To provide an in-pipe traveling device capable of actively and automatically adjusting pressing force of a wheel to a piping inner surface to be constant while satisfying a point that the traveling is maintained well.SOLUTION: An in-pipe traveling device 1 includes: a plurality of links 3 coupled to each other and each capable of bending; wheels 4 retained in a rotatable manner to a coupling unit between a front link 3, a rear link 3, and adjacent links 3, 3; driving means 5 for the wheels 4; link driving means 6 for bending the adjacent links 3, 3 together; a deforming member 7 elastically deformed according to a bending state of the adjacent links 3, 3; a deformation sensor 8 for detecting deformation of the deforming member 7; and control means for controlling the link driving means 6 based on a detection signal of the deformation sensor 8. The control means carries out control so that the force for pressing the wheels 4 inside the piping is constant in a state with adjacent links 3, 3 in a bent state.SELECTED DRAWING: Figure 3

    【課題】走行が良好に維持されるという点を満足しつつ、能動的かつ自動的に、車輪の配管内面への押付け力を一定に調整することができる管内走行装置の提供。【解決手段】管内走行装置1は、互いに屈曲可能に連結される複数のリンク3と、前方のリンク3、後方のリンク3および隣接するリンク3,3同士の連結部に回転可能に保持される車輪4と、車輪4の駆動手段5と、隣接するリンク3,3同士を屈曲させるリンク駆動手段6と、隣接するリンク3,3同士の屈曲状態により弾性変形する変形部材7と、変形部材7の変形を検出する変形センサ8と、変形センサ8の検出信号に基づきリンク駆動手段6を制御する制御手段とを備える。制御手段は、隣接するリンク3,3同士が屈曲した状態で、配管の内面に車輪4を押し付ける力が一定となるよう制御する。【選択図】図3


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    Titel :

    IN-PIPE TRAVELING DEVICE


    Weitere Titelangaben:

    管内走行装置


    Beteiligte:
    MA SHUGEN (Autor:in) / KAKOGAWA ATSUSHI (Autor:in)

    Erscheinungsdatum :

    2020-12-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B61B RAILWAY SYSTEMS , Eisenbahnanlagen



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