| 摘要 |
PURPOSE:To improve the efficiency of work by placing a rolling element in the end part, and also placing a work tool on a link frame consisting of a structure which can run in accordance with a variation of a pipe diameter by generating a pinching force by a spring between frames. CONSTITUTION:A machine frame 2 is formed by a pantagraph structure, a spring 5 is provided and installed between link frames 2c, 2d, also rolling elements 4a, 4b and 4c overhang to the outside by energizing of the spring 5 and always contact the inner surface of a pipe A, and also the machine frame 2 maintains a diameter direction of the pipe A. To the machine frame 2, a housing 6 is installed, and also a work equipment 8 and a sensor 9 are installed. In this way, the work equipment is held stably, and the work can be stabilized. |
