Design and Realization of Water Supply Pipeline Robot Based on Propeller

In order to solve the problem that it is difficult to carry out internal inspection for underground narrow pressurized water supply pipelines, a pipeline robot that uses propellers to provide propulsion has been developed. First, the structure principle and movement characteristics of the pipeline robot are analyzed, and the structure and size of the robot are designed based on the commonly used 100mm inner diameter water pipe. Secondly, the robot electric control system is designed, which can control the robot in real time and obtain video and posture information. Finally, the test prototype was manufactured and placed in the simulated pipeline for actual operation. The results show that the pipeline robot can adapt to pressured water supply pipelines with an inner diameter of 100mm and above, can automatically adapt to changes in the curvature of the pipe wall, can pass through right-angle elbows with a turning radius of 50mm, and has good motion characteristics.