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本文研制开发了一种蠕动式管内移动机器人机构，该机构克服了轮式、履带式管内移动机构牵引力与附着力之间的矛盾，可以提高机构的输出牵引力，并且可以顺利通过变直径管道．
In this paper, a kind of peristaltic moving robot mechanism in pipe is developed, which overcomes the contradiction between the traction force and the adhesion force of the moving mechanism in the wheeled and crawler pipe. It can improve the output traction force of the mechanism and can pass the pipe with variable diameter smoothly.