这里对一种采用超越方式行走的蠕动式管内机器人进行了研究,分析了机器人的超越行走原理和自锁条件,介绍了其机构和控制系统。实验结果表明,该机器人具有良好的运行状态和应用价值。 Here a kind of peristaltic tube robot walking by way of overpass was studied. The principle of over walking and self-locking of the robot were analyzed. The mechanism and control system were introduced. Experimental results show that the robot has a good operating status and application value.