an arrow (a) while the arm 61 moves along an arrow (b), and when the handle 83 is swung downward,with the slide block 81 stopped the cam 84 comes off a cam bearing 90. Accordingly the horizontal shaft 80 retreats and the arm 61 also retreats accordingly so that an end roller 62 pushes against a tube P to hold it. |
