中文摘要：

管道机器人可以对管道进行低成本高效率的检测和维护。目前的管道机器人受到能源供给的限制，不能长时间远距离进行工作。本文以新型无缆管道机器人的能源供给方式为基础，详细论述了新型能源自给式管道机器人总体结构设计，发电蓄能部分结构设计、支撑轮组件的设计和导向机构设计，这些设计为建立新型能源自给式管道机器人的模型并进行速度控制奠定了基础。

英文摘要：

Piping robot can exam and maintain the pipes with low cost and high efficiency. Due to the constraint of power supply, current piping robot cannot work in long distance and for a long time. Basing on the power supply method of novel cahleless piping robot, the main structure and the structure of power self - support part and the supporting wheel part and directing part of the piping robot were designed. All of these are the very important basic for the model establishing and the velocity control of the piping robot.