Abstract: An in-pipe robot is provided with a rotary actuator 30 that rotates the drilling blade 21 in the circumferential direction of an existing pipe. A wheel body 50 provided with a traveling wheel 52 on both sides and a wheel body 70 provided with a traveling wheel 72 on both sides are supported between side frames 43 of a chassis via pins 54 and 74. The other ends of both the wheel bodies are rotatably coupled around an axle 63 of an intermediate wheel 65 as a pivot. When both the wheel bodies rotate, the intermediate wheels and the rotary actuator move above a horizontal line passing through the pin center. Each pin is disposed at the midpoint of a line connecting the center of the traveling wheel and the center of the intermediate wheel so that the rotation axis v1 of the rotary actuator coincides with the pipe center axis of the existing pipe.

Abstract: An eversion container 1 includes an opening section 2 having an opening 30 formed into which a lining material 60 is inserted and through which it can passes; and an eversion nozzle 12 to which one end of the lining material is airtightly attached. The eversion container is filled with an incompressible liquid 40 up to a predetermined level 40a beyond the opening of the opening section to form an airtightly sealed space above the liquid. Compressed gas is supplied to the airtightly sealed space to evert the lining material. A liquid supply pump 50 supplies the liquid in a liquid tack into the eversion container in compensation for the liquid flowing out of the opening section under the action of the compressed gas so that the liquid is kept at the predetermined level. The compressed gas can continuously evert the lining material without leaking through the opening section.

Abstract: An in-pipe robot is provided with a rotary actuator 30 that rotates the drilling blade 21 in the circumferential direction of an existing pipe. A wheel body 50 provided with a traveling wheel 52 on both sides and a wheel body 70 provided with a traveling wheel 72 on both sides are supported between side frames 43 of a chassis via pins 54 and 74. The other ends of both the wheel bodies are rotatably coupled around an axle 63 of an intermediate wheel 65 as a pivot. When both the wheel bodies rotate, the intermediate wheels and the rotary actuator move above a horizontal line passing through the pin center. Each pin is disposed at the midpoint of a line connecting the center of the traveling wheel and the center of the intermediate wheel so that the rotation axis vi of the rotary actuator coincides with the pipe center axis of the existing pipe.