PROBLEM TO BE SOLVED: To prevent the kink of a supply/exhaust tube such as an air tube.SOLUTION: An intratubular self-propulsion apparatus 14 is constituted of first to fourth expansion/contraction units 28a-28d to be expanded in a diameter in the radial direction of an insertion part 16 by pressurization from inside and also to be contracted in an insertion part axial direction. The respective expansion/contraction units 28a-28d are constituted of: first to fourth over-tubes 31a-31d first to fourth balloons 36a-36d for covering the outer circumferences of the respective over-tubes 31a-31d and a cap 32 and first to fourth flanges 33a-33d for fixing the both ends of the respective balloons 36a-36d and the both ends of the respective over-tubes 31a-31d. First to fourth air tubes 29a-29d for supplying/discharging compressed air are arranged on the inner sides of the respective balloons 36a-36d through the internal spaces of the respective expansion/contraction units 28a-28d. Each of the respective air tubes 29a-29d is fixed by connection to each of the respective expansion/contraction units 28a-28d (the respective flanges 33a-33d) respectively at one place.COPYRIGHT: (C)2012,JPO&INPIT【課題】エアチューブのキンクを防止する。【解決手段】管内自走装置14を、内側からの加圧により挿入部16の径方向に拡径するとともに挿入部軸方向に収縮する第1~第4伸縮ユニット28a~28dから構成する。各伸縮ユニット28a~28dを、第1~第4オーバチューブ31a~31dと、各オーバチューブ31a~31dの外周を覆う第1~第4バルーン36a~36dと、各バルーン36a~36dの両端と各オーバチューブ31a~31dの両端とを固定するキャップ32及び第1~第4フランジ33a~33dとで構成する。各バルーン36a~36dの内側に圧縮空気を給排する第1~第4エアチューブ29a~29dを、各伸縮ユニット28a~28dの内部空間を通して配置する。各エアチューブ29a~29dをそれぞれ一箇所で各伸縮ユニット28a~28d(各フランジ33a~33d)に接続固定する。【選択図】図13
