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公开(公告)号：EP0177112B1
公开(公告)日：1989-07-05
申请号：EP85302506.2
申请日：1985-04-10
发明人： Okada, Tokuji
IPC分类号： F16L55/00
CPC分类号： G01B5/207 , F16L55/32 , F16L2101/30 , F16L2101/50 , H02G1/088
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公开(公告)号：EP0177112A3
公开(公告)日：1987-09-30
申请号：EP85302506
申请日：1985-04-10
发明人： Okada, Tokuji
IPC分类号： F16L55/00
CPC分类号： G01B5/207 , F16L55/32 , F16L2101/30 , F16L2101/50 , H02G1/088
摘要： A vehicle (1) for traversing the interior of a pipe or the like under self-locomotion comprises a pair of arm members (3s, 3b) extending outwardly from a main body (2) in opposite directions and disposed in alignment with each other, said arm members (3a, 3b) being movable along their common longitudinal axis, biasing means (4) for biasing said arm members outwardly with respect to said main body, at least one chassis (9) which is pivotally connected to one of said arm members and which is provided with two wheels (8a, 8b), at least one wheel (7) supported by the other of said arm members, a first driving device (6b) for driving at least one of said two wheels (8a, 8b) which are provided on said chassis (9), a second driving device (6a) for driving said wheel (7) supported by the other of said arm member, detecting means (10) for detecting the angle formed between the common longitudinal axis of said arm members and the common tangential line of said two wheels (8a, 8b) of said chassis, and a servo-system for controlling said first and second driving devices (6a, 6b) in response to the detected angle so as to maintain said angle at a predetermined value.
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公开(公告)号：EP0177112A2
公开(公告)日：1986-04-09
申请号：EP85302506.2
申请日：1985-04-10
发明人： Okada, Tokuji
IPC分类号： F16L55/00
CPC分类号： G01B5/207 , F16L55/32 , F16L2101/30 , F16L2101/50 , H02G1/088
摘要： A vehicle (1) for traversing the interior of a pipe or the like under self-locomotion comprises a pair of arm members (3s, 3b) extending outwardly from a main body (2) in opposite directions and disposed in alignment with each other, said arm members (3a, 3b) being movable along their common longitudinal axis, biasing means (4) for biasing said arm members outwardly with respect to said main body, at least one chassis (9) which is pivotally connected to one of said arm members and which is provided with two wheels (8a, 8b), at least one wheel (7) supported by the other of said arm members, a first driving device (6b) for driving at least one of said two wheels (8a, 8b) which are provided on said chassis (9), a second driving device (6a) for driving said wheel (7) supported by the other of said arm member, detecting means (10) for detecting the angle formed between the common longitudinal axis of said arm members and the common tangential line of said two wheels (8a, 8b) of said chassis, and a servo-system for controlling said first and second driving devices (6a, 6b) in response to the detected angle so as to maintain said angle at a predetermined value.
摘要翻译： 用于在自行运动下穿过管子或类似物的内部的车辆（1）包括从主体（2）向相反方向向外延伸并彼此对准设置的一对臂部件（3a，3b） 所述臂构件（3a，3b）可沿其共同的纵向轴线移动;基座装置（4），用于相对于所述主体向外偏压所述臂构件;至少一个底架（9），其枢转地连接到所述臂 构件，并且设置有两个轮（8a，8b），由所述臂构件中的另一个支撑的至少一个轮（7），用于驱动所述两个轮（8a，8b）中的至少一个的第一驱动装置 ），用于驱动由所述臂构件中的另一个支撑的所述轮（7）的第二驱动装置（6a），用于检测形成在所述底座（9）的共同纵向轴线 所述臂构件和所述底盘的所述两个轮（8a，8b）的共同切线， 以及用于响应于检测角度控制所述第一和第二驱动装置（6a，6b）的伺服系统，以将所述角度保持在预定值。
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