In-pipe running robot and method of running the robot
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United States of America Patent
Stats
-
Feb 28, 1995
Grant Date -
N/A
app pub date -
Oct 12, 1993
filing date -
Oct 12, 1993
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
An in-pipe running robot includes a vehicle body movable inside piping along a piping axis, and a pair of running devices disposed in front and rear positions of the vehicle body. Each of the running devices has a pair of wheels secured to opposite ends of an axle. The wheels are steerable as a unit about a vertical axis of the vehicle body, and have a center of steering thereof extending linearly in a fore and aft direction of the vehicle body. When the robot is caused to run in a circumferential direction inside the piping, the vehicle body is set to a posture having the fore and aft direction inclined with respect to the piping axis, with the running devices set to a posture for running in the circumferential direction. Then, the running devices are driven to cause the vehicle body to run stably in the circumferential direction of the piping.
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