中文摘要：

新型微管道机器人利用管内流体动能作为运动的动力源,同时当机器人停下来作检查或修理工作时,流体动能通过发电装置转换为电能,并对机载蓄电池充电。本文从理论上分析了实现新型微管道机器人这两种特定功能的条件。研究指出,当流体为气体、流速的值大于8.5L(L为机器人的长度)时,微管道机器人能在管内运动,但其静止时从管内流体获得的电能很少;当流体为液体、流速的值大于0.3L时,微管道机器人能在管内运动,并且其静止时能从管内流体获得一定的电能。

英文摘要：

The new micro piping robot uses the kinetic energy of fluid in pipe as power supply,and transforms it to electric power by electric power facility and charges the accumulator carried by robot when robot stops to inspect or repair pipe.The condition of realizing the two kinds of given function of new micro piping robot in theory was analyzed.Result shows that the micro piping robot can move in pipe when the fluid is gas and the speed of fluid is more than 8.5L,in which L is the length of robot.However,it jus...