A device was proposed,which was suitable for plugging and speed regulation of small diameter,medium and low pressure oil and gas transportation pipeline maintenance and repair operations.The device was driven by the pressure difference of the medium in the pipeline,and the motor was used to control the annular gap and the orifice to realize the control of the traveling speed and the blockage of the conveying medium in the pipeline.The design of the plugging,driving and speed regulating device was explained.The method of finite element simulation analysis was used to study the sealing characteristics of the plugging rubber,the influence of the annular gap and the orifice on the traveling speed of the robot.Finally,the developed robot prototype was used to carry out the sealing reliability and speed control performance test research on the experimental test platform.The results show that the designed plugging and speed regulating device can be driven by the pressure difference of the medium in the pipeline,and the speed can be adjusted by controlling the annular gap and the orifice.At the same time,it can achieve fast and reliable plugging under the condition of 1 MPa medium pressure.It provides a reference for the research on speed control and plugging reliability of intelligent plugging robots in pipelines.