Robot For Pipeline Work Having Improved Running Capability and Integrated Centering Capability

摘要

and the body, including the operation means connected to the inner tube, the one that is installed in a radial direction relative to the main body one frame and, connected to the frame and the main body, and squeezing means and installed to be movable in the radial direction of the frame by the linear drive means, installed in the both ends of the frame and moving means for rotating in contact with the inner wall of the pipe By including the linear number by a driving means to be driven at the same time a plurality of crimping means, since the diameter of the pipe and irrespective always coincides with the center of the center of the main pipe work of the in-line in the circumferential direction of the pipe can be carried out evenly, by adjusting the pressing force between the wheel and the pipe diameter, regardless of the pipe it is possible to work inside the pipe and to position the robot, even when the pipe diameter changes so that it is possible to maintain a constant pressing force, it is possible to effect the driving in a state in which, even if the robot is held horizontally with the projecting portions or the concave portions on the pipe. ;