Abstract：Based on the self-locking principle, a new type of crawling pipeline robot was designed and made to improve the adaptive ability of in-pipe robot. Without additional pressure, the robot was adaptable to pipe diameter and section with horizontal, vertical and bending pipe in moving process. A telescopic umbrella stand mechanism was adopted in the robot, and the force of telescopic mechanism and the principle of self-locking were deduced based on design requirements. The design of support structure and telescopic mechanism was completed, and the relationship of screw thrust and parallelogram driving force was established. A prototype was developed based on the theoretical foundations, and the experiments of prototype were completed. The results show that the robot traction, self-locking ability and cornering characteristics are in good performance, and the robot can accommodate 90~150 mm inner diameter of pipe. The results provide a reference for the in-pipe robot design.
徐洪1, 林潘忠2, 王扬渝3. 新型蠕动式管道机器人设计[J]. 江苏大学学报（自然科学版）, 2015, 36(5): 561-565.
Xu Hong1, Lin Panzhong2, Wang Yangyu3. Design of a new type crawling in-pipe robot[J]. Journal of Jiangsu University(Natural Science Eidtion)
, 2015, 36(5): 561-565.
2015, Vol. 36 
