To provide an in-pipe moving device capable of smoothly moving, even if an internal shape of a pipe body is changed.
This in-pipe moving device includes a spiral body 2 made by spirally winding a flexible longitudinal member 5 by a plurality of turns and a propulsion mechanism 7 for generating propulsive force in an axial direction of the spiral body 2. The propulsion mechanism 7 includes a plurality of driving mechanisms 3 provided in each of a plurality of driving force generating parts 10 arranged dispersedly along an extension direction of the longitudinal member 5. Each of the plurality of driving mechanisms 3 generates the propulsive force by applying driving force in a direction inclined to an axially orthogonal direction of the spiral body 2 in the corresponding driving force generating part 10, and is capable of adjusting an action direction of the driving force.
JP3972854 | Robot motion control device |
JP2022163895 | CRITICAL CARE SYSTEM, CRITICAL CARE METHOD AND PROGRAM |
OSUGA KOICHI
JPH11291901A | 1999-10-26 | |||
JPH06270795A | 1994-09-27 | |||
JPH07291125A | 1995-11-07 | |||
JP2011016467A | 2011-01-27 | |||
JPH06238249A | 1994-08-30 | |||
JPH04118353A | 1992-04-20 | |||
JP2000052282A | 2000-02-22 | |||
JP2008000924A | 2008-01-10 |
Kunihiko Higashi