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针对小口径管道管内移动机器人增大拖动力与结构空间受限制的难点，提出了管内移动机器人工及机拖动系统。讨论了双机拖动的合成机械特性及电气联接方式。论述了双机拖动系统的管内移动机器人在行进中“交替推拉”的动力特性。
In view of the difficulty of increasing the driving force and the limited space of the mobile robot in the pipe with small diameter, the robot and machine dragging system in the pipe are put forward. Discussed the double machine drag synthetic mechanical properties and electrical connection. The dynamic characteristics of the “push and pull” in-pipe mobile robots in dual-drag system are discussed.