以常见的外径为219 mm和273 mm的工业管道为研究对象，针对其水平管段、垂直管段、弯头、变径节等部位的检测，研制了可变径内检测机器人。该机器人采用连杆支撑的3个独立履带驱动模块以适应不同管径以及不同姿态的爬行，采用柔性滑动机构以自动适应管径的微小变化并提高越障能力，采用薄膜压力传感器采集三履带与壁面之间的压力以对机器人的姿态位置进行闭环控制。试验结果表明，该机器人具有较好的工业管道检测环境适应能力，可顺利通过水平、垂直、弯头及变径管段，可以搭载各种检测模块对工业管道进行检测。

In this paper, the common industrial pipes with outer diameters of 219 mm and 273 mm were researched. A variable diameter internal inspection robot was developed for horizontal pipe section, vertical pipe section, elbows, and reducing joints. Three independent track drive modules supported by connecting rods was used to adapt to different pipe diameters and crawling in different postures. A flexible sliding mechanism was used to adapt to small changes of pipe diameter and improve obstacle crossing ability. The pressure between the track and the pipe wall was obtained by several membrane pressure sensors, which was used to control the robot's posture in a closed loop. The experimental results showed that the robot has good adaptability to the environment of industrial pipeline inspection. It could pass horizontal, vertical, elbow and variable diameter pipe sections smoothly, and could carry various inspection modules to inspect industrial pipelines.