Experimental result showed that the robot can move out pipe and can pass over obstacles such as flanges T-joint, and L-joint.
试验结果表明，该机构能够在比较复杂的管路上行驶，能够通过管路上的典型障碍。
Based on In-pipe clearing ash robot in exhaust gas pipeline of metal smeltery object, the scheme of in-pipe clearing ash robot with track to clean out ash in pipe is put forward.
分析了火电厂灰水管道结垢的原因 ，介绍了目前采用和研究的几种清洗技术 ，并对几种清洗技术进行了比较。
Based on In-pipe clearing ash robot in exhaust gas pipeline of metal smeltery object, the scheme of in-pipe clearing ash robot with track to clean out ash in pipe is put forward.
分析了火电厂灰水管道结垢的原因 ，介绍了目前采用和研究的几种清洗技术 ，并对几种清洗技术进行了比较。
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