To provide at a low cost, a small-sized in-hole moving device having high reliability and a simple structure not only having possibility of changing its posture in any desired direction within a specific range for selecting its course at the branch point of a hole.
An inter-hole moving device is provided with plural piezo- actuators 3 arranged approximately in parallel, the first connection member 1 making contact with those one-side ends, the second connection member 2 making contact with other-side ends of respective actuators 3 and a control means 4 for supplying wave-formed impressing voltage controlled by respective actuators 3, and out of both connection members 1, 2, one acts a weight heavier than the other and the other is an in-hole moving device having leg part 21 making contact with the inner wall surface W forming the surrounding holes. A displacement or an inclination is produced between both connection members 1, 2 by making plural actuators 3 elongated or contracted synchronously or individually. The inertia force of the first connection member 1 and the frictional force of the second connection member 2 generated in that case are alternately utilized so that movement and posture change can be achieved.
TOMINAGA TAKAYUKI
IDOGAKI KOJI
