PROBLEM TO BE SOLVED: To enhance degree of freedom of motions of an in-vessel propulsion device in a vessel.SOLUTION: The in-vessel propulsion device includes a tube assembly formed by assembling at least 6 tubes with each other in a braid shape and sealing a tip of each tube. A base end part of the tube on an opposite side to the sealed tip is connected with a fluid pressure source. The tube assembly is composed of a first tube group formed by tubes extended in a spiral shape in a right/handed screw direction and a second tube group formed by tubes extended in a spiral shape in a left-handed screw direction, when viewed from the tip side. By compressing the inside of at least one of the tubes and extending the one in an axial direction, the tube assembly is deformed.SELECTED DRAWING: Figure 1COPYRIGHT: (C)2017,JPO&INPIT【課題】管内における管内推進装置の動作の自由度を高めること。【解決手段】管内推進装置が、少なくとも6本のチューブを互いに組紐状に組合せ各チューブの先端部を密閉して形成した管集成体を具備し、チューブの各々の密閉した端部とは反対側の基端部を流体圧源に接続し、管集成体は、先端部側から見て右ねじ方向の螺旋状に延びるチューブから成る第1の管群と、左ねじ方向の螺旋状に延びるチューブから成る第2の管群とから成り、チューブの少なくとも1本のチューブ内を加圧して該チューブを軸方向に延伸することによって管集成体を変形させるようにした。【選択図】図1
