设计新型管道机器人行走机构：实用价值和弹性装置调节协同驱动。

The transportation of pipelines is widely used in China, with pipelines often exposed to high-pressure and harsh environments, susceptible to corrosion from water, oil mixtures, and hydrogen sulfide. The thinning of pipeline walls, leading to cracks and oil leaks, poses significant safety risks and economic losses. Therefore, the study and application of pipeline robots have high practical and academic value. To address these issues, a new walking mechanism is designed and its overall mechanical structure is analyzed in this paper. The current development of pipeline robots both domestically and abroad is further discussed, presenting a new internal walking mechanism. This mechanism utilizes a motor to drive six evenly distributed walking wheels enclosed against the pipe wall by spring force on the frame, allowing for axial straight drive and full propelling within the pipeline. The paper then focuses on the motion principles and features of the straight-wheeled pipeline robot. The selection process of the motor based on design requirements is elaborated, with key mechanical components like worm gear drive parts and gears being designed accordingly. The robot demonstrates high load-bearing capacity and continuous movement at high speeds, with increased adaptability to varying pipe diameters due to the use of elastic support. It proves to be a practical and valuable form of mobile mechanism...Keywords: pipeline robot; walking mechanism; elastic device.