PURPOSE: To easily make congruity to those pipelines, different in their inner diameters, by providing such a structure in which an engaging locking member, including plural pieces of engagingly locking parts free of bulging deformation through a pressurized fluid in the circumferential direction, in a traveling unit, is connected to a mounting member with free attachment and detachment.
CONSTITUTION: This traveling unit 1 to which the tip part of an endoscope 3 is fitted has a pair of nearly triangular frames (mounting member) 12, 13 separately, opposingly set up in the axial direction, and it includes three elastic actuators 14 almost in parallel with the axial direction between both frames 12, 13. Each of these elastic actuators 14 is elastically deformed in a state of being bulged in the radial direction by a supply of the pressurized fluid, and simultaneously its shrinkage force is supposed to be produced in the axial direction. In addition, engaging locking units 24, 25 are connected to respective outer sides of these frames 12, 13, with free attachment and detachment while each of these engaging locking units 24, 25 has each of nearly triangular second frames 26, 27 provided with three baloons 31 being bulged and deformed by the pressurized fluid and pressed to a pipeline inner surface.
MIYANAGA HIROBUMI
SATO YUSUKE
SAKIYAMA KATSUNORI
ADACHI HIDEYUKI
UEDA YASUHIRO
NAGAYOSHI MITSUGI
OLYMPUS OPTICAL CO
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