中文摘要：

研究了一种能源自给式管道机器人,机器人完全浸润在充满流动介质的管道内.利用流体压力以及流体速度能量所产生的驱动力,机器人不需要自带能源即可以随着管内流体向前推进,还能采用发电机将能量转化储存起来.本文通过对空气管道的流体力学分析,计算了管道内必须具备的流体力学条件.在很好地控制机器人与管道壁间的间隙情况下,机器人不但能利用流体动压力、也能利用静压力工作,能控制机器人速度大小,并且驱动的重量也得到提高.

英文摘要：

A power self-support in-pipe robot was studied, the robot is entirely immersed in the pipe that is full of fluid. Depend on fluid pressure and driving force that is produced by energy of fluid velocity, the robot can move forward with fluid in the pipe without energy, and can store energy that the robot convert by the application of its dynamo. Thought analyzing air-pipe fluid dynamics, the hydromechanics condition that the pipe must provide with was established. In circumstance of fully controlling clearance between robot and pipe-wall, the robot can work by fluid dynamical and static pressure, velocity of the robot can be controlled, driving weight can be improved.