Hydromechanics Analyze of a Power Self-support In-pipe Robot

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.