PURPOSE: To provide a self-propelling device which is excellent in shock resistance, having a prolonged use life, by reducing the number of components so as to miniaturize the self-propelling device so that it can easily run even through a meandering pipe line.
CONSTITUTION: A self-propelling device 1 is composed of an axially expandable piezoelectric element 5, a movable element 4 attached at one axially end of the piezoelectric element 5, for receiving a frictional force from a stationary member, and control means for controlling the drive power applied to the piezoelectric element 5, so as to move the movable element 4 with the use of the inertia force of the piezoelectric element 5 and the frictional force given to the element 4 which are obtained when the piezoelectric element 5 is axially expanded and contracted.
TAKAHASHI ICHIRO
HAMADA MASAMI
ARAI KEIICHI
TATSUNO YUTAKA
YOSHINO KENJI
UEDA YASUHIRO
TAKEHATA SAKAE
| JPH03166081A | 1991-07-18 | |||
| JPS63299785A | 1988-12-07 | |||
| JPH04297252A | 1992-10-21 | |||
| JPH04179912A | 1992-06-26 |