In-pipe running robot and method of running the robot

Details In-pipe running robot and method of running the robot In-pipe running robot and method of running the robot

1993-10-12

1995-02-28

Le, Mark T.

Railways

Tubular way

Internal service device

B61B 1300

Patent

active

053927150

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.

REFERENCES:
patent: 2596322 (1952-05-01), Zumwalt
patent: 3547040 (1970-12-01), Baran
patent: 3718978 (1973-03-01), Van Koevering et al.
patent: 3872940 (1975-03-01), Gambini
patent: 4677865 (1987-07-01), Lehmann
patent: 5284096 (1994-02-01), Pelrine et al.

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