Principle Analyzing and Structure Designing for Driving and Timing of Fluid Medium Pressure Difference Pipeline Robot
A pipeline robot is brought forward using the energy of fluid medium transmitting within the pipeline to perform the driving and timing. The robot is soaking in the pipeline full of flowing fluid medium and getting the driving force from the press and velocity energy of medium itself to push forward it. It is discovered during the research that robot need to overcome the gravity and influence of the friction resistance with the pipe wall while driving alone, so for the different mediums and applying situation the robot required to velocity adjustment automatically. According to the condition of the hydrodynamics within the pipe and designing in reason for the size and configuration of the robot, a velocity controlling device is worked out and realized its velocity adjustable.
Y. F. Zhang et al., "Principle Analyzing and Structure Designing for Driving and Timing of Fluid Medium Pressure Difference Pipeline Robot", Advanced Materials Research, Vols. 211-212, pp. 530-534, 2011