search and manufacturing. According to rectangular pipe’s characteristics, a system of pipe robot is presented. This design is divided into three parts: the design of mobile carriers, the design of support device,the design of manipulator. We use wheel-type mobile mechanism as the moving device, and set a caster in front of the robot, as well as in the back, which allowing the robot having a better athletic ability in the pipeline. Compression devices and robot design is the key issue. With pression and mobile device, the robot can move vertically. Then check the strength of the parts involved in design. At last robot’s traveling-capability at the corner is discussed.РKeywords: robot; pipe; mechanism design; central air condition; clean Р目录Р绪论···············································
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