The arrangement of an in-pipe climbing robot that works using a sharp transmission part to explore complex relationship of lines. Standard wheeled/continued in-pipe climbing robots are leaned to slip and take while researching in pipe turns. The instrument helps in achieving the really unavoidable consequence of getting out slip and drag in the robot tracks during progression. The proposed transmission likes the useful uttermost scopes of the standard two-yield transmission, which is fostered the fundamental time for a transmission with three outcomes. The instrument decisively changes the track velocities of the robot considering the powers applied on each track inside the line relationship, by getting out the fundamental for any wonderful control. The entertainment of the robot crossing in the line network in different direction and in pipe-turns without slip shows the proposed course of action's ampleness.

翻译：使用快速传输部件来探索复杂的线条关系。 标准轮式/ 连续管道式攀爬机器人在管道转弯研究时, 倾向于滑落和抓取。 仪器有助于在管道转弯时实现滑出和拖入机器人轨道的不可避免后果。 提议传输喜欢标准的双子传输最有用的极广范围, 这有助于在三种结果中进行传输的基本时间。 仪器决定性地改变了机器人的轨道速度, 因为它考虑到线条关系中每条轨道上应用的功率, 从而摆脱了任何绝妙控制的基础。 机器人在线条网络中以不同方向和无滑动的管道转弯的娱乐活动显示了拟议行动路线的充足性 。