Principle analysis and structure design of the pipeline robot driven by fluid medium pressure difference

摘要

A pipeline robot,driven by the energy of fluid medium itself in the pipeline,is put forward.The robot is totally soaked in the fluid medium in pipeline and driven by the press and velocity energy of fluid medium itself.It is discovered that the robot needs to overcome the gravity and the friction resistance with the pipe wall to move,and for different mediums and applying situation,its moving velocity needs to be adjusted automatically.According to the condition of the hydrodynamics within the pipeline,the reasonable design of the robot structure is worked out and a velocity control device is implemented to adjust its moving velocity automatically.