中文摘要：

油气管道健康监测中管道机器人的研发是特种机器人领域中的热点，提出了管道机器人工程实用化中几个关键技术壁垒及这几个关键问题的解决措施。机器人移动牵引机构采用电机驱动丝杠旋转，丝杠上滑架（丝杠螺母）前移，两组支撑腿臂蠕动前行方式；整个机器人系统能量供给方面采用流体推动桨叶发电，对承载的锂电池组充电以实现机器人自推进；机器人通信方面采用管道内光纤传输视频图像和数据，管道外以无线方式与上位机监控设备双向无缆通信；整个机器人系统方案的可行性在模拟环境中得到了验证。

英文摘要：

In- pipe inspection robot is a hot topic in current domestic and international oil and gas in - pipe special robotics research fields. This paper presents several key technologies quenstiones in the pipeline robot engineering practical and gives the measures of several key problems. Move traction mechanism adopts motor - driven screw rotation, screw nut on the screw moves forward, two sets of support legs and arm creeping forward way,In the aspect of energy supply of entire robot system the fluid promotes paddle power to recharges lithium batteries to complete function of robot self-propelled; Robot communications system adopts that fiber - optic conveys video images and data in the pipeline and robot bidirectional cableless communication with the host computer moni- toring equipment is completed outside the pipeline ;The feasibility of the entire robot system program has been verified in a simulated environment.