In-pipe running robot and method of running the robot
US5392715A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Oct 12, 1993 |
| Grant date | Feb 28, 1995 |
| Priority date | — |
| Expiry date | Oct 12, 2013 |
Classification
- Technology area (CPC F)Mechanical Engineering; Lighting; Heating
- CPC primaryF16L2101/30
- WIPO fieldMechanical elements
- WIPO sectorMechanical engineering
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.