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刘强，王树立，赵书华，陈宏
（江苏工业学院江苏省油气储运技术重点试验室，江苏 常州 ２１３０１６）
摘要：针对管道机器人国内外发展现状，对研究最多的几类管道机器人，如蠕动式机器人、轮式管道机器人、无缆管道机器人的运动原理进行介绍，指出各自的优缺点。最后，结合油气管输行业现状，对管道机器人实用化的关键技术及发展方向行探讨。
关键词：油气储运；管道机器人；发展；现状
Present State and Prospect of the Development of Pipeline Intelligent Pig in Oiland Gas Storage and Transportation
LIU Qiang， WANG Shu-li， ZHAO Shu-hua，CHEN Hong
（Jiangsu Key Laboratory of Oil and Gas Storage and Transportation Technology，Jiangsu Polytechnic University， Changzhou ２１３０１６ ，China）
Abstracts：Based on the development and the exiting state of pipeline intelligent pig at home and abroad， the motion principle of some extensively studied robot，such as crawling pipeline robot，wheel pipeline robot and cableless pipeline robot， was introduced． The merits and drawbacks of these pigs were revealed． Finally， practical key technologies of，and the direction in which to develop，these robots in oil and gas pipeline，were discussed．
Key words：oil and gas storage and transportation； pipeline intelligent pig；development； present state | 